+ python -m lidar_slam --no-model /working/bb43672a-fa49-4450-9b16-01380da72ae4 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/bb43672a-fa49-4450-9b16-01380da72ae4 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 0.000371743 Adjusted end_distance from 9.223372036854776e+18 to 383.890371743 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000371743 meters Centerline goodness : 0.981817 Centerline is valid? [0, True] SLAMing on 0.030371743 meters Centerline goodness : 0.980890 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99999931e-01 3.70293861e-04 0.00000000e+00 3.03080098e-02] [-3.70293861e-04 9.99999931e-01 0.00000000e+00 -1.58246054e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43904889e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.060371743 meters Centerline goodness : 0.982980 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 9.99989221e-01 4.64298132e-03 0.00000000e+00 5.98431459e-02] [-4.64298132e-03 9.99989221e-01 0.00000000e+00 -3.75933642e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03037901e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09037174299999999 meters Centerline goodness : 0.983401 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.01, Z:0.00 [[ 9.99974276e-01 7.17270858e-03 0.00000000e+00 8.87167025e-02] [-7.17270858e-03 9.99974276e-01 0.00000000e+00 -5.53206728e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67188325e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12037174299999999 meters Centerline goodness : 0.984638 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.02, Z:0.00 [[ 0.99987561 0.01577204 0. 0.11768258] [-0.01577204 0.99987561 0. -0.01621543] [ 0. 0. 1. 0.00446115] [ 0. 0. 0. 1. ]] SLAMing on 0.150371743 meters Centerline goodness : 0.985331 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.01, Z:0.01 [[ 0.9998601 0.01672636 0. 0.14615915] [-0.01672636 0.9998601 0. -0.01432829] [ 0. 0. 1. 0.00629927] [ 0. 0. 0. 1. ]] SLAMing on 0.180371743 meters Centerline goodness : 0.986015 Centerline is valid? [True, True] Translation: X:0.17, Y:-0.01, Z:0.01 [[ 0.9997319 0.02315428 0. 0.17487032] [-0.02315428 0.9997319 0. -0.0130604 ] [ 0. 0. 1. 0.00955047] [ 0. 0. 0. 1. ]] SLAMing on 0.210371743 meters Centerline goodness : 0.980224 Centerline is valid? [True, True] Translation: X:0.20, Y:-0.01, Z:0.01 [[ 0.99977589 0.02116984 0. 0.19874735] [-0.02116984 0.99977589 0. -0.00589846] [ 0. 0. 1. 0.00562207] [ 0. 0. 0. 1. ]] SLAMing on 0.240371743 meters Centerline goodness : 0.985821 Centerline is valid? [True, True] Translation: X:0.23, Y:-0.01, Z:0.01 [[ 0.99961953 0.02758261 0. 0.23136033] [-0.02758261 0.99961953 0. -0.0106523 ] [ 0. 0. 1. 0.00673433] [ 0. 0. 0. 1. ]] SLAMing on 0.270371743 meters Centerline goodness : 0.984968 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.02, Z:0.01 [[ 0.99923555 0.03909366 0. 0.25975492] [-0.03909366 0.99923555 0. -0.01824945] [ 0. 0. 1. 0.01130576] [ 0. 0. 0. 1. ]] SLAMing on 0.30037174299999997 meters Centerline goodness : 0.984803 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.02, Z:0.01 [[ 0.99910684 0.04225554 0. 0.28751301] [-0.04225554 0.99910684 0. -0.02076317] [ 0. 0. 1. 0.0117636 ] [ 0. 0. 0. 1. ]] SLAMing on 0.33037174299999994 meters Centerline goodness : 0.984471 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.02, Z:0.01 [[ 0.99902149 0.04422733 0. 0.31475961] [-0.04422733 0.99902149 0. -0.02263489] [ 0. 0. 1. 0.01202826] [ 0. 0. 0. 1. ]] SLAMing on 0.36037174299999997 meters Centerline goodness : 0.980768 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.02, Z:0.01 [[ 0.99919838 0.0400324 0. 0.3392745 ] [-0.0400324 0.99919838 0. -0.01656974] [ 0. 0. 1. 0.0112564 ] [ 0. 0. 0. 1. ]] SLAMing on 0.390371743 meters Centerline goodness : 0.986284 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.03, Z:0.01 [[ 0.99888199 0.04727334 0. 0.37130801] [-0.04727334 0.99888199 0. -0.02828527] [ 0. 0. 1. 0.0139794 ] [ 0. 0. 0. 1. ]] SLAMing on 0.42037174299999996 meters Centerline goodness : 0.985894 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.03, Z:0.01 [[ 0.99893635 0.0461104 0. 0.39860003] [-0.0461104 0.99893635 0. -0.03052519] [ 0. 0. 1. 0.01411721] [ 0. 0. 0. 1. ]] SLAMing on 0.45037174299999994 meters Centerline goodness : 0.986835 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.03, Z:0.01 [[ 0.99899393 0.04484565 0. 0.42643834] [-0.04484565 0.99899393 0. -0.03308975] [ 0. 0. 1. 0.01410693] [ 0. 0. 0. 1. ]] SLAMing on 0.48037174299999996 meters Centerline goodness : 0.987187 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.04, Z:0.01 [[ 0.99916931 0.04075147 0. 0.45483909] [-0.04075147 0.99916931 0. -0.03685496] [ 0. 0. 1. 0.01361241] [ 0. 0. 0. 1. ]] SLAMing on 0.510371743 meters Centerline goodness : 0.986917 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.04, Z:0.01 [[ 0.99928691 0.03775809 0. 0.48297223] [-0.03775809 0.99928691 0. -0.0392093 ] [ 0. 0. 1. 0.0140979 ] [ 0. 0. 0. 1. ]] SLAMing on 0.540371743 meters Centerline goodness : 0.987420 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.04, Z:0.02 [[ 0.99937515 0.03534563 0. 0.511482 ] [-0.03534563 0.99937515 0. -0.04196639] [ 0. 0. 1. 0.01531517] [ 0. 0. 0. 1. ]] SLAMing on 0.5703717429999999 meters Centerline goodness : 0.986968 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.05, Z:0.02 [[ 0.99949961 0.03163121 0. 0.54020867] [-0.03163121 0.99949961 0. -0.04822814] [ 0. 0. 1. 0.01632546] [ 0. 0. 0. 1. ]] SLAMing on 0.600371743 meters Centerline goodness : 0.982709 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.04, Z:0.01 [[ 0.99971011 0.02407685 0. 0.56593063] [-0.02407685 0.99971011 0. -0.04431998] [ 0. 0. 1. 0.0136886 ] [ 0. 0. 0. 1. ]] SLAMing on 0.630371743 meters Centerline goodness : 0.990762 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.05, Z:0.01 [[ 0.99961946 0.02758494 0. 0.60025927] [-0.02758494 0.99961946 0. -0.05487579] [ 0. 0. 1. 0.01360127] [ 0. 0. 0. 1. ]] SLAMing on 0.6603717429999999 meters Centerline goodness : 0.991702 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.06, Z:0.01 [[ 0.99973081 0.0232016 0. 0.62852743] [-0.0232016 0.99973081 0. -0.05748789] [ 0. 0. 1. 0.01436728] [ 0. 0. 0. 1. ]] SLAMing on 0.6903717429999999 meters Centerline goodness : 0.982643 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.06, Z:0.01 [[ 0.99982204 0.01886478 0. 0.65311218] [-0.01886478 0.99982204 0. -0.05625704] [ 0. 0. 1. 0.014344 ] [ 0. 0. 0. 1. ]] SLAMing on 0.720371743 meters Centerline goodness : 0.988179 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.06, Z:0.02 [[ 0.99978549 0.02071189 0. 0.68401099] [-0.02071189 0.99978549 0. -0.06368557] [ 0. 0. 1. 0.0191026 ] [ 0. 0. 0. 1. ]] SLAMing on 0.750371743 meters Centerline goodness : 0.988425 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.06, Z:0.02 [[ 0.99985477 0.01704228 0. 0.71037139] [-0.01704228 0.99985477 0. -0.06365682] [ 0. 0. 1. 0.01882752] [ 0. 0. 0. 1. ]] SLAMing on 0.780371743 meters Centerline goodness : 0.981177 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.06, Z:0.02 [[ 0.99989214 0.01468698 0. 0.73891434] [-0.01468698 0.99989214 0. -0.06429531] [ 0. 0. 1. 0.0190986 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8103717429999999 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.07, Z:0.02 [[ 0.99989286 0.01463776 0. 0.76862633] [-0.01463776 0.99989286 0. -0.06728273] [ 0. 0. 1. 0.01541604] [ 0. 0. 0. 1. ]] SLAMing on 0.840371743 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.07, Z:0.01 [[ 0.99991101 0.01334026 0. 0.80091815] [-0.01334026 0.99991101 0. -0.0717825 ] [ 0. 0. 1. 0.01413781] [ 0. 0. 0. 1. ]] SLAMing on 0.870371743 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.07, Z:0.01 [[ 0.99991885 0.01273948 0. 0.82706385] [-0.01273948 0.99991885 0. -0.07365832] [ 0. 0. 1. 0.01262641] [ 0. 0. 0. 1. ]] SLAMing on 0.9003717429999999 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.08, Z:0.01 [[ 0.99994121 0.01084332 0. 0.85673508] [-0.01084332 0.99994121 0. -0.07509694] [ 0. 0. 1. 0.01271811] [ 0. 0. 0. 1. ]] SLAMing on 0.9303717429999999 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.08, Z:0.01 [[ 0.9999588 0.00907681 0. 0.88579638] [-0.00907681 0.9999588 0. -0.07556593] [ 0. 0. 1. 0.01239107] [ 0. 0. 0. 1. ]] SLAMing on 0.9603717429999999 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.07, Z:0.01 [[ 0.99997877 0.00651667 0. 0.91315999] [-0.00651667 0.99997877 0. -0.07474364] [ 0. 0. 1. 0.01205037] [ 0. 0. 0. 1. ]] SLAMing on 0.990371743 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.06, Z:0.02 [[ 0.99997774 -0.00667267 0. 0.92866969] [ 0.00667267 0.99997774 0. -0.05678538] [ 0. 0. 1. 0.01958718] [ 0. 0. 0. 1. ]] SLAMing on 1.020371743 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.06, Z:0.02 [[ 0.99997405 -0.00720344 0. 0.95996309] [ 0.00720344 0.99997405 0. -0.05649054] [ 0. 0. 1. 0.01926365] [ 0. 0. 0. 1. ]] SLAMing on 1.0503717430000001 meters Centerline goodness : 0.992292 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.06, Z:0.02 [[ 0.99999181 -0.00404823 0. 0.99186406] [ 0.00404823 0.99999181 0. -0.05882463] [ 0. 0. 1. 0.01609745] [ 0. 0. 0. 1. ]] SLAMing on 1.0803717430000002 meters Centerline goodness : 0.984979 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.06, Z:0.01 [[ 0.99998464 -0.00554321 0. 1.02124666] [ 0.00554321 0.99998464 0. -0.05576988] [ 0. 0. 1. 0.01320035] [ 0. 0. 0. 1. ]] SLAMing on 1.110371743 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.06, Z:0.02 [[ 0.99999701 -0.00244462 0. 1.05314432] [ 0.00244462 0.99999701 0. -0.06005708] [ 0. 0. 1. 0.01765533] [ 0. 0. 0. 1. ]] SLAMing on 1.140371743 meters Centerline goodness : 0.985325 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.06, Z:0.01 [[ 0.9999917 -0.00407543 0. 1.08325006] [ 0.00407543 0.9999917 0. -0.0565168 ] [ 0. 0. 1. 0.01394887] [ 0. 0. 0. 1. ]] SLAMing on 1.170371743 meters Centerline goodness : 0.984297 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.05, Z:0.02 [[ 0.99999276 -0.00380442 0. 1.11506675] [ 0.00380442 0.99999276 0. -0.05400767] [ 0. 0. 1. 0.01501034] [ 0. 0. 0. 1. ]] SLAMing on 1.200371743 meters Centerline goodness : 0.985586 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.05, Z:0.01 [[ 0.99999221 -0.00394667 0. 1.1461043 ] [ 0.00394667 0.99999221 0. -0.05286796] [ 0. 0. 1. 0.00790078] [ 0. 0. 0. 1. ]] SLAMing on 1.230371743 meters Centerline goodness : 0.984988 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.05, Z:0.02 [[ 0.99998986 -0.00450412 0. 1.17751712] [ 0.00450412 0.99998986 0. -0.05243552] [ 0. 0. 1. 0.01627331] [ 0. 0. 0. 1. ]] SLAMing on 1.260371743 meters Centerline goodness : 0.984340 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.05, Z:0.02 [[ 0.99998871 -0.00475173 0. 1.20879957] [ 0.00475173 0.99998871 0. -0.0523466 ] [ 0. 0. 1. 0.01949553] [ 0. 0. 0. 1. ]] SLAMing on 1.2903717430000001 meters Centerline goodness : 0.984340 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.05, Z:0.02 [[ 0.99999014 -0.00444116 0. 1.24153028] [ 0.00444116 0.99999014 0. -0.05453085] [ 0. 0. 1. 0.01949553] [ 0. 0. 0. 1. ]] SLAMing on 1.320371743 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.06, Z:0.02 [[ 0.99999511 -0.00312727 0. 1.27244578] [ 0.00312727 0.99999511 0. -0.05611628] [ 0. 0. 1. 0.02288608] [ 0. 0. 0. 1. ]] SLAMing on 1.350371743 meters Centerline goodness : 0.984469 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.05, Z:0.01 [[ 0.99998105 -0.00615563 0. 1.29988079] [ 0.00615563 0.99998105 0. -0.05403033] [ 0. 0. 1. 0.01493278] [ 0. 0. 0. 1. ]] SLAMing on 1.380371743 meters Centerline goodness : 0.984787 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.05, Z:0.01 [[ 0.99995983 -0.00896267 0. 1.33147583] [ 0.00896267 0.99995983 0. -0.05214291] [ 0. 0. 1. 0.01177452] [ 0. 0. 0. 1. ]] SLAMing on 1.410371743 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.05, Z:0.03 [[ 0.9999625 -0.0086602 0. 1.3630352 ] [ 0.0086602 0.9999625 0. -0.05276059] [ 0. 0. 1. 0.02568599] [ 0. 0. 0. 1. ]] SLAMing on 1.440371743 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.05, Z:0.02 [[ 0.99992782 -0.01201505 0. 1.38889281] [ 0.01201505 0.99992782 0. -0.04823181] [ 0. 0. 1. 0.01838893] [ 0. 0. 0. 1. ]] SLAMing on 1.470371743 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.04, Z:0.02 [[ 0.99992228 -0.01246769 0. 1.42208283] [ 0.01246769 0.99992228 0. -0.04377611] [ 0. 0. 1. 0.01890108] [ 0. 0. 0. 1. ]] SLAMing on 1.500371743 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.05, Z:0.02 [[ 0.99997671 -0.00682526 0. 1.45650094] [ 0.00682526 0.99997671 0. -0.04664942] [ 0. 0. 1. 0.02000084] [ 0. 0. 0. 1. ]] SLAMing on 1.5303717430000001 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.04, Z:0.03 [[ 0.99999763 -0.00217535 0. 1.48874785] [ 0.00217535 0.99999763 0. -0.0421991 ] [ 0. 0. 1. 0.02515011] [ 0. 0. 0. 1. ]] SLAMing on 1.5603717430000001 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.04, Z:0.03 [[ 0.99999846 0.00175764 0. 1.52017912] [-0.00175764 0.99999846 0. -0.04062375] [ 0. 0. 1. 0.0252572 ] [ 0. 0. 0. 1. ]] SLAMing on 1.590371743 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.04, Z:0.03 [[ 0.9999888 0.00473388 0. 1.54952569] [-0.00473388 0.9999888 0. -0.03802056] [ 0. 0. 1. 0.02608122] [ 0. 0. 0. 1. ]] SLAMing on 1.620371743 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.03, Z:0.03 [[ 0.99992313 0.01239904 0. 1.57863916] [-0.01239904 0.99992313 0. -0.03347443] [ 0. 0. 1. 0.02784522] [ 0. 0. 0. 1. ]] SLAMing on 1.650371743 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.03, Z:0.03 [[ 0.99988964 0.01485657 0. 1.60696389] [-0.01485657 0.99988964 0. -0.03235762] [ 0. 0. 1. 0.02827525] [ 0. 0. 0. 1. ]] SLAMing on 1.680371743 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.03, Z:0.03 [[ 0.99986098 0.01667375 0. 1.63470062] [-0.01667375 0.99986098 0. -0.03067309] [ 0. 0. 1. 0.02895758] [ 0. 0. 0. 1. ]] SLAMing on 1.710371743 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.03, Z:0.03 [[ 0.99983909 0.01793885 0. 1.66202328] [-0.01793885 0.99983909 0. -0.02962954] [ 0. 0. 1. 0.02682852] [ 0. 0. 0. 1. ]] SLAMing on 1.740371743 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.03, Z:0.03 [[ 0.99983002 0.01843734 0. 1.69076632] [-0.01843734 0.99983002 0. -0.02966731] [ 0. 0. 1. 0.02870966] [ 0. 0. 0. 1. ]] SLAMing on 1.770371743 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.03, Z:0.03 [[ 0.9998207 0.01893593 0. 1.7196261 ] [-0.01893593 0.9998207 0. -0.02976653] [ 0. 0. 1. 0.02908864] [ 0. 0. 0. 1. ]] SLAMing on 1.800371743 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.03, Z:0.03 [[ 0.99982313 0.01880693 0. 1.746204 ] [-0.01880693 0.99982313 0. -0.03122636] [ 0. 0. 1. 0.02921666] [ 0. 0. 0. 1. ]] SLAMing on 1.830371743 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.03, Z:0.03 [[ 0.99984779 0.01744694 0. 1.77307346] [-0.01744694 0.99984779 0. -0.03215788] [ 0. 0. 1. 0.02887245] [ 0. 0. 0. 1. ]] SLAMing on 1.860371743 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.04, Z:0.03 [[ 0.99987968 0.01551197 0. 1.80362196] [-0.01551197 0.99987968 0. -0.03710364] [ 0. 0. 1. 0.03250679] [ 0. 0. 0. 1. ]] SLAMing on 1.890371743 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.04, Z:0.03 [[ 0.9999019 0.01400658 0. 1.83206569] [-0.01400658 0.9999019 0. -0.04060378] [ 0. 0. 1. 0.03016684] [ 0. 0. 0. 1. ]] SLAMing on 1.920371743 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.04, Z:0.03 [[ 0.99992256 0.01244512 0. 1.86074704] [-0.01244512 0.99992256 0. -0.04371254] [ 0. 0. 1. 0.03065547] [ 0. 0. 0. 1. ]] SLAMing on 1.950371743 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.05, Z:0.03 [[ 0.99995191 0.00980739 0. 1.88779834] [-0.00980739 0.99995191 0. -0.04665868] [ 0. 0. 1. 0.03035491] [ 0. 0. 0. 1. ]] SLAMing on 1.980371743 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.05, Z:0.03 [[ 0.99995831 0.00913146 0. 1.91600849] [-0.00913146 0.99995831 0. -0.04889193] [ 0. 0. 1. 0.03015525] [ 0. 0. 0. 1. ]] SLAMing on 2.010371743 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.05, Z:0.03 [[ 0.999972 0.00748276 0. 1.94390681] [-0.00748276 0.999972 0. -0.05030504] [ 0. 0. 1. 0.0320136 ] [ 0. 0. 0. 1. ]] SLAMing on 2.040371743 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.05, Z:0.03 [[ 0.99998361 0.00572473 0. 1.97343382] [-0.00572473 0.99998361 0. -0.05428104] [ 0. 0. 1. 0.02892221] [ 0. 0. 0. 1. ]] SLAMing on 2.070371743 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.06, Z:0.03 [[ 0.99999195 0.00401293 0. 2.00064715] [-0.00401293 0.99999195 0. -0.05548175] [ 0. 0. 1. 0.03076959] [ 0. 0. 0. 1. ]] SLAMing on 2.100371743 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.06, Z:0.03 [[ 0.99999552 0.00299177 0. 2.03038171] [-0.00299177 0.99999552 0. -0.05856605] [ 0. 0. 1. 0.0297481 ] [ 0. 0. 0. 1. ]] SLAMing on 2.130371743 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.06, Z:0.03 [[ 9.99998742e-01 1.58627199e-03 0.00000000e+00 2.06026048e+00] [-1.58627199e-03 9.99998742e-01 0.00000000e+00 -6.13628700e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94745322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1603717430000002 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.06, Z:0.03 [[ 9.99999595e-01 8.99568856e-04 0.00000000e+00 2.09020859e+00] [-8.99568856e-04 9.99999595e-01 0.00000000e+00 -6.25972011e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04635932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.190371743 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.06, Z:0.03 [[ 9.99999972e-01 2.37656771e-04 0.00000000e+00 2.12033526e+00] [-2.37656771e-04 9.99999972e-01 0.00000000e+00 -6.36788904e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17230226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.220371743 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.06, Z:0.03 [[ 9.99999862e-01 -5.26254639e-04 0.00000000e+00 2.15057891e+00] [ 5.26254639e-04 9.99999862e-01 0.00000000e+00 -6.45393914e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42284163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.250371743 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.07, Z:0.04 [[ 9.99999983e-01 -1.82917081e-04 0.00000000e+00 2.18064318e+00] [ 1.82917081e-04 9.99999983e-01 0.00000000e+00 -6.65486990e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53098770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.280371743 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.07, Z:0.04 [[ 9.99999569e-01 9.28590597e-04 0.00000000e+00 2.21087324e+00] [-9.28590597e-04 9.99999569e-01 0.00000000e+00 -6.87291937e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50033386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.310371743 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.07, Z:0.04 [[ 9.99999725e-01 7.41359256e-04 0.00000000e+00 2.24166441e+00] [-7.41359256e-04 9.99999725e-01 0.00000000e+00 -7.00297993e-02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68590830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.340371743 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.07, Z:0.04 [[ 0.99999411 0.00343298 0. 2.27147555] [-0.00343298 0.99999411 0. -0.07284646] [ 0. 0. 1. 0.03626659] [ 0. 0. 0. 1. ]] SLAMing on 2.370371743 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.08, Z:0.04 [[ 0.99998913 0.00466259 0. 2.30045659] [-0.00466259 0.99998913 0. -0.07513312] [ 0. 0. 1. 0.03539542] [ 0. 0. 0. 1. ]] SLAMing on 2.400371743 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.08, Z:0.03 [[ 0.99997615 0.00690591 0. 2.32931904] [-0.00690591 0.99997615 0. -0.07655851] [ 0. 0. 1. 0.03491839] [ 0. 0. 0. 1. ]] SLAMing on 2.430371743 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.08, Z:0.04 [[ 0.99996743 0.00807075 0. 2.36218897] [-0.00807075 0.99996743 0. -0.08012706] [ 0. 0. 1. 0.03521671] [ 0. 0. 0. 1. ]] SLAMing on 2.460371743 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.08, Z:0.03 [[ 0.99992855 0.0119541 0. 2.3883124 ] [-0.0119541 0.99992855 0. -0.08170271] [ 0. 0. 1. 0.03438312] [ 0. 0. 0. 1. ]] SLAMing on 2.490371743 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.08, Z:0.04 [[ 0.99992189 0.01249849 0. 2.41536924] [-0.01249849 0.99992189 0. -0.08183908] [ 0. 0. 1. 0.03514758] [ 0. 0. 0. 1. ]] SLAMing on 2.520371743 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.08, Z:0.03 [[ 0.99988714 0.01502324 0. 2.44206157] [-0.01502324 0.99988714 0. -0.08366754] [ 0. 0. 1. 0.03458753] [ 0. 0. 0. 1. ]] SLAMing on 2.550371743 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.09, Z:0.03 [[ 0.99983001 0.01843781 0. 2.4731495 ] [-0.01843781 0.99983001 0. -0.0870112 ] [ 0. 0. 1. 0.03371811] [ 0. 0. 0. 1. ]] SLAMing on 2.580371743 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.09, Z:0.04 [[ 0.99986496 0.01643326 0. 2.50372158] [-0.01643326 0.99986496 0. -0.08788443] [ 0. 0. 1. 0.03552123] [ 0. 0. 0. 1. ]] SLAMing on 2.610371743 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.09, Z:0.03 [[ 0.99982313 0.01880721 0. 2.52902277] [-0.01880721 0.99982313 0. -0.0892914 ] [ 0. 0. 1. 0.03457632] [ 0. 0. 0. 1. ]] SLAMing on 2.6403717429999998 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.09, Z:0.03 [[ 0.9998352 0.01815402 0. 2.55936078] [-0.01815402 0.9998352 0. -0.09177214] [ 0. 0. 1. 0.03438489] [ 0. 0. 0. 1. ]] SLAMing on 2.670371743 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.10, Z:0.03 [[ 0.99980311 0.0198429 0. 2.58868147] [-0.0198429 0.99980311 0. -0.09518164] [ 0. 0. 1. 0.03261636] [ 0. 0. 0. 1. ]] SLAMing on 2.700371743 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.10, Z:0.03 [[ 0.99975117 0.02230713 0. 2.61604804] [-0.02230713 0.99975117 0. -0.09761157] [ 0. 0. 1. 0.03200768] [ 0. 0. 0. 1. ]] SLAMing on 2.730371743 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.10, Z:0.03 [[ 0.99972547 0.02343034 0. 2.6434529 ] [-0.02343034 0.99972547 0. -0.09999225] [ 0. 0. 1. 0.03156314] [ 0. 0. 0. 1. ]] SLAMing on 2.760371743 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.10, Z:0.03 [[ 0.99979109 0.02043962 0. 2.67288571] [-0.02043962 0.99979109 0. -0.10154931] [ 0. 0. 1. 0.03406916] [ 0. 0. 0. 1. ]] SLAMing on 2.790371743 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.10, Z:0.03 [[ 0.99977512 0.02120639 0. 2.70270659] [-0.02120639 0.99977512 0. -0.10441799] [ 0. 0. 1. 0.0341428 ] [ 0. 0. 0. 1. ]] SLAMing on 2.820371743 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.10, Z:0.04 [[ 0.99983998 0.01788892 0. 2.72690579] [-0.01788892 0.99983998 0. -0.10298624] [ 0. 0. 1. 0.03651529] [ 0. 0. 0. 1. ]] SLAMing on 2.850371743 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.11, Z:0.04 [[ 0.99983959 0.01791087 0. 2.75519197] [-0.01791087 0.99983959 0. -0.1060313 ] [ 0. 0. 1. 0.03591806] [ 0. 0. 0. 1. ]] SLAMing on 2.880371743 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.11, Z:0.04 [[ 0.99984718 0.01748211 0. 2.7842225 ] [-0.01748211 0.99984718 0. -0.10983738] [ 0. 0. 1. 0.03574677] [ 0. 0. 0. 1. ]] SLAMing on 2.910371743 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.11, Z:0.04 [[ 0.99985263 0.01716758 0. 2.81260571] [-0.01716758 0.99985263 0. -0.11245679] [ 0. 0. 1. 0.03518729] [ 0. 0. 0. 1. ]] SLAMing on 2.940371743 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.11, Z:0.04 [[ 0.99988896 0.01490202 0. 2.84122284] [-0.01490202 0.99988896 0. -0.11405027] [ 0. 0. 1. 0.03602241] [ 0. 0. 0. 1. ]] SLAMing on 2.970371743 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.12, Z:0.04 [[ 0.99988862 0.01492486 0. 2.86559608] [-0.01492486 0.99988862 0. -0.11709546] [ 0. 0. 1. 0.03714906] [ 0. 0. 0. 1. ]] SLAMing on 3.000371743 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.12, Z:0.04 [[ 0.99992889 0.01192537 0. 2.89499166] [-0.01192537 0.99992889 0. -0.11947965] [ 0. 0. 1. 0.03697409] [ 0. 0. 0. 1. ]] SLAMing on 3.030371743 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.13, Z:0.04 [[ 0.99992552 0.01220454 0. 2.9238769 ] [-0.01220454 0.99992552 0. -0.12578436] [ 0. 0. 1. 0.03716289] [ 0. 0. 0. 1. ]] SLAMing on 3.060371743 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.13, Z:0.04 [[ 0.99994409 0.0105745 0. 2.9517218 ] [-0.0105745 0.99994409 0. -0.12716146] [ 0. 0. 1. 0.0380516 ] [ 0. 0. 0. 1. ]] SLAMing on 3.090371743 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.13, Z:0.04 [[ 0.99995701 0.00927236 0. 2.97905402] [-0.00927236 0.99995701 0. -0.12886207] [ 0. 0. 1. 0.03843984] [ 0. 0. 0. 1. ]] SLAMing on 3.120371743 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.13, Z:0.04 [[ 0.9999325 0.0116188 0. 3.00770163] [-0.0116188 0.9999325 0. -0.13319064] [ 0. 0. 1. 0.03725216] [ 0. 0. 0. 1. ]] SLAMing on 3.150371743 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.13, Z:0.04 [[ 0.99993973 0.01097864 0. 3.03576322] [-0.01097864 0.99993973 0. -0.13377008] [ 0. 0. 1. 0.03725216] [ 0. 0. 0. 1. ]] SLAMing on 3.180371743 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.14, Z:0.04 [[ 0.99992377 0.01234697 0. 3.06415604] [-0.01234697 0.99992377 0. -0.13610662] [ 0. 0. 1. 0.03688263] [ 0. 0. 0. 1. ]] SLAMing on 3.210371743 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.14, Z:0.04 [[ 0.99990994 0.01342082 0. 3.09200615] [-0.01342082 0.99990994 0. -0.13728012] [ 0. 0. 1. 0.03699024] [ 0. 0. 0. 1. ]] SLAMing on 3.240371743 meters Centerline goodness : 0.993203 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.13, Z:0.04 [[ 0.99994934 0.01006536 0. 3.11064533] [-0.01006536 0.99994934 0. -0.13170812] [ 0. 0. 1. 0.04172164] [ 0. 0. 0. 1. ]] SLAMing on 3.270371743 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.13, Z:0.04 [[ 0.99992094 0.01257445 0. 3.13936593] [-0.01257445 0.99992094 0. -0.13433254] [ 0. 0. 1. 0.04153256] [ 0. 0. 0. 1. ]] SLAMing on 3.300371743 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.15, Z:0.04 [[ 0.99971227 0.02398713 0. 3.18105649] [-0.02398713 0.99971227 0. -0.1486337 ] [ 0. 0. 1. 0.0359854 ] [ 0. 0. 0. 1. ]] SLAMing on 3.330371743 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.15, Z:0.03 [[ 0.9996248 0.02739093 0. 3.20865991] [-0.02739093 0.9996248 0. -0.15376069] [ 0. 0. 1. 0.03481165] [ 0. 0. 0. 1. ]] SLAMing on 3.360371743 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.14, Z:0.04 [[ 0.99981508 0.0192304 0. 3.22286743] [-0.0192304 0.99981508 0. -0.14367135] [ 0. 0. 1. 0.0390669 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3903717429999998 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.16, Z:0.03 [[ 0.99956501 0.02949212 0. 3.26757797] [-0.02949212 0.99956501 0. -0.1604441 ] [ 0. 0. 1. 0.03295732] [ 0. 0. 0. 1. ]] SLAMing on 3.420371743 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.17, Z:0.03 [[ 0.9995567 0.02977262 0. 3.29533304] [-0.02977262 0.9995567 0. -0.16647029] [ 0. 0. 1. 0.03097629] [ 0. 0. 0. 1. ]] SLAMing on 3.450371743 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.17, Z:0.03 [[ 0.99960896 0.02796304 0. 3.32101321] [-0.02796304 0.99960896 0. -0.16781419] [ 0. 0. 1. 0.03122694] [ 0. 0. 0. 1. ]] SLAMing on 3.480371743 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.16, Z:0.04 [[ 0.99982509 0.01870257 0. 3.33879626] [-0.01870257 0.99982509 0. -0.15908485] [ 0. 0. 1. 0.03688337] [ 0. 0. 0. 1. ]] SLAMing on 3.510371743 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.18, Z:0.03 [[ 0.99964144 0.02677683 0. 3.38011796] [-0.02677683 0.99964144 0. -0.17826419] [ 0. 0. 1. 0.03119795] [ 0. 0. 0. 1. ]] SLAMing on 3.540371743 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.18, Z:0.03 [[ 0.99967172 0.02562145 0. 3.40978065] [-0.02562145 0.99967172 0. -0.18227682] [ 0. 0. 1. 0.03109399] [ 0. 0. 0. 1. ]] SLAMing on 3.570371743 meters Centerline goodness : 0.992395 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.19, Z:0.03 [[ 0.99970601 0.02424647 0. 3.43786844] [-0.02424647 0.99970601 0. -0.18583571] [ 0. 0. 1. 0.03110545] [ 0. 0. 0. 1. ]] SLAMing on 3.6003717429999997 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.19, Z:0.03 [[ 0.99976186 0.02182237 0. 3.46739829] [-0.02182237 0.99976186 0. -0.19272525] [ 0. 0. 1. 0.03153143] [ 0. 0. 0. 1. ]] SLAMing on 3.630371743 meters Centerline goodness : 0.992191 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.20, Z:0.03 [[ 0.99977154 0.0213744 0. 3.49635287] [-0.0213744 0.99977154 0. -0.1967599 ] [ 0. 0. 1. 0.03149727] [ 0. 0. 0. 1. ]] SLAMing on 3.660371743 meters Centerline goodness : 0.992847 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.20, Z:0.03 [[ 0.99984941 0.01735397 0. 3.52204764] [-0.01735397 0.99984941 0. -0.19675252] [ 0. 0. 1. 0.03316611] [ 0. 0. 0. 1. ]] SLAMing on 3.690371743 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.20, Z:0.03 [[ 0.99988211 0.01535443 0. 3.55100685] [-0.01535443 0.99988211 0. -0.19998762] [ 0. 0. 1. 0.03241812] [ 0. 0. 0. 1. ]] SLAMing on 3.720371743 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.21, Z:0.03 [[ 0.99994635 0.01035885 0. 3.58069385] [-0.01035885 0.99994635 0. -0.20506953] [ 0. 0. 1. 0.0310615 ] [ 0. 0. 0. 1. ]] SLAMing on 3.750371743 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.20, Z:0.03 [[ 9.99997947e-01 -2.02641363e-03 0.00000000e+00 3.59643711e+00] [ 2.02641363e-03 9.99997947e-01 0.00000000e+00 -1.95220261e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48846159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.780371743 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.20, Z:0.03 [[ 0.99998829 -0.00483968 0. 3.62797683] [ 0.00483968 0.99998829 0. -0.19853632] [ 0. 0. 1. 0.03442238] [ 0. 0. 0. 1. ]] SLAMing on 3.810371743 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.20, Z:0.03 [[ 0.99995272 -0.00972376 0. 3.65898891] [ 0.00972376 0.99995272 0. -0.20397734] [ 0. 0. 1. 0.03469194] [ 0. 0. 0. 1. ]] SLAMing on 3.840371743 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.22, Z:0.03 [[ 0.99999001 -0.00447009 0. 3.69929528] [ 0.00447009 0.99999001 0. -0.21729697] [ 0. 0. 1. 0.03338744] [ 0. 0. 0. 1. ]] SLAMing on 3.8703717429999998 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.21, Z:0.04 [[ 0.99989502 -0.01448933 0. 3.71690852] [ 0.01448933 0.99989502 0. -0.20845178] [ 0. 0. 1. 0.03717658] [ 0. 0. 0. 1. ]] SLAMing on 3.900371743 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.21, Z:0.04 [[ 0.99986749 -0.01627911 0. 3.74989813] [ 0.01627911 0.99986749 0. -0.21099052] [ 0. 0. 1. 0.03822399] [ 0. 0. 0. 1. ]] SLAMing on 3.930371743 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.23, Z:0.04 [[ 0.99992499 -0.01224767 0. 3.78935152] [ 0.01224767 0.99992499 0. -0.2253093 ] [ 0. 0. 1. 0.03500503] [ 0. 0. 0. 1. ]] SLAMing on 3.960371743 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.23, Z:0.03 [[ 0.99990427 -0.01383638 0. 3.82225033] [ 0.01383638 0.99990427 0. -0.22790422] [ 0. 0. 1. 0.03435152] [ 0. 0. 0. 1. ]] SLAMing on 3.990371743 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.22, Z:0.04 [[ 0.99974925 -0.02239294 0. 3.84190348] [ 0.02239294 0.99974925 0. -0.21842943] [ 0. 0. 1. 0.03756596] [ 0. 0. 0. 1. ]] SLAMing on 4.020371742999999 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.22, Z:0.04 [[ 0.99970967 -0.02409519 0. 3.87345295] [ 0.02409519 0.99970967 0. -0.22178489] [ 0. 0. 1. 0.03630807] [ 0. 0. 0. 1. ]] SLAMing on 4.0503717429999995 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.23, Z:0.03 [[ 0.99981456 -0.01925757 0. 3.91215391] [ 0.01925757 0.99981456 0. -0.2331312 ] [ 0. 0. 1. 0.03373446] [ 0. 0. 0. 1. ]] SLAMing on 4.080371743 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.24, Z:0.03 [[ 0.99980152 -0.01992282 0. 3.94561274] [ 0.01992282 0.99980152 0. -0.23523031] [ 0. 0. 1. 0.03368397] [ 0. 0. 0. 1. ]] SLAMing on 4.110371742999999 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.24, Z:0.03 [[ 0.99979688 -0.02015452 0. 3.97860619] [ 0.02015452 0.99979688 0. -0.23742944] [ 0. 0. 1. 0.03372772] [ 0. 0. 0. 1. ]] SLAMing on 4.140371742999999 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.24, Z:0.03 [[ 0.9997774 -0.0210988 0. 4.01095815] [ 0.0210988 0.9997774 0. -0.23795837] [ 0. 0. 1. 0.03378585] [ 0. 0. 0. 1. ]] SLAMing on 4.170371743 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.24, Z:0.03 [[ 0.99974566 -0.02255234 0. 4.03872409] [ 0.02255234 0.99974566 0. -0.23707325] [ 0. 0. 1. 0.03438994] [ 0. 0. 0. 1. ]] SLAMing on 4.200371743 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.23, Z:0.04 [[ 0.99952909 -0.03068554 0. 4.06015222] [ 0.03068554 0.99952909 0. -0.22807717] [ 0. 0. 1. 0.03561017] [ 0. 0. 0. 1. ]] SLAMing on 4.230371742999999 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.23, Z:0.03 [[ 0.99951915 -0.03100742 0. 4.09314948] [ 0.03100742 0.99951915 0. -0.2289636 ] [ 0. 0. 1. 0.03476927] [ 0. 0. 0. 1. ]] SLAMing on 4.260371742999999 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.23, Z:0.03 [[ 0.99950586 -0.03143307 0. 4.12637223] [ 0.03143307 0.99950586 0. -0.2297319 ] [ 0. 0. 1. 0.03402431] [ 0. 0. 0. 1. ]] SLAMing on 4.290371743 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.23, Z:0.03 [[ 0.99945398 -0.03304144 0. 4.15864966] [ 0.03304144 0.99945398 0. -0.2293812 ] [ 0. 0. 1. 0.03295463] [ 0. 0. 0. 1. ]] SLAMing on 4.320371743 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.24, Z:0.03 [[ 0.9996604 -0.02605926 0. 4.20110675] [ 0.02605926 0.9996604 0. -0.24022695] [ 0. 0. 1. 0.02786593] [ 0. 0. 0. 1. ]] SLAMing on 4.350371742999999 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.23, Z:0.03 [[ 0.99935458 -0.03592245 0. 4.21786482] [ 0.03592245 0.99935458 0. -0.22855204] [ 0. 0. 1. 0.03141789] [ 0. 0. 0. 1. ]] SLAMing on 4.3803717429999995 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.23, Z:0.03 [[ 0.99930693 -0.03722445 0. 4.25114927] [ 0.03722445 0.99930693 0. -0.22865793] [ 0. 0. 1. 0.03277582] [ 0. 0. 0. 1. ]] SLAMing on 4.410371743 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.24, Z:0.03 [[ 0.99944947 -0.03317779 0. 4.29308119] [ 0.03317779 0.99944947 0. -0.23835931] [ 0. 0. 1. 0.02923129] [ 0. 0. 0. 1. ]] SLAMing on 4.440371742999999 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.23, Z:0.03 [[ 0.99905555 -0.04345124 0. 4.30979006] [ 0.04345124 0.99905555 0. -0.22738365] [ 0. 0. 1. 0.03344304] [ 0. 0. 0. 1. ]] SLAMing on 4.470371742999999 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.23, Z:0.03 [[ 0.99899198 -0.04488892 0. 4.34323585] [ 0.04488892 0.99899198 0. -0.22709247] [ 0. 0. 1. 0.03399244] [ 0. 0. 0. 1. ]] SLAMing on 4.500371743 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.23, Z:0.03 [[ 0.99893594 -0.04611923 0. 4.37599839] [ 0.04611923 0.99893594 0. -0.22523195] [ 0. 0. 1. 0.03475699] [ 0. 0. 0. 1. ]] SLAMing on 4.530371743 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.22, Z:0.03 [[ 0.99894188 -0.04599034 0. 4.40886797] [ 0.04599034 0.99894188 0. -0.2242393 ] [ 0. 0. 1. 0.03486776] [ 0. 0. 0. 1. ]] SLAMing on 4.560371742999999 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.23, Z:0.03 [[ 0.99926446 -0.03834771 0. 4.45179375] [ 0.03834771 0.99926446 0. -0.23152691] [ 0. 0. 1. 0.03138545] [ 0. 0. 0. 1. ]] SLAMing on 4.5903717429999995 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.23, Z:0.03 [[ 0.99930723 -0.03721649 0. 4.48463126] [ 0.03721649 0.99930723 0. -0.23130934] [ 0. 0. 1. 0.03086939] [ 0. 0. 0. 1. ]] SLAMing on 4.620371743 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.23, Z:0.03 [[ 0.9994278 -0.033824 0. 4.51588645] [ 0.033824 0.9994278 0. -0.23172957] [ 0. 0. 1. 0.0288063 ] [ 0. 0. 0. 1. ]] SLAMing on 4.650371742999999 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.23, Z:0.03 [[ 0.99940273 -0.03455687 0. 4.5475514 ] [ 0.03455687 0.99940273 0. -0.22666985] [ 0. 0. 1. 0.02853002] [ 0. 0. 0. 1. ]] SLAMing on 4.680371742999999 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.23, Z:0.03 [[ 0.99945804 -0.03291836 0. 4.58052641] [ 0.03291836 0.99945804 0. -0.22526551] [ 0. 0. 1. 0.02754215] [ 0. 0. 0. 1. ]] SLAMing on 4.710371743 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.22, Z:0.03 [[ 0.99950584 -0.03143374 0. 4.61153416] [ 0.03143374 0.99950584 0. -0.22285615] [ 0. 0. 1. 0.02738618] [ 0. 0. 0. 1. ]] SLAMing on 4.740371743 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.22, Z:0.03 [[ 0.99961216 -0.02784837 0. 4.64527544] [ 0.02784837 0.99961216 0. -0.21868294] [ 0. 0. 1. 0.02684574] [ 0. 0. 0. 1. ]] SLAMing on 4.770371742999999 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.21, Z:0.03 [[ 0.99957915 -0.02900895 0. 4.67521188] [ 0.02900895 0.99957915 0. -0.21476286] [ 0. 0. 1. 0.02888648] [ 0. 0. 0. 1. ]] SLAMing on 4.8003717429999995 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.20, Z:0.03 [[ 0.99933957 -0.03633764 0. 4.69239343] [ 0.03633764 0.99933957 0. -0.20062989] [ 0. 0. 1. 0.03456488] [ 0. 0. 0. 1. ]] SLAMing on 4.830371743 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.20, Z:0.04 [[ 0.99944171 -0.03341071 0. 4.7232772 ] [ 0.03341071 0.99944171 0. -0.19661519] [ 0. 0. 1. 0.03594668] [ 0. 0. 0. 1. ]] SLAMing on 4.860371742999999 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.21, Z:0.03 [[ 0.9996901 -0.0248939 0. 4.76533789] [ 0.0248939 0.9996901 0. -0.20582954] [ 0. 0. 1. 0.0327137 ] [ 0. 0. 0. 1. ]] SLAMing on 4.890371742999999 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.20, Z:0.03 [[ 0.99972883 -0.02328655 0. 4.7984143 ] [ 0.02328655 0.99972883 0. -0.20336564] [ 0. 0. 1. 0.03224109] [ 0. 0. 0. 1. ]] SLAMing on 4.920371743 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.19, Z:0.04 [[ 0.9994796 -0.03225732 0. 4.81497352] [ 0.03225732 0.9994796 0. -0.19002869] [ 0. 0. 1. 0.03649746] [ 0. 0. 0. 1. ]] SLAMing on 4.950371743 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.19, Z:0.04 [[ 0.99948343 -0.03213834 0. 4.84744963] [ 0.03213834 0.99948343 0. -0.18876653] [ 0. 0. 1. 0.03535316] [ 0. 0. 0. 1. ]] SLAMing on 4.980371742999999 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.19, Z:0.03 [[ 0.99948317 -0.03214657 0. 4.879668 ] [ 0.03214657 0.99948317 0. -0.18803699] [ 0. 0. 1. 0.03397063] [ 0. 0. 0. 1. ]] SLAMing on 5.010371742999999 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.20, Z:0.03 [[ 0.99972848 -0.02330145 0. 4.92261103] [ 0.02330145 0.99972848 0. -0.19891198] [ 0. 0. 1. 0.02608325] [ 0. 0. 0. 1. ]] SLAMing on 5.040371743 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.20, Z:0.02 [[ 0.99971445 -0.02389579 0. 4.9540615 ] [ 0.02389579 0.99971445 0. -0.19828621] [ 0. 0. 1. 0.02472201] [ 0. 0. 0. 1. ]] SLAMing on 5.070371742999999 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.20, Z:0.02 [[ 0.99969964 -0.02450787 0. 4.98551161] [ 0.02450787 0.99969964 0. -0.1982836 ] [ 0. 0. 1. 0.02472201] [ 0. 0. 0. 1. ]] SLAMing on 5.100371742999999 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.19, Z:0.03 [[ 0.99960749 -0.02801548 0. 5.01450932] [ 0.02801548 0.99960749 0. -0.19382436] [ 0. 0. 1. 0.02644183] [ 0. 0. 0. 1. ]] SLAMing on 5.1303717429999995 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.19, Z:0.03 [[ 0.99960356 -0.02815542 0. 5.04724905] [ 0.02815542 0.99960356 0. -0.19303324] [ 0. 0. 1. 0.0258686 ] [ 0. 0. 0. 1. ]] SLAMing on 5.160371743 meters Centerline goodness : 0.992904 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.19, Z:0.03 [[ 0.9995881 -0.02869889 0. 5.07958096] [ 0.02869889 0.9995881 0. -0.19188336] [ 0. 0. 1. 0.02667423] [ 0. 0. 0. 1. ]] SLAMing on 5.190371742999999 meters Centerline goodness : 0.993158 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.19, Z:0.03 [[ 0.9996643 -0.02590911 0. 5.11190992] [ 0.02590911 0.9996643 0. -0.19148891] [ 0. 0. 1. 0.02529226] [ 0. 0. 0. 1. ]] SLAMing on 5.220371742999999 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.19, Z:0.03 [[ 0.99957183 -0.02926004 0. 5.14099556] [ 0.02926004 0.99957183 0. -0.18799354] [ 0. 0. 1. 0.02681604] [ 0. 0. 0. 1. ]] SLAMing on 5.250371743 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.19, Z:0.03 [[ 0.99952376 -0.0308586 0. 5.17226161] [ 0.0308586 0.99952376 0. -0.18533368] [ 0. 0. 1. 0.02704112] [ 0. 0. 0. 1. ]] SLAMing on 5.280371742999999 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.18, Z:0.03 [[ 0.99952239 -0.03090299 0. 5.20627193] [ 0.03090299 0.99952239 0. -0.18470187] [ 0. 0. 1. 0.02592302] [ 0. 0. 0. 1. ]] SLAMing on 5.310371742999999 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.18, Z:0.03 [[ 0.99947767 -0.03231688 0. 5.23690613] [ 0.03231688 0.99947767 0. -0.1829718 ] [ 0. 0. 1. 0.02618744] [ 0. 0. 0. 1. ]] SLAMing on 5.3403717429999995 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.18, Z:0.03 [[ 0.99941045 -0.03433292 0. 5.26601667] [ 0.03433292 0.99941045 0. -0.1799357 ] [ 0. 0. 1. 0.03128295] [ 0. 0. 0. 1. ]] SLAMing on 5.370371743 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.18, Z:0.03 [[ 0.99932626 -0.03670196 0. 5.2990708 ] [ 0.03670196 0.99932626 0. -0.17858777] [ 0. 0. 1. 0.0267868 ] [ 0. 0. 0. 1. ]] SLAMing on 5.400371742999999 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.18, Z:0.03 [[ 0.99930956 -0.03715366 0. 5.32976811] [ 0.03715366 0.99930956 0. -0.17746157] [ 0. 0. 1. 0.02594434] [ 0. 0. 0. 1. ]] SLAMing on 5.430371742999999 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.17, Z:0.03 [[ 0.99925484 -0.03859741 0. 5.36189262] [ 0.03859741 0.99925484 0. -0.17462502] [ 0. 0. 1. 0.02759923] [ 0. 0. 0. 1. ]] SLAMing on 5.460371743 meters Centerline goodness : 0.992998 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.17, Z:0.03 [[ 0.99924981 -0.0387275 0. 5.39432887] [ 0.0387275 0.99924981 0. -0.17262334] [ 0. 0. 1. 0.0287935 ] [ 0. 0. 0. 1. ]] SLAMing on 5.490371743 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.17, Z:0.03 [[ 0.99931896 -0.03690012 0. 5.4282458 ] [ 0.03690012 0.99931896 0. -0.17229126] [ 0. 0. 1. 0.02797917] [ 0. 0. 0. 1. ]] SLAMing on 5.520371742999999 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.17, Z:0.03 [[ 0.99932749 -0.03666824 0. 5.4614453 ] [ 0.03666824 0.99932749 0. -0.17043801] [ 0. 0. 1. 0.02816274] [ 0. 0. 0. 1. ]] SLAMing on 5.5503717429999995 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.17, Z:0.03 [[ 0.99950449 -0.03147648 0. 5.49555724] [ 0.03147648 0.99950449 0. -0.17048026] [ 0. 0. 1. 0.02565874] [ 0. 0. 0. 1. ]] SLAMing on 5.580371743 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.16, Z:0.03 [[ 0.9991772 -0.04055767 0. 5.51167308] [ 0.04055767 0.9991772 0. -0.15622198] [ 0. 0. 1. 0.03213978] [ 0. 0. 0. 1. ]] SLAMing on 5.610371742999999 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.17, Z:0.03 [[ 0.99953206 -0.03058871 0. 5.55627144] [ 0.03058871 0.99953206 0. -0.16689705] [ 0. 0. 1. 0.02626155] [ 0. 0. 0. 1. ]] SLAMing on 5.640371742999999 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.15, Z:0.03 [[ 0.9992374 -0.03904628 0. 5.57241834] [ 0.03904628 0.9992374 0. -0.1509541 ] [ 0. 0. 1. 0.0330949 ] [ 0. 0. 0. 1. ]] SLAMing on 5.670371743 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.15, Z:0.03 [[ 0.99925919 -0.03848479 0. 5.6056571 ] [ 0.03848479 0.99925919 0. -0.14924294] [ 0. 0. 1. 0.0332941 ] [ 0. 0. 0. 1. ]] SLAMing on 5.700371743 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.16, Z:0.03 [[ 0.99957523 -0.02914366 0. 5.64913829] [ 0.02914366 0.99957523 0. -0.16007995] [ 0. 0. 1. 0.02664521] [ 0. 0. 0. 1. ]] SLAMing on 5.730371742999999 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.16, Z:0.03 [[ 0.99953725 -0.03041864 0. 5.67970498] [ 0.03041864 0.99953725 0. -0.15606848] [ 0. 0. 1. 0.02693847] [ 0. 0. 0. 1. ]] SLAMing on 5.760371742999999 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.15, Z:0.03 [[ 0.99953419 -0.03051879 0. 5.71182135] [ 0.03051879 0.99953419 0. -0.15411652] [ 0. 0. 1. 0.02625856] [ 0. 0. 0. 1. ]] SLAMing on 5.790371743 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.15, Z:0.03 [[ 0.99955198 -0.02993071 0. 5.74494764] [ 0.02993071 0.99955198 0. -0.15272179] [ 0. 0. 1. 0.02616951] [ 0. 0. 0. 1. ]] SLAMing on 5.820371742999999 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.15, Z:0.03 [[ 0.99958572 -0.0287817 0. 5.77648373] [ 0.0287817 0.99958572 0. -0.14951727] [ 0. 0. 1. 0.02662011] [ 0. 0. 0. 1. ]] SLAMing on 5.850371742999999 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.15, Z:0.03 [[ 0.9996135 -0.02780012 0. 5.80915988] [ 0.02780012 0.9996135 0. -0.14825761] [ 0. 0. 1. 0.02724718] [ 0. 0. 0. 1. ]] SLAMing on 5.8803717429999995 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.15, Z:0.03 [[ 0.99969536 -0.02468183 0. 5.83917798] [ 0.02468183 0.99969536 0. -0.14521321] [ 0. 0. 1. 0.02885417] [ 0. 0. 0. 1. ]] SLAMing on 5.910371743 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.14, Z:0.03 [[ 0.99972331 -0.02352248 0. 5.87096492] [ 0.02352248 0.99972331 0. -0.14375873] [ 0. 0. 1. 0.03001141] [ 0. 0. 0. 1. ]] SLAMing on 5.940371742999999 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.14, Z:0.03 [[ 0.99972628 -0.02339567 0. 5.90270928] [ 0.02339567 0.99972628 0. -0.14195985] [ 0. 0. 1. 0.03117301] [ 0. 0. 0. 1. ]] SLAMing on 5.970371742999999 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.14, Z:0.03 [[ 0.99979829 -0.02008446 0. 5.93295071] [ 0.02008446 0.99979829 0. -0.13935964] [ 0. 0. 1. 0.0319021 ] [ 0. 0. 0. 1. ]] SLAMing on 6.000371743 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.14, Z:0.03 [[ 0.99983704 -0.01805256 0. 5.96622053] [ 0.01805256 0.99983704 0. -0.1388966 ] [ 0. 0. 1. 0.03129786] [ 0. 0. 0. 1. ]] SLAMing on 6.030371742999999 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.14, Z:0.03 [[ 0.999853 -0.01714598 0. 5.99767552] [ 0.01714598 0.999853 0. -0.13799327] [ 0. 0. 1. 0.03083915] [ 0. 0. 0. 1. ]] SLAMing on 6.060371742999999 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.14, Z:0.03 [[ 0.99987957 -0.0155189 0. 6.02769324] [ 0.0155189 0.99987957 0. -0.13714832] [ 0. 0. 1. 0.02894036] [ 0. 0. 0. 1. ]] SLAMing on 6.0903717429999995 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.14, Z:0.03 [[ 0.99985796 -0.01685389 0. 6.05989535] [ 0.01685389 0.99985796 0. -0.1364345 ] [ 0. 0. 1. 0.03004058] [ 0. 0. 0. 1. ]] SLAMing on 6.120371743 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.14, Z:0.03 [[ 0.99984912 -0.01737062 0. 6.09153891] [ 0.01737062 0.99984912 0. -0.13706315] [ 0. 0. 1. 0.02914096] [ 0. 0. 0. 1. ]] SLAMing on 6.150371742999999 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.14, Z:0.03 [[ 0.99976938 -0.02147531 0. 6.12209824] [ 0.02147531 0.99976938 0. -0.13624357] [ 0. 0. 1. 0.03117772] [ 0. 0. 0. 1. ]] SLAMing on 6.180371742999999 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.14, Z:0.03 [[ 0.99973496 -0.0230219 0. 6.15648858] [ 0.0230219 0.99973496 0. -0.13722988] [ 0. 0. 1. 0.03095237] [ 0. 0. 0. 1. ]] SLAMing on 6.210371743 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.14, Z:0.03 [[ 0.99968781 -0.02498557 0. 6.18938987] [ 0.02498557 0.99968781 0. -0.13891606] [ 0. 0. 1. 0.02998574] [ 0. 0. 0. 1. ]] SLAMing on 6.240371743 meters Centerline goodness : 0.993034 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.14, Z:0.03 [[ 0.99948864 -0.03197578 0. 6.21991392] [ 0.03197578 0.99948864 0. -0.13878429] [ 0. 0. 1. 0.03167623] [ 0. 0. 0. 1. ]] SLAMing on 6.270371742999999 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.14, Z:0.03 [[ 0.99941025 -0.03433886 0. 6.25104179] [ 0.03433886 0.99941025 0. -0.13926622] [ 0. 0. 1. 0.03075642] [ 0. 0. 0. 1. ]] SLAMing on 6.3003717429999995 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.14, Z:0.03 [[ 0.9992964 -0.03750608 0. 6.2847206 ] [ 0.03750608 0.9992964 0. -0.14049416] [ 0. 0. 1. 0.03191568] [ 0. 0. 0. 1. ]] SLAMing on 6.330371743 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.14, Z:0.03 [[ 0.99920317 -0.03991272 0. 6.31837147] [ 0.03991272 0.99920317 0. -0.1415638 ] [ 0. 0. 1. 0.03054797] [ 0. 0. 0. 1. ]] SLAMing on 6.360371742999999 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.14, Z:0.03 [[ 0.99895242 -0.04576093 0. 6.35067465] [ 0.04576093 0.99895242 0. -0.1425155 ] [ 0. 0. 1. 0.03040485] [ 0. 0. 0. 1. ]] SLAMing on 6.390371742999999 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.14, Z:0.03 [[ 0.99888344 -0.04724268 0. 6.37884331] [ 0.04724268 0.99888344 0. -0.14254864] [ 0. 0. 1. 0.03066412] [ 0. 0. 0. 1. ]] SLAMing on 6.420371743 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.14, Z:0.03 [[ 0.99871433 -0.05069213 0. 6.41375144] [ 0.05069213 0.99871433 0. -0.14332421] [ 0. 0. 1. 0.03042626] [ 0. 0. 0. 1. ]] SLAMing on 6.450371743 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.14, Z:0.03 [[ 0.99822883 -0.05949117 0. 6.43697795] [ 0.05949117 0.99822883 0. -0.13703528] [ 0. 0. 1. 0.03245534] [ 0. 0. 0. 1. ]] SLAMing on 6.480371742999999 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.14, Z:0.03 [[ 0.99845918 -0.05549119 0. 6.47736107] [ 0.05549119 0.99845918 0. -0.14372848] [ 0. 0. 1. 0.03037957] [ 0. 0. 0. 1. ]] SLAMing on 6.510371742999999 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.14, Z:0.03 [[ 0.99848657 -0.05499614 0. 6.51142776] [ 0.05499614 0.99848657 0. -0.1442001 ] [ 0. 0. 1. 0.03056639] [ 0. 0. 0. 1. ]] SLAMing on 6.540371743 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.14, Z:0.03 [[ 0.99850145 -0.05472522 0. 6.54391649] [ 0.05472522 0.99850145 0. -0.14301311] [ 0. 0. 1. 0.03129587] [ 0. 0. 0. 1. ]] SLAMing on 6.570371742999999 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.14, Z:0.03 [[ 0.99861168 -0.05267557 0. 6.57630112] [ 0.05267557 0.99861168 0. -0.14077202] [ 0. 0. 1. 0.03177654] [ 0. 0. 0. 1. ]] SLAMing on 6.600371742999999 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.14, Z:0.03 [[ 0.99868362 -0.05129346 0. 6.60929603] [ 0.05129346 0.99868362 0. -0.13991087] [ 0. 0. 1. 0.03082484] [ 0. 0. 0. 1. ]] SLAMing on 6.6303717429999995 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.14, Z:0.03 [[ 0.99871935 -0.05059315 0. 6.64123674] [ 0.05059315 0.99871935 0. -0.13824546] [ 0. 0. 1. 0.0302414 ] [ 0. 0. 0. 1. ]] SLAMing on 6.660371743 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.14, Z:0.03 [[ 0.99879572 -0.04906225 0. 6.67276548] [ 0.04906225 0.99879572 0. -0.13755886] [ 0. 0. 1. 0.02872852] [ 0. 0. 0. 1. ]] SLAMing on 6.690371742999999 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.14, Z:0.03 [[ 0.99879427 -0.04909185 0. 6.70569626] [ 0.04909185 0.99879427 0. -0.13598358] [ 0. 0. 1. 0.02866523] [ 0. 0. 0. 1. ]] SLAMing on 6.720371742999999 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.13, Z:0.03 [[ 0.99895946 -0.04560697 0. 6.73932272] [ 0.04560697 0.99895946 0. -0.13474402] [ 0. 0. 1. 0.02548789] [ 0. 0. 0. 1. ]] SLAMing on 6.750371743 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.13, Z:0.03 [[ 0.99896207 -0.04554974 0. 6.76925493] [ 0.04554974 0.99896207 0. -0.13175129] [ 0. 0. 1. 0.02589029] [ 0. 0. 0. 1. ]] SLAMing on 6.780371742999999 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.13, Z:0.03 [[ 0.99898134 -0.04512524 0. 6.80244002] [ 0.04512524 0.99898134 0. -0.12895753] [ 0. 0. 1. 0.02695319] [ 0. 0. 0. 1. ]] SLAMing on 6.810371742999999 meters Centerline goodness : 0.995004 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.13, Z:0.03 [[ 0.99900103 -0.04468706 0. 6.83487079] [ 0.04468706 0.99900103 0. -0.1278515 ] [ 0. 0. 1. 0.02725638] [ 0. 0. 0. 1. ]] SLAMing on 6.8403717429999995 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.12, Z:0.03 [[ 0.99890765 -0.046728 0. 6.86432481] [ 0.046728 0.99890765 0. -0.123746 ] [ 0. 0. 1. 0.03238028] [ 0. 0. 0. 1. ]] SLAMing on 6.870371743 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.13, Z:0.03 [[ 0.99908679 -0.04272683 0. 6.8978042 ] [ 0.04272683 0.99908679 0. -0.12525925] [ 0. 0. 1. 0.02754424] [ 0. 0. 0. 1. ]] SLAMing on 6.900371742999999 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.12, Z:0.03 [[ 0.99903558 -0.04390807 0. 6.93027262] [ 0.04390807 0.99903558 0. -0.12362209] [ 0. 0. 1. 0.02788829] [ 0. 0. 0. 1. ]] SLAMing on 6.930371742999999 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.12, Z:0.03 [[ 0.99904733 -0.04363981 0. 6.96287816] [ 0.04363981 0.99904733 0. -0.12244616] [ 0. 0. 1. 0.02767897] [ 0. 0. 0. 1. ]] SLAMing on 6.960371743 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.12, Z:0.03 [[ 0.99903292 -0.04396837 0. 6.99441545] [ 0.04396837 0.99903292 0. -0.12191921] [ 0. 0. 1. 0.02767897] [ 0. 0. 0. 1. ]] SLAMing on 6.990371742999999 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.12, Z:0.03 [[ 0.99900553 -0.04458654 0. 7.02554201] [ 0.04458654 0.99900553 0. -0.11899189] [ 0. 0. 1. 0.0285918 ] [ 0. 0. 0. 1. ]] SLAMing on 7.020371742999999 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.12, Z:0.03 [[ 0.99902661 -0.04411166 0. 7.05883117] [ 0.04411166 0.99902661 0. -0.11874629] [ 0. 0. 1. 0.02879362] [ 0. 0. 0. 1. ]] SLAMing on 7.0503717429999995 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.12, Z:0.03 [[ 0.99897445 -0.04527752 0. 7.08991419] [ 0.04527752 0.99897445 0. -0.11654872] [ 0. 0. 1. 0.0297777 ] [ 0. 0. 0. 1. ]] SLAMing on 7.080371743 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.11, Z:0.03 [[ 0.99894188 -0.04599054 0. 7.12204699] [ 0.04599054 0.99894188 0. -0.11493677] [ 0. 0. 1. 0.02962761] [ 0. 0. 0. 1. ]] SLAMing on 7.110371742999999 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.12, Z:0.03 [[ 0.99896044 -0.04558547 0. 7.15467561] [ 0.04558547 0.99896044 0. -0.11500823] [ 0. 0. 1. 0.02822782] [ 0. 0. 0. 1. ]] SLAMing on 7.140371742999999 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.11, Z:0.03 [[ 0.9988931 -0.04703806 0. 7.18640883] [ 0.04703806 0.9988931 0. -0.11335681] [ 0. 0. 1. 0.02743507] [ 0. 0. 0. 1. ]] SLAMing on 7.170371743 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.11, Z:0.03 [[ 0.99881653 -0.04863686 0. 7.21505003] [ 0.04863686 0.99881653 0. -0.11066237] [ 0. 0. 1. 0.03056352] [ 0. 0. 0. 1. ]] SLAMing on 7.200371742999999 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.11, Z:0.03 [[ 0.99883681 -0.04821858 0. 7.24923963] [ 0.04821858 0.99883681 0. -0.11079604] [ 0. 0. 1. 0.0283321 ] [ 0. 0. 0. 1. ]] SLAMing on 7.230371742999999 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.11, Z:0.03 [[ 0.99884267 -0.04809691 0. 7.28125195] [ 0.04809691 0.99884267 0. -0.10884066] [ 0. 0. 1. 0.02854872] [ 0. 0. 0. 1. ]] SLAMing on 7.260371742999999 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.11, Z:0.03 [[ 0.9988621 -0.04769179 0. 7.31227735] [ 0.04769179 0.9988621 0. -0.10711414] [ 0. 0. 1. 0.02958751] [ 0. 0. 0. 1. ]] SLAMing on 7.290371743 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.11, Z:0.03 [[ 0.99891456 -0.04657999 0. 7.34649864] [ 0.04657999 0.99891456 0. -0.10734641] [ 0. 0. 1. 0.02631327] [ 0. 0. 0. 1. ]] SLAMing on 7.320371742999999 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.11, Z:0.03 [[ 0.99886824 -0.04756305 0. 7.37858375] [ 0.04756305 0.99886824 0. -0.10544353] [ 0. 0. 1. 0.02854596] [ 0. 0. 0. 1. ]] SLAMing on 7.350371742999999 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.10, Z:0.03 [[ 0.99891065 -0.04666375 0. 7.41160468] [ 0.04666375 0.99891065 0. -0.10425871] [ 0. 0. 1. 0.02839603] [ 0. 0. 0. 1. ]] SLAMing on 7.3803717429999995 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.10, Z:0.03 [[ 0.99893369 -0.04616791 0. 7.4434093 ] [ 0.04616791 0.99893369 0. -0.1030516 ] [ 0. 0. 1. 0.028541 ] [ 0. 0. 0. 1. ]] SLAMing on 7.410371743 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.10, Z:0.03 [[ 0.99891306 -0.04661216 0. 7.4748991 ] [ 0.04661216 0.99891306 0. -0.10119638] [ 0. 0. 1. 0.02960631] [ 0. 0. 0. 1. ]] SLAMing on 7.440371742999999 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.10, Z:0.03 [[ 0.9989428 -0.04597037 0. 7.50576049] [ 0.04597037 0.9989428 0. -0.09941784] [ 0. 0. 1. 0.02921034] [ 0. 0. 0. 1. ]] SLAMing on 7.470371742999999 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.10, Z:0.03 [[ 0.9989202 -0.04645902 0. 7.53842542] [ 0.04645902 0.9989202 0. -0.09883324] [ 0. 0. 1. 0.02883299] [ 0. 0. 0. 1. ]] SLAMing on 7.500371743 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.10, Z:0.03 [[ 0.99886508 -0.04762937 0. 7.56885358] [ 0.04762937 0.99886508 0. -0.09754612] [ 0. 0. 1. 0.02687164] [ 0. 0. 0. 1. ]] SLAMing on 7.530371742999999 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.10, Z:0.03 [[ 0.998746 -0.05006422 0. 7.60009309] [ 0.05006422 0.998746 0. -0.09603648] [ 0. 0. 1. 0.02967512] [ 0. 0. 0. 1. ]] SLAMing on 7.560371742999999 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.10, Z:0.03 [[ 0.99868074 -0.05134956 0. 7.6333235 ] [ 0.05134956 0.99868074 0. -0.09546117] [ 0. 0. 1. 0.02907241] [ 0. 0. 0. 1. ]] SLAMing on 7.5903717429999995 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.09, Z:0.03 [[ 0.99857041 -0.05345216 0. 7.66479439] [ 0.05345216 0.99857041 0. -0.0941476 ] [ 0. 0. 1. 0.03004648] [ 0. 0. 0. 1. ]] SLAMing on 7.620371743 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.09, Z:0.03 [[ 0.99855957 -0.05365423 0. 7.69671486] [ 0.05365423 0.99855957 0. -0.09326978] [ 0. 0. 1. 0.02967005] [ 0. 0. 0. 1. ]] SLAMing on 7.650371742999999 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.09, Z:0.03 [[ 0.99852345 -0.05432244 0. 7.72991817] [ 0.05432244 0.99852345 0. -0.09250917] [ 0. 0. 1. 0.028986 ] [ 0. 0. 0. 1. ]] SLAMing on 7.680371742999999 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.09, Z:0.03 [[ 0.99847166 -0.0552661 0. 7.75908666] [ 0.0552661 0.99847166 0. -0.08971171] [ 0. 0. 1. 0.02976854] [ 0. 0. 0. 1. ]] SLAMing on 7.710371743 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.09, Z:0.03 [[ 0.99848791 -0.0549718 0. 7.79156121] [ 0.0549718 0.99848791 0. -0.08896853] [ 0. 0. 1. 0.03049007] [ 0. 0. 0. 1. ]] SLAMing on 7.740371742999999 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.09, Z:0.03 [[ 0.99849264 -0.05488569 0. 7.82477732] [ 0.05488569 0.99849264 0. -0.08785971] [ 0. 0. 1. 0.03042009] [ 0. 0. 0. 1. ]] SLAMing on 7.770371742999999 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.09, Z:0.03 [[ 0.99846374 -0.05540908 0. 7.85771517] [ 0.05540908 0.99846374 0. -0.08661316] [ 0. 0. 1. 0.02975539] [ 0. 0. 0. 1. ]] SLAMing on 7.8003717429999995 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.09, Z:0.03 [[ 0.99844638 -0.05572101 0. 7.89051632] [ 0.05572101 0.99844638 0. -0.08604314] [ 0. 0. 1. 0.02868594] [ 0. 0. 0. 1. ]] SLAMing on 7.830371743 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.09, Z:0.03 [[ 0.99847573 -0.05519253 0. 7.92232517] [ 0.05519253 0.99847573 0. -0.08558861] [ 0. 0. 1. 0.02740632] [ 0. 0. 0. 1. ]] SLAMing on 7.860371742999999 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.09, Z:0.03 [[ 0.99838411 -0.05682585 0. 7.95462775] [ 0.05682585 0.99838411 0. -0.08558989] [ 0. 0. 1. 0.02640545] [ 0. 0. 0. 1. ]] SLAMing on 7.890371742999999 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.08, Z:0.03 [[ 0.99832517 -0.05785196 0. 7.98788972] [ 0.05785196 0.99832517 0. -0.08481182] [ 0. 0. 1. 0.02660992] [ 0. 0. 0. 1. ]] SLAMing on 7.920371743 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.08, Z:0.03 [[ 0.9982745 -0.0587198 0. 8.01893568] [ 0.0587198 0.9982745 0. -0.08390996] [ 0. 0. 1. 0.02688412] [ 0. 0. 0. 1. ]] SLAMing on 7.950371742999999 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.08, Z:0.03 [[ 0.99828986 -0.05845821 0. 8.05026501] [ 0.05845821 0.99828986 0. -0.08492901] [ 0. 0. 1. 0.0251375 ] [ 0. 0. 0. 1. ]] SLAMing on 7.980371742999999 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.08, Z:0.02 [[ 0.99825601 -0.0590334 0. 8.08367773] [ 0.0590334 0.99825601 0. -0.08493791] [ 0. 0. 1. 0.02438428] [ 0. 0. 0. 1. ]] SLAMing on 8.010371743 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.09, Z:0.02 [[ 0.99817722 -0.06035099 0. 8.11704548] [ 0.06035099 0.99817722 0. -0.08569707] [ 0. 0. 1. 0.02369463] [ 0. 0. 0. 1. ]] SLAMing on 8.040371743 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.09, Z:0.02 [[ 0.998126 -0.06119224 0. 8.14947018] [ 0.06119224 0.998126 0. -0.08678009] [ 0. 0. 1. 0.02204212] [ 0. 0. 0. 1. ]] SLAMing on 8.070371743 meters Centerline goodness : 0.994364 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.08, Z:0.03 [[ 0.99758701 -0.06942739 0. 8.16803877] [ 0.06942739 0.99758701 0. -0.0760011 ] [ 0. 0. 1. 0.02738334] [ 0. 0. 0. 1. ]] SLAMing on 8.100371743 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.09, Z:0.02 [[ 0.99816976 -0.06047425 0. 8.21223718] [ 0.06047425 0.99816976 0. -0.0860677 ] [ 0. 0. 1. 0.02201295] [ 0. 0. 0. 1. ]] SLAMing on 8.130371743 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.09, Z:0.02 [[ 0.99822861 -0.05949496 0. 8.2453698 ] [ 0.05949496 0.99822861 0. -0.08535147] [ 0. 0. 1. 0.02244461] [ 0. 0. 0. 1. ]] SLAMing on 8.160371743 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.08, Z:0.02 [[ 0.99836987 -0.05707544 0. 8.27681003] [ 0.05707544 0.99836987 0. -0.08497914] [ 0. 0. 1. 0.0220932 ] [ 0. 0. 0. 1. ]] SLAMing on 8.190371743 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.08, Z:0.02 [[ 0.99847842 -0.0551438 0. 8.3087386 ] [ 0.0551438 0.99847842 0. -0.08422392] [ 0. 0. 1. 0.02416544] [ 0. 0. 0. 1. ]] SLAMing on 8.220371743 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.08, Z:0.02 [[ 0.9985611 -0.05362592 0. 8.3384136 ] [ 0.05362592 0.9985611 0. -0.08267946] [ 0. 0. 1. 0.02470566] [ 0. 0. 0. 1. ]] SLAMing on 8.250371743 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.08, Z:0.03 [[ 0.99861443 -0.05262345 0. 8.37150011] [ 0.05262345 0.99861443 0. -0.08180731] [ 0. 0. 1. 0.02542142] [ 0. 0. 0. 1. ]] SLAMing on 8.280371743 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.08, Z:0.03 [[ 0.9986615 -0.05172249 0. 8.40200495] [ 0.05172249 0.9986615 0. -0.07999822] [ 0. 0. 1. 0.02592634] [ 0. 0. 0. 1. ]] SLAMing on 8.310371743000001 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.08, Z:0.03 [[ 0.99869691 -0.05103412 0. 8.43360345] [ 0.05103412 0.99869691 0. -0.07812857] [ 0. 0. 1. 0.02639953] [ 0. 0. 0. 1. ]] SLAMing on 8.340371743 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.08, Z:0.03 [[ 0.99888815 -0.04714303 0. 8.46643535] [ 0.04714303 0.99888815 0. -0.07678138] [ 0. 0. 1. 0.02570989] [ 0. 0. 0. 1. ]] SLAMing on 8.370371743 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.07, Z:0.03 [[ 0.99895589 -0.04568505 0. 8.49673503] [ 0.04568505 0.99895589 0. -0.07460996] [ 0. 0. 1. 0.02544308] [ 0. 0. 0. 1. ]] SLAMing on 8.400371743000001 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.08, Z:0.02 [[ 0.99920579 -0.03984709 0. 8.5284949 ] [ 0.03984709 0.99920579 0. -0.07513815] [ 0. 0. 1. 0.02414551] [ 0. 0. 0. 1. ]] SLAMing on 8.430371743 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.07, Z:0.02 [[ 0.99928854 -0.037715 0. 8.56072457] [ 0.037715 0.99928854 0. -0.07442557] [ 0. 0. 1. 0.02458299] [ 0. 0. 0. 1. ]] SLAMing on 8.460371743 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.07, Z:0.02 [[ 0.99939803 -0.03469268 0. 8.59174377] [ 0.03469268 0.99939803 0. -0.07419836] [ 0. 0. 1. 0.0245325 ] [ 0. 0. 0. 1. ]] SLAMing on 8.490371743 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.07, Z:0.03 [[ 0.99950997 -0.03130217 0. 8.62510528] [ 0.03130217 0.99950997 0. -0.07435917] [ 0. 0. 1. 0.02733277] [ 0. 0. 0. 1. ]] SLAMing on 8.520371743 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.07, Z:0.03 [[ 0.9995598 -0.02966819 0. 8.65512688] [ 0.02966819 0.9995598 0. -0.07359095] [ 0. 0. 1. 0.02814313] [ 0. 0. 0. 1. ]] SLAMing on 8.550371743 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.07, Z:0.03 [[ 0.99962025 -0.0275563 0. 8.68609544] [ 0.0275563 0.99962025 0. -0.07419243] [ 0. 0. 1. 0.02875859] [ 0. 0. 0. 1. ]] SLAMing on 8.580371743 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.07, Z:0.03 [[ 0.99958081 -0.0289516 0. 8.71624322] [ 0.0289516 0.99958081 0. -0.0726168 ] [ 0. 0. 1. 0.02993015] [ 0. 0. 0. 1. ]] SLAMing on 8.610371743 meters Centerline goodness : 0.993484 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.08, Z:0.03 [[ 0.99963028 -0.02719031 0. 8.74989074] [ 0.02719031 0.99963028 0. -0.07576296] [ 0. 0. 1. 0.02729064] [ 0. 0. 0. 1. ]] SLAMing on 8.640371743000001 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.08, Z:0.03 [[ 0.99955648 -0.02978001 0. 8.78181418] [ 0.02978001 0.99955648 0. -0.07598483] [ 0. 0. 1. 0.02722409] [ 0. 0. 0. 1. ]] SLAMing on 8.670371743 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.08, Z:0.03 [[ 0.99942906 -0.03378692 0. 8.81070551] [ 0.03378692 0.99942906 0. -0.07729906] [ 0. 0. 1. 0.02845346] [ 0. 0. 0. 1. ]] SLAMing on 8.700371743 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.08, Z:0.02 [[ 0.99942825 -0.03381098 0. 8.84529396] [ 0.03381098 0.99942825 0. -0.08113223] [ 0. 0. 1. 0.02472695] [ 0. 0. 0. 1. ]] SLAMing on 8.730371743000001 meters Centerline goodness : 0.992612 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.08, Z:0.02 [[ 0.99932638 -0.03669872 0. 8.875777 ] [ 0.03669872 0.99932638 0. -0.08143851] [ 0. 0. 1. 0.02499566] [ 0. 0. 0. 1. ]] SLAMing on 8.760371743 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.08, Z:0.02 [[ 0.99925682 -0.03854628 0. 8.90957014] [ 0.03854628 0.99925682 0. -0.08348423] [ 0. 0. 1. 0.02443843] [ 0. 0. 0. 1. ]] SLAMing on 8.790371743 meters Centerline goodness : 0.992671 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.09, Z:0.02 [[ 0.99909607 -0.04250924 0. 8.93952151] [ 0.04250924 0.99909607 0. -0.08638063] [ 0. 0. 1. 0.02422504] [ 0. 0. 0. 1. ]] SLAMing on 8.820371743 meters Centerline goodness : 0.992643 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.08, Z:0.03 [[ 0.99891044 -0.04666824 0. 8.96867047] [ 0.04666824 0.99891044 0. -0.08473207] [ 0. 0. 1. 0.02932086] [ 0. 0. 0. 1. ]] SLAMing on 8.850371743 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.08, Z:0.03 [[ 0.99853784 -0.05405727 0. 8.99062537] [ 0.05405727 0.99853784 0. -0.07819706] [ 0. 0. 1. 0.03067826] [ 0. 0. 0. 1. ]] SLAMing on 8.880371743 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.08, Z:0.03 [[ 0.99855323 -0.05377222 0. 9.02425553] [ 0.05377222 0.99855323 0. -0.07730845] [ 0. 0. 1. 0.03067826] [ 0. 0. 0. 1. ]] SLAMing on 8.910371743 meters Centerline goodness : 0.992456 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.09, Z:0.03 [[ 0.99883314 -0.04829456 0. 9.06786284] [ 0.04829456 0.99883314 0. -0.0916955 ] [ 0. 0. 1. 0.02647053] [ 0. 0. 0. 1. ]] SLAMing on 8.940371743 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.09, Z:0.03 [[ 0.99877249 -0.04953297 0. 9.10035972] [ 0.04953297 0.99877249 0. -0.09365526] [ 0. 0. 1. 0.02680909] [ 0. 0. 0. 1. ]] SLAMing on 8.970371743 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.10, Z:0.03 [[ 0.99870767 -0.05082321 0. 9.13298082] [ 0.05082321 0.99870767 0. -0.09887515] [ 0. 0. 1. 0.02758132] [ 0. 0. 0. 1. ]] SLAMing on 9.000371743 meters Centerline goodness : 0.992127 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.10, Z:0.03 [[ 0.99865352 -0.05187631 0. 9.16400414] [ 0.05187631 0.99865352 0. -0.1000339 ] [ 0. 0. 1. 0.02890807] [ 0. 0. 0. 1. ]] SLAMing on 9.030371743 meters Centerline goodness : 0.991867 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.10, Z:0.03 [[ 0.99873387 -0.05030563 0. 9.19604973] [ 0.05030563 0.99873387 0. -0.10226332] [ 0. 0. 1. 0.02876019] [ 0. 0. 0. 1. ]] SLAMing on 9.060371743000001 meters Centerline goodness : 0.991542 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.11, Z:0.03 [[ 0.99872977 -0.05038705 0. 9.23021056] [ 0.05038705 0.99872977 0. -0.10790863] [ 0. 0. 1. 0.02683778] [ 0. 0. 0. 1. ]] SLAMing on 9.090371743 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.11, Z:0.03 [[ 0.99869936 -0.05098607 0. 9.26332855] [ 0.05098607 0.99869936 0. -0.1097267 ] [ 0. 0. 1. 0.02508072] [ 0. 0. 0. 1. ]] SLAMing on 9.120371743 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.10, Z:0.03 [[ 0.99806118 -0.06224054 0. 9.27659093] [ 0.06224054 0.99806118 0. -0.09742112] [ 0. 0. 1. 0.02954976] [ 0. 0. 0. 1. ]] SLAMing on 9.150371743000001 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.12, Z:0.02 [[ 0.99867383 -0.05148373 0. 9.32537858] [ 0.05148373 0.99867383 0. -0.11705295] [ 0. 0. 1. 0.02121404] [ 0. 0. 0. 1. ]] SLAMing on 9.180371743 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.12, Z:0.02 [[ 0.99860798 -0.05274573 0. 9.35543163] [ 0.05274573 0.99860798 0. -0.11775944] [ 0. 0. 1. 0.02138801] [ 0. 0. 0. 1. ]] SLAMing on 9.210371743 meters Centerline goodness : 0.992428 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.12, Z:0.02 [[ 0.99855486 -0.05374193 0. 9.38821205] [ 0.05374193 0.99855486 0. -0.12178179] [ 0. 0. 1. 0.02147288] [ 0. 0. 0. 1. ]] SLAMing on 9.240371743 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.11, Z:0.03 [[ 0.99784475 -0.06561905 0. 9.40014155] [ 0.06561905 0.99784475 0. -0.10786165] [ 0. 0. 1. 0.02882322] [ 0. 0. 0. 1. ]] SLAMing on 9.270371743 meters Centerline goodness : 0.992499 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.12, Z:0.02 [[ 0.99854533 -0.05391874 0. 9.44741667] [ 0.05391874 0.99854533 0. -0.12347573] [ 0. 0. 1. 0.02141095] [ 0. 0. 0. 1. ]] SLAMing on 9.300371743 meters Centerline goodness : 0.992637 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.13, Z:0.02 [[ 0.99858922 -0.05309968 0. 9.47714231] [ 0.05309968 0.99858922 0. -0.12605333] [ 0. 0. 1. 0.02081153] [ 0. 0. 0. 1. ]] SLAMing on 9.330371743 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.13, Z:0.02 [[ 0.9985764 -0.05334014 0. 9.50893197] [ 0.05334014 0.9985764 0. -0.12735475] [ 0. 0. 1. 0.021681 ] [ 0. 0. 0. 1. ]] SLAMing on 9.360371743 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.11, Z:0.03 [[ 0.99788515 -0.06500168 0. 9.52442539] [ 0.06500168 0.99788515 0. -0.1127915 ] [ 0. 0. 1. 0.02999472] [ 0. 0. 0. 1. ]] SLAMing on 9.390371743 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.13, Z:0.02 [[ 0.99852861 -0.05422739 0. 9.5694337 ] [ 0.05422739 0.99852861 0. -0.12714278] [ 0. 0. 1. 0.02479107] [ 0. 0. 0. 1. ]] SLAMing on 9.420371743 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.12, Z:0.03 [[ 0.99784756 -0.06557625 0. 9.58545307] [ 0.06557625 0.99784756 0. -0.11702058] [ 0. 0. 1. 0.03102633] [ 0. 0. 0. 1. ]] SLAMing on 9.450371743 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.12, Z:0.03 [[ 0.99781985 -0.06599652 0. 9.61893787] [ 0.06599652 0.99781985 0. -0.11808575] [ 0. 0. 1. 0.03148703] [ 0. 0. 0. 1. ]] SLAMing on 9.480371743000001 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.13, Z:0.03 [[ 0.99835519 -0.05733164 0. 9.66314799] [ 0.05733164 0.99835519 0. -0.13113447] [ 0. 0. 1. 0.02659371] [ 0. 0. 0. 1. ]] SLAMing on 9.510371743 meters Centerline goodness : 0.993278 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.14, Z:0.03 [[ 0.99823626 -0.05936641 0. 9.69592963] [ 0.05936641 0.99823626 0. -0.13507528] [ 0. 0. 1. 0.02704558] [ 0. 0. 0. 1. ]] SLAMing on 9.540371743 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.14, Z:0.03 [[ 0.99807833 -0.06196495 0. 9.72697298] [ 0.06196495 0.99807833 0. -0.13503757] [ 0. 0. 1. 0.02726316] [ 0. 0. 0. 1. ]] SLAMing on 9.570371743 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.13, Z:0.03 [[ 0.99728131 -0.07368841 0. 9.74368892] [ 0.07368841 0.99728131 0. -0.12574021] [ 0. 0. 1. 0.03172205] [ 0. 0. 0. 1. ]] SLAMing on 9.600371743 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.13, Z:0.03 [[ 0.99724404 -0.07419112 0. 9.77617558] [ 0.07419112 0.99724404 0. -0.12624376] [ 0. 0. 1. 0.03172581] [ 0. 0. 0. 1. ]] SLAMing on 9.630371743 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.14, Z:0.03 [[ 0.99789266 -0.06488635 0. 9.82056162] [ 0.06488635 0.99789266 0. -0.13932808] [ 0. 0. 1. 0.02682968] [ 0. 0. 0. 1. ]] SLAMing on 9.660371743 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.13, Z:0.03 [[ 0.99720665 -0.07469199 0. 9.83772771] [ 0.07469199 0.99720665 0. -0.12727601] [ 0. 0. 1. 0.03180097] [ 0. 0. 0. 1. ]] SLAMing on 9.690371743 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.13, Z:0.03 [[ 0.99723579 -0.0743019 0. 9.87061579] [ 0.0743019 0.99723579 0. -0.12849972] [ 0. 0. 1. 0.03143563] [ 0. 0. 0. 1. ]] SLAMing on 9.720371743 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.13, Z:0.03 [[ 0.9972804 -0.07370074 0. 9.9026429 ] [ 0.07370074 0.9972804 0. -0.12839089] [ 0. 0. 1. 0.03098595] [ 0. 0. 0. 1. ]] SLAMing on 9.750371743 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.14, Z:0.03 [[ 0.99798425 -0.06346214 0. 9.947325 ] [ 0.06346214 0.99798425 0. -0.14129877] [ 0. 0. 1. 0.02526942] [ 0. 0. 0. 1. ]] SLAMing on 9.780371743 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.13, Z:0.03 [[ 0.99730703 -0.07333951 0. 9.96357911] [ 0.07333951 0.99730703 0. -0.12763535] [ 0. 0. 1. 0.03084396] [ 0. 0. 0. 1. ]] SLAMing on 9.810371743000001 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.14, Z:0.03 [[ 0.99804748 -0.06245975 0. 10.00824011] [ 0.06245975 0.99804748 0. -0.13963725] [ 0. 0. 1. 0.02607672] [ 0. 0. 0. 1. ]] SLAMing on 9.840371743 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.13, Z:0.03 [[ 0.99736134 -0.07259725 0. 10.02505217] [ 0.07259725 0.99736134 0. -0.12712093] [ 0. 0. 1. 0.03178598] [ 0. 0. 0. 1. ]] SLAMing on 9.870371743 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.14, Z:0.03 [[ 0.99786953 -0.06524113 0. 10.06755263] [ 0.06524113 0.99786953 0. -0.13731425] [ 0. 0. 1. 0.02753236] [ 0. 0. 0. 1. ]] SLAMing on 9.900371743000001 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.14, Z:0.03 [[ 0.99770743 -0.0676749 0. 10.09892931] [ 0.0676749 0.99770743 0. -0.1357282 ] [ 0. 0. 1. 0.02712221] [ 0. 0. 0. 1. ]] SLAMing on 9.930371743 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.13, Z:0.03 [[ 0.99705669 -0.07666788 0. 10.11980108] [ 0.07666788 0.99705669 0. -0.12755067] [ 0. 0. 1. 0.02887752] [ 0. 0. 0. 1. ]] SLAMing on 9.960371743 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.14, Z:0.02 [[ 0.99772984 -0.06734368 0. 10.16631915] [ 0.06734368 0.99772984 0. -0.13956801] [ 0. 0. 1. 0.02354925] [ 0. 0. 0. 1. ]] SLAMing on 9.990371743 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.13, Z:0.03 [[ 0.99684358 -0.07939067 0. 10.18012991] [ 0.07939067 0.99684358 0. -0.1263298 ] [ 0. 0. 1. 0.0290691 ] [ 0. 0. 0. 1. ]] SLAMing on 10.020371743 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.14, Z:0.02 [[ 0.99758518 -0.0694537 0. 10.22976853] [ 0.0694537 0.99758518 0. -0.13995467] [ 0. 0. 1. 0.02366892] [ 0. 0. 0. 1. ]] SLAMing on 10.050371743 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.14, Z:0.02 [[ 0.99720422 -0.07472451 0. 10.25487393] [ 0.07472451 0.99720422 0. -0.13512126] [ 0. 0. 1. 0.02485281] [ 0. 0. 0. 1. ]] SLAMing on 10.080371743 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.14, Z:0.02 [[ 0.99735621 -0.07266768 0. 10.29173327] [ 0.07266768 0.99735621 0. -0.13795497] [ 0. 0. 1. 0.02380123] [ 0. 0. 0. 1. ]] SLAMing on 10.110371743 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.14, Z:0.02 [[ 0.99697679 -0.07769989 0. 10.31843471] [ 0.07769989 0.99697679 0. -0.13525229] [ 0. 0. 1. 0.02354902] [ 0. 0. 0. 1. ]] SLAMing on 10.140371743 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.13, Z:0.02 [[ 0.99670956 -0.0810558 0. 10.34863724] [ 0.0810558 0.99670956 0. -0.13290463] [ 0. 0. 1. 0.02368184] [ 0. 0. 0. 1. ]] SLAMing on 10.170371743 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.13, Z:0.02 [[ 0.99654687 -0.08303214 0. 10.38165418] [ 0.08303214 0.99654687 0. -0.13222711] [ 0. 0. 1. 0.02360886] [ 0. 0. 0. 1. ]] SLAMing on 10.200371743 meters Centerline goodness : 0.995004 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.13, Z:0.02 [[ 0.99622548 -0.0868032 0. 10.41254405] [ 0.0868032 0.99622548 0. -0.13037426] [ 0. 0. 1. 0.02280507] [ 0. 0. 0. 1. ]] SLAMing on 10.230371743000001 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.13, Z:0.02 [[ 0.99584628 -0.09105042 0. 10.44374222] [ 0.09105042 0.99584628 0. -0.12793001] [ 0. 0. 1. 0.02288032] [ 0. 0. 0. 1. ]] SLAMing on 10.260371743 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.13, Z:0.02 [[ 0.99546669 -0.09511079 0. 10.47656559] [ 0.09511079 0.99546669 0. -0.1261604 ] [ 0. 0. 1. 0.02124907] [ 0. 0. 0. 1. ]] SLAMing on 10.290371743 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.12, Z:0.02 [[ 0.99530381 -0.0968004 0. 10.50728667] [ 0.0968004 0.99530381 0. -0.12358622] [ 0. 0. 1. 0.02084066] [ 0. 0. 0. 1. ]] SLAMing on 10.320371743 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.12, Z:0.02 [[ 0.99510357 -0.09883767 0. 10.53865069] [ 0.09883767 0.99510357 0. -0.12098272] [ 0. 0. 1. 0.02078511] [ 0. 0. 0. 1. ]] SLAMing on 10.350371743 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.12, Z:0.02 [[ 0.99501084 -0.09976683 0. 10.57123774] [ 0.09976683 0.99501084 0. -0.11853766] [ 0. 0. 1. 0.02127065] [ 0. 0. 0. 1. ]] SLAMing on 10.380371743 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.11, Z:0.02 [[ 0.99482503 -0.10160294 0. 10.60309912] [ 0.10160294 0.99482503 0. -0.11419835] [ 0. 0. 1. 0.02201125] [ 0. 0. 0. 1. ]] SLAMing on 10.410371743 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.11, Z:0.02 [[ 0.99469396 -0.1028782 0. 10.63404351] [ 0.1028782 0.99469396 0. -0.11032821] [ 0. 0. 1. 0.02260073] [ 0. 0. 0. 1. ]] SLAMing on 10.440371743 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.11, Z:0.02 [[ 0.99498801 -0.09999431 0. 10.67027827] [ 0.09999431 0.99498801 0. -0.10816308] [ 0. 0. 1. 0.02198758] [ 0. 0. 0. 1. ]] SLAMing on 10.470371743 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.10, Z:0.02 [[ 0.99475294 -0.10230639 0. 10.6993984 ] [ 0.10230639 0.99475294 0. -0.10297107] [ 0. 0. 1. 0.02284038] [ 0. 0. 0. 1. ]] SLAMing on 10.500371743 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.09, Z:0.03 [[ 0.99386221 -0.11062505 0. 10.71599837] [ 0.11062505 0.99386221 0. -0.08960522] [ 0. 0. 1. 0.02704591] [ 0. 0. 0. 1. ]] SLAMing on 10.530371743 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.09, Z:0.02 [[ 0.99455459 -0.10421692 0. 10.75892737] [ 0.10421692 0.99455459 0. -0.09396115] [ 0. 0. 1. 0.02465819] [ 0. 0. 0. 1. ]] SLAMing on 10.560371743 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.09, Z:0.03 [[ 0.99446359 -0.10508169 0. 10.7901518 ] [ 0.10508169 0.99446359 0. -0.09098697] [ 0. 0. 1. 0.02514485] [ 0. 0. 0. 1. ]] SLAMing on 10.590371743 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.09, Z:0.02 [[ 0.99450818 -0.1046589 0. 10.82492302] [ 0.1046589 0.99450818 0. -0.08956633] [ 0. 0. 1. 0.02359961] [ 0. 0. 0. 1. ]] SLAMing on 10.620371743 meters Centerline goodness : 0.994983 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.08, Z:0.02 [[ 0.99403431 -0.10906781 0. 10.85066491] [ 0.10906781 0.99403431 0. -0.08376913] [ 0. 0. 1. 0.02496007] [ 0. 0. 0. 1. ]] SLAMing on 10.650371743000001 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.08, Z:0.02 [[ 0.99388212 -0.11044606 0. 10.8835772 ] [ 0.11044606 0.99388212 0. -0.08103886] [ 0. 0. 1. 0.02422527] [ 0. 0. 0. 1. ]] SLAMing on 10.680371743 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.08, Z:0.02 [[ 0.99369661 -0.11210281 0. 10.91490029] [ 0.11210281 0.99369661 0. -0.07730686] [ 0. 0. 1. 0.02266595] [ 0. 0. 0. 1. ]] SLAMing on 10.710371743 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.07, Z:0.02 [[ 0.9934346 -0.11440148 0. 10.94724403] [ 0.11440148 0.9934346 0. -0.07432131] [ 0. 0. 1. 0.02211421] [ 0. 0. 0. 1. ]] SLAMing on 10.740371743 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.07, Z:0.02 [[ 0.99327527 -0.11577668 0. 10.97858321] [ 0.11577668 0.99327527 0. -0.07173177] [ 0. 0. 1. 0.02112246] [ 0. 0. 0. 1. ]] SLAMing on 10.770371743 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.07, Z:0.02 [[ 0.99324773 -0.11601273 0. 11.01096584] [ 0.11601273 0.99324773 0. -0.0700944 ] [ 0. 0. 1. 0.02112246] [ 0. 0. 0. 1. ]] SLAMing on 10.800371743 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.07, Z:0.02 [[ 0.99299699 -0.11813969 0. 11.04405014] [ 0.11813969 0.99299699 0. -0.06630658] [ 0. 0. 1. 0.02076049] [ 0. 0. 0. 1. ]] SLAMing on 10.830371743 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.06, Z:0.02 [[ 0.99289918 -0.11895893 0. 11.07385387] [ 0.11895893 0.99289918 0. -0.06280439] [ 0. 0. 1. 0.02056871] [ 0. 0. 0. 1. ]] SLAMing on 10.860371743 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.06, Z:0.02 [[ 0.99286181 -0.11927036 0. 11.10762932] [ 0.11927036 0.99286181 0. -0.05988353] [ 0. 0. 1. 0.02040458] [ 0. 0. 0. 1. ]] SLAMing on 10.890371743 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.06, Z:0.02 [[ 0.99312044 -0.11709733 0. 11.13952208] [ 0.11709733 0.99312044 0. -0.05568321] [ 0. 0. 1. 0.02009482] [ 0. 0. 0. 1. ]] SLAMing on 10.920371743 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.05, Z:0.02 [[ 0.99304478 -0.11773727 0. 11.17183842] [ 0.11773727 0.99304478 0. -0.05178316] [ 0. 0. 1. 0.02099103] [ 0. 0. 0. 1. ]] SLAMing on 10.950371743 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.05, Z:0.02 [[ 0.99318993 -0.11650652 0. 11.20356072] [ 0.11650652 0.99318993 0. -0.04893953] [ 0. 0. 1. 0.02120429] [ 0. 0. 0. 1. ]] SLAMing on 10.980371743000001 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.04, Z:0.02 [[ 0.9934019 -0.11468504 0. 11.23569249] [ 0.11468504 0.9934019 0. -0.04348739] [ 0. 0. 1. 0.02215649] [ 0. 0. 0. 1. ]] SLAMing on 11.010371743 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.04, Z:0.02 [[ 0.99354552 -0.11343413 0. 11.26634883] [ 0.11343413 0.99354552 0. -0.039529 ] [ 0. 0. 1. 0.02244791] [ 0. 0. 0. 1. ]] SLAMing on 11.040371743 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.03, Z:0.02 [[ 0.99374973 -0.11163093 0. 11.29836246] [ 0.11163093 0.99374973 0. -0.03350814] [ 0. 0. 1. 0.0239698 ] [ 0. 0. 0. 1. ]] SLAMing on 11.070371743 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.03, Z:0.02 [[ 0.99379752 -0.11120468 0. 11.32778933] [ 0.11120468 0.99379752 0. -0.02963387] [ 0. 0. 1. 0.02459367] [ 0. 0. 0. 1. ]] SLAMing on 11.100371743 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.03, Z:0.02 [[ 0.9936965 -0.11210386 0. 11.36031931] [ 0.11210386 0.9936965 0. -0.02653039] [ 0. 0. 1. 0.02463881] [ 0. 0. 0. 1. ]] SLAMing on 11.130371743 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.02, Z:0.02 [[ 0.99361345 -0.11283751 0. 11.39274135] [ 0.11283751 0.99361345 0. -0.02317273] [ 0. 0. 1. 0.02426132] [ 0. 0. 0. 1. ]] SLAMing on 11.160371743 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.02, Z:0.02 [[ 0.99349553 -0.11387108 0. 11.42361483] [ 0.11387108 0.99349553 0. -0.01980256] [ 0. 0. 1. 0.02373302] [ 0. 0. 0. 1. ]] SLAMing on 11.190371743 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.02, Z:0.02 [[ 0.99344425 -0.11431763 0. 11.45554654] [ 0.11431763 0.99344425 0. -0.01590703] [ 0. 0. 1. 0.02185706] [ 0. 0. 0. 1. ]] SLAMing on 11.220371743 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.01, Z:0.02 [[ 0.99329513 -0.11560614 0. 11.48825674] [ 0.11560614 0.99329513 0. -0.0121857 ] [ 0. 0. 1. 0.02119124] [ 0. 0. 0. 1. ]] SLAMing on 11.250371743 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.01, Z:0.02 [[ 9.93265259e-01 -1.15862531e-01 0.00000000e+00 1.15207602e+01] [ 1.15862531e-01 9.93265259e-01 0.00000000e+00 -8.86161642e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95172508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.280371743 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.01, Z:0.02 [[ 9.93133330e-01 -1.16987989e-01 0.00000000e+00 1.15524342e+01] [ 1.16987989e-01 9.93133330e-01 0.00000000e+00 -5.18151069e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92360890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.310371743 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.00, Z:0.02 [[ 9.93116394e-01 -1.17131670e-01 0.00000000e+00 1.15856284e+01] [ 1.17131670e-01 9.93116394e-01 0.00000000e+00 -2.31707758e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89657180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340371743 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:11.62, Y:0.00, Z:0.02 [[ 9.93129476e-01 -1.17020702e-01 0.00000000e+00 1.16178878e+01] [ 1.17020702e-01 9.93129476e-01 0.00000000e+00 1.76538958e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87304810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.370371743 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:11.65, Y:0.00, Z:0.02 [[ 9.93325877e-01 -1.15341679e-01 0.00000000e+00 1.16500678e+01] [ 1.15341679e-01 9.93325877e-01 0.00000000e+00 4.21047954e-03] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73335674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400371743000001 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:11.67, Y:0.02, Z:0.02 [[ 0.99238748 -0.12315477 0. 11.66540671] [ 0.12315477 0.99238748 0. 0.0197862 ] [ 0. 0. 1. 0.02104909] [ 0. 0. 0. 1. ]] SLAMing on 11.430371743 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:11.71, Y:0.01, Z:0.02 [[ 0.99337452 -0.11492203 0. 11.70989609] [ 0.11492203 0.99337452 0. 0.01259877] [ 0. 0. 1. 0.01812386] [ 0. 0. 0. 1. ]] SLAMing on 11.460371743 meters Centerline goodness : 0.993753 Centerline is valid? [True, True] Translation: X:11.73, Y:0.03, Z:0.02 [[ 0.99244705 -0.12267377 0. 11.72681214] [ 0.12267377 0.99244705 0. 0.02575177] [ 0. 0. 1. 0.02251531] [ 0. 0. 0. 1. ]] SLAMing on 11.490371743 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:11.77, Y:0.02, Z:0.02 [[ 0.99343033 -0.11443854 0. 11.77064291] [ 0.11443854 0.99343033 0. 0.01982615] [ 0. 0. 1. 0.01963809] [ 0. 0. 0. 1. ]] SLAMing on 11.520371743 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:11.80, Y:0.02, Z:0.02 [[ 0.99341625 -0.11456071 0. 11.80146225] [ 0.11456071 0.99341625 0. 0.02261592] [ 0. 0. 1. 0.0191016 ] [ 0. 0. 0. 1. ]] SLAMing on 11.550371743 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:11.83, Y:0.03, Z:0.02 [[ 0.99320446 -0.11638258 0. 11.83255419] [ 0.11638258 0.99320446 0. 0.02639174] [ 0. 0. 1. 0.0196217 ] [ 0. 0. 0. 1. ]] SLAMing on 11.580371743 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:11.86, Y:0.03, Z:0.02 [[ 0.99309113 -0.11734571 0. 11.86395966] [ 0.11734571 0.99309113 0. 0.03046621] [ 0. 0. 1. 0.01861359] [ 0. 0. 0. 1. ]] SLAMing on 11.610371743 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:11.89, Y:0.03, Z:0.02 [[ 0.99294257 -0.11859615 0. 11.89449484] [ 0.11859615 0.99294257 0. 0.03418664] [ 0. 0. 1. 0.01851826] [ 0. 0. 0. 1. ]] SLAMing on 11.640371743 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:11.92, Y:0.04, Z:0.02 [[ 0.99289704 -0.11897677 0. 11.92450053] [ 0.11897677 0.99289704 0. 0.03718895] [ 0. 0. 1. 0.017858 ] [ 0. 0. 0. 1. ]] SLAMing on 11.670371743 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:11.96, Y:0.04, Z:0.02 [[ 0.99294827 -0.11854848 0. 11.95735952] [ 0.11854848 0.99294827 0. 0.04134707] [ 0. 0. 1. 0.01672518] [ 0. 0. 0. 1. ]] SLAMing on 11.700371743 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:11.99, Y:0.05, Z:0.02 [[ 0.99293774 -0.11863663 0. 11.98725163] [ 0.11863663 0.99293774 0. 0.0457509 ] [ 0. 0. 1. 0.01761894] [ 0. 0. 0. 1. ]] SLAMing on 11.730371743000001 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:12.02, Y:0.05, Z:0.02 [[ 0.99327882 -0.11574624 0. 12.01898775] [ 0.11574624 0.99327882 0. 0.04826842] [ 0. 0. 1. 0.01993471] [ 0. 0. 0. 1. ]] SLAMing on 11.760371743 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:12.05, Y:0.05, Z:0.02 [[ 0.99361099 -0.11285919 0. 12.04886347] [ 0.11285919 0.99361099 0. 0.0543815 ] [ 0. 0. 1. 0.01946471] [ 0. 0. 0. 1. ]] SLAMing on 11.790371743 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:12.08, Y:0.06, Z:0.02 [[ 0.99383752 -0.11084666 0. 12.07995894] [ 0.11084666 0.99383752 0. 0.0579784 ] [ 0. 0. 1. 0.01948172] [ 0. 0. 0. 1. ]] SLAMing on 11.820371743 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:12.11, Y:0.06, Z:0.02 [[ 0.9941753 -0.10777514 0. 12.11334303] [ 0.10777514 0.9941753 0. 0.06335016] [ 0. 0. 1. 0.0170006 ] [ 0. 0. 0. 1. ]] SLAMing on 11.850371743 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:12.14, Y:0.07, Z:0.02 [[ 0.99445277 -0.10518404 0. 12.14448504] [ 0.10518404 0.99445277 0. 0.06689258] [ 0. 0. 1. 0.01921475] [ 0. 0. 0. 1. ]] SLAMing on 11.880371743 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:12.18, Y:0.07, Z:0.02 [[ 0.99467586 -0.10305304 0. 12.17971554] [ 0.10305304 0.99467586 0. 0.06986565] [ 0. 0. 1. 0.01676589] [ 0. 0. 0. 1. ]] SLAMing on 11.910371743 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:12.21, Y:0.07, Z:0.02 [[ 0.99530589 -0.09677906 0. 12.21276085] [ 0.09677906 0.99530589 0. 0.07393161] [ 0. 0. 1. 0.01633931] [ 0. 0. 0. 1. ]] SLAMing on 11.940371743 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:12.24, Y:0.08, Z:0.02 [[ 0.99545936 -0.09518748 0. 12.24193807] [ 0.09518748 0.99545936 0. 0.07776259] [ 0. 0. 1. 0.01684522] [ 0. 0. 0. 1. ]] SLAMing on 11.970371743 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:12.28, Y:0.08, Z:0.02 [[ 0.99563598 -0.09332199 0. 12.27575285] [ 0.09332199 0.99563598 0. 0.0805447 ] [ 0. 0. 1. 0.01653071] [ 0. 0. 0. 1. ]] SLAMing on 12.000371743 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:12.31, Y:0.08, Z:0.01 [[ 0.99587461 -0.09074009 0. 12.3064936 ] [ 0.09074009 0.99587461 0. 0.08351592] [ 0. 0. 1. 0.01498485] [ 0. 0. 0. 1. ]] SLAMing on 12.030371743 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:12.34, Y:0.09, Z:0.01 [[ 0.99586938 -0.09079743 0. 12.33773448] [ 0.09079743 0.99586938 0. 0.08679225] [ 0. 0. 1. 0.01491724] [ 0. 0. 0. 1. ]] SLAMing on 12.060371743 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:12.37, Y:0.09, Z:0.01 [[ 0.99601624 -0.08917205 0. 12.37132545] [ 0.08917205 0.99601624 0. 0.088452 ] [ 0. 0. 1. 0.01393638] [ 0. 0. 0. 1. ]] SLAMing on 12.090371743 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:12.40, Y:0.09, Z:0.01 [[ 0.99614552 -0.08771601 0. 12.40459947] [ 0.08771601 0.99614552 0. 0.09054016] [ 0. 0. 1. 0.01345079] [ 0. 0. 0. 1. ]] SLAMing on 12.120371743 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:12.43, Y:0.09, Z:0.01 [[ 0.99627531 -0.08622934 0. 12.43450659] [ 0.08622934 0.99627531 0. 0.09359571] [ 0. 0. 1. 0.01315046] [ 0. 0. 0. 1. ]] SLAMing on 12.150371743000001 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:12.47, Y:0.10, Z:0.01 [[ 0.99646734 -0.08398115 0. 12.46650012] [ 0.08398115 0.99646734 0. 0.09818372] [ 0. 0. 1. 0.01447469] [ 0. 0. 0. 1. ]] SLAMing on 12.180371743 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:12.50, Y:0.10, Z:0.01 [[ 0.99661252 -0.08224042 0. 12.4990535 ] [ 0.08224042 0.99661252 0. 0.10013542] [ 0. 0. 1. 0.01446893] [ 0. 0. 0. 1. ]] SLAMing on 12.210371743 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:12.53, Y:0.10, Z:0.01 [[ 0.99669497 -0.08123511 0. 12.52824896] [ 0.08123511 0.99669497 0. 0.10316748] [ 0. 0. 1. 0.01489434] [ 0. 0. 0. 1. ]] SLAMing on 12.240371743 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:12.56, Y:0.10, Z:0.01 [[ 0.99678154 -0.08016579 0. 12.56197577] [ 0.08016579 0.99678154 0. 0.1047944 ] [ 0. 0. 1. 0.01481283] [ 0. 0. 0. 1. ]] SLAMing on 12.270371743 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:12.59, Y:0.11, Z:0.02 [[ 0.99681451 -0.07975489 0. 12.59186936] [ 0.07975489 0.99681451 0. 0.10799657] [ 0. 0. 1. 0.01515419] [ 0. 0. 0. 1. ]] SLAMing on 12.300371743 meters Centerline goodness : 0.993472 Centerline is valid? [True, True] Translation: X:12.62, Y:0.11, Z:0.02 [[ 0.99682603 -0.07961074 0. 12.62183664] [ 0.07961074 0.99682603 0. 0.11068082] [ 0. 0. 1. 0.01513942] [ 0. 0. 0. 1. ]] SLAMing on 12.330371743 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:12.65, Y:0.11, Z:0.02 [[ 0.99683058 -0.07955373 0. 12.65496939] [ 0.07955373 0.99683058 0. 0.11294457] [ 0. 0. 1. 0.01523371] [ 0. 0. 0. 1. ]] SLAMing on 12.360371743 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:12.69, Y:0.11, Z:0.01 [[ 0.99689633 -0.0787255 0. 12.68903301] [ 0.0787255 0.99689633 0. 0.11423028] [ 0. 0. 1. 0.01398758] [ 0. 0. 0. 1. ]] SLAMing on 12.390371743 meters Centerline goodness : 0.992448 Centerline is valid? [True, True] Translation: X:12.72, Y:0.12, Z:0.02 [[ 0.9969791 -0.07767027 0. 12.7175586 ] [ 0.07767027 0.9969791 0. 0.11640459] [ 0. 0. 1. 0.01664957] [ 0. 0. 0. 1. ]] SLAMing on 12.420371743 meters Centerline goodness : 0.993622 Centerline is valid? [True, True] Translation: X:12.75, Y:0.12, Z:0.01 [[ 0.9968284 -0.07958108 0. 12.75406863] [ 0.07958108 0.9968284 0. 0.11761146] [ 0. 0. 1. 0.01404565] [ 0. 0. 0. 1. ]] SLAMing on 12.450371743 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:12.78, Y:0.12, Z:0.01 [[ 0.99675135 -0.08054032 0. 12.78456372] [ 0.08054032 0.99675135 0. 0.11949159] [ 0. 0. 1. 0.01373295] [ 0. 0. 0. 1. ]] SLAMing on 12.480371743000001 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:12.82, Y:0.12, Z:0.01 [[ 9.96715817e-01 -8.09788908e-02 0.00000000e+00 1.28165993e+01] [ 8.09788908e-02 9.96715817e-01 0.00000000e+00 1.19585415e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25847420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.510371743 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:12.85, Y:0.12, Z:0.01 [[ 9.96541246e-01 -8.30996085e-02 0.00000000e+00 1.28522010e+01] [ 8.30996085e-02 9.96541246e-01 0.00000000e+00 1.17819340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19031006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540371743 meters Centerline goodness : 0.992968 Centerline is valid? [True, True] Translation: X:12.88, Y:0.12, Z:0.01 [[ 0.99630455 -0.08589085 0. 12.87972537] [ 0.08589085 0.99630455 0. 0.12021224] [ 0. 0. 1. 0.01367138] [ 0. 0. 0. 1. ]] SLAMing on 12.570371743 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:12.91, Y:0.12, Z:0.02 [[ 0.99643304 -0.0843872 0. 12.90531462] [ 0.0843872 0.99643304 0. 0.12146907] [ 0. 0. 1. 0.0195326 ] [ 0. 0. 0. 1. ]] SLAMing on 12.600371743 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:12.94, Y:0.12, Z:0.02 [[ 0.99610952 -0.08812394 0. 12.94299872] [ 0.08812394 0.99610952 0. 0.12188204] [ 0. 0. 1. 0.01589632] [ 0. 0. 0. 1. ]] SLAMing on 12.630371743 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:12.98, Y:0.12, Z:0.02 [[ 0.99605591 -0.08872785 0. 12.97515779] [ 0.08872785 0.99605591 0. 0.12370554] [ 0. 0. 1. 0.01630614] [ 0. 0. 0. 1. ]] SLAMing on 12.660371743 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:13.01, Y:0.12, Z:0.02 [[ 0.99606638 -0.08861019 0. 13.00846478] [ 0.08861019 0.99606638 0. 0.12329646] [ 0. 0. 1. 0.01570342] [ 0. 0. 0. 1. ]] SLAMing on 12.690371743 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:13.04, Y:0.13, Z:0.02 [[ 0.99603872 -0.08892056 0. 13.03993987] [ 0.08892056 0.99603872 0. 0.12534084] [ 0. 0. 1. 0.01570342] [ 0. 0. 0. 1. ]] SLAMing on 12.720371743 meters Centerline goodness : 0.991631 Centerline is valid? [True, True] Translation: X:13.07, Y:0.13, Z:0.02 [[ 0.99628288 -0.08614188 0. 13.06582833] [ 0.08614188 0.99628288 0. 0.12661387] [ 0. 0. 1. 0.02071061] [ 0. 0. 0. 1. ]] SLAMing on 12.750371743 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:13.10, Y:0.13, Z:0.02 [[ 0.99604715 -0.08882611 0. 13.10313131] [ 0.08882611 0.99604715 0. 0.12798884] [ 0. 0. 1. 0.01553246] [ 0. 0. 0. 1. ]] SLAMing on 12.780371743 meters Centerline goodness : 0.992131 Centerline is valid? [True, True] Translation: X:13.13, Y:0.13, Z:0.02 [[ 0.99617754 -0.08735167 0. 13.13470886] [ 0.08735167 0.99617754 0. 0.12870857] [ 0. 0. 1. 0.01627719] [ 0. 0. 0. 1. ]] SLAMing on 12.810371743 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:13.17, Y:0.13, Z:0.02 [[ 0.99633526 -0.08553392 0. 13.16775741] [ 0.08553392 0.99633526 0. 0.12881378] [ 0. 0. 1. 0.01540265] [ 0. 0. 0. 1. ]] SLAMing on 12.840371743 meters Centerline goodness : 0.992698 Centerline is valid? [True, True] Translation: X:13.20, Y:0.13, Z:0.02 [[ 0.99638233 -0.08498379 0. 13.19947176] [ 0.08498379 0.99638233 0. 0.13028481] [ 0. 0. 1. 0.01547799] [ 0. 0. 0. 1. ]] SLAMing on 12.870371743 meters Centerline goodness : 0.991986 Centerline is valid? [True, True] Translation: X:13.23, Y:0.13, Z:0.01 [[ 0.99654486 -0.08305629 0. 13.23280505] [ 0.08305629 0.99654486 0. 0.13026525] [ 0. 0. 1. 0.01468934] [ 0. 0. 0. 1. ]] SLAMing on 12.900371743000001 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:13.26, Y:0.13, Z:0.01 [[ 0.99658108 -0.08262054 0. 13.26368648] [ 0.08262054 0.99658108 0. 0.13171921] [ 0. 0. 1. 0.0140754 ] [ 0. 0. 0. 1. ]] SLAMing on 12.930371743 meters Centerline goodness : 0.991898 Centerline is valid? [True, True] Translation: X:13.30, Y:0.13, Z:0.01 [[ 0.99660439 -0.08233887 0. 13.29640903] [ 0.08233887 0.99660439 0. 0.13300276] [ 0. 0. 1. 0.01377807] [ 0. 0. 0. 1. ]] SLAMing on 12.960371743 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:13.33, Y:0.13, Z:0.01 [[ 9.96860057e-01 -7.91835040e-02 0.00000000e+00 1.33290674e+01] [ 7.91835040e-02 9.96860057e-01 0.00000000e+00 1.31761470e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17573261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.990371743 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:13.36, Y:0.13, Z:0.01 [[ 9.96957953e-01 -7.79412586e-02 0.00000000e+00 1.33590689e+01] [ 7.79412586e-02 9.96957953e-01 0.00000000e+00 1.33845568e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17553161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020371743 meters Centerline goodness : 0.992066 Centerline is valid? [True, True] Translation: X:13.39, Y:0.13, Z:0.01 [[ 9.97150482e-01 -7.54381676e-02 0.00000000e+00 1.33907571e+01] [ 7.54381676e-02 9.97150482e-01 0.00000000e+00 1.34135894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14594722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.050371743 meters Centerline goodness : 0.991985 Centerline is valid? [True, True] Translation: X:13.42, Y:0.13, Z:0.01 [[ 9.97382382e-01 -7.23075678e-02 0.00000000e+00 1.34226107e+01] [ 7.23075678e-02 9.97382382e-01 0.00000000e+00 1.34797471e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29241670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080371743 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:13.46, Y:0.13, Z:0.01 [[ 9.97587138e-01 -6.94255080e-02 0.00000000e+00 1.34552204e+01] [ 6.94255080e-02 9.97587138e-01 0.00000000e+00 1.34985696e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31642837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.110371743 meters Centerline goodness : 0.992166 Centerline is valid? [True, True] Translation: X:13.48, Y:0.14, Z:0.01 [[ 0.9975009 -0.07065372 0. 13.48461193] [ 0.07065372 0.9975009 0. 0.13780232] [ 0. 0. 1. 0.01396365] [ 0. 0. 0. 1. ]] SLAMing on 13.140371743 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:13.52, Y:0.13, Z:0.01 [[ 9.97728766e-01 -6.73595494e-02 0.00000000e+00 1.35198281e+01] [ 6.73595494e-02 9.97728766e-01 0.00000000e+00 1.34684348e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24464025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.170371743 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:13.55, Y:0.14, Z:0.01 [[ 9.97598970e-01 -6.92552948e-02 0.00000000e+00 1.35477719e+01] [ 6.92552948e-02 9.97598970e-01 0.00000000e+00 1.36453301e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29769649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200371743 meters Centerline goodness : 0.992856 Centerline is valid? [True, True] Translation: X:13.58, Y:0.13, Z:0.01 [[ 9.97720621e-01 -6.74800919e-02 0.00000000e+00 1.35809453e+01] [ 6.74800919e-02 9.97720621e-01 0.00000000e+00 1.31097048e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04683503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.230371743 meters Centerline goodness : 0.992921 Centerline is valid? [True, True] Translation: X:13.61, Y:0.13, Z:0.01 [[ 9.97662937e-01 -6.83276222e-02 0.00000000e+00 1.36144343e+01] [ 6.83276222e-02 9.97662937e-01 0.00000000e+00 1.30221087e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04983823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260371743 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:13.65, Y:0.13, Z:0.01 [[ 9.97481605e-01 -7.09256499e-02 0.00000000e+00 1.36490860e+01] [ 7.09256499e-02 9.97481605e-01 0.00000000e+00 1.29633884e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07084641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.290371743 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:13.68, Y:0.13, Z:0.01 [[ 9.97215046e-01 -7.45798314e-02 0.00000000e+00 1.36795669e+01] [ 7.45798314e-02 9.97215046e-01 0.00000000e+00 1.30924761e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18239539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320371743 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:13.69, Y:0.14, Z:0.02 [[ 0.99608189 -0.0884357 0. 13.69277763] [ 0.0884357 0.99608189 0. 0.14058213] [ 0. 0. 1. 0.01844073] [ 0. 0. 0. 1. ]] SLAMing on 13.350371743 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:13.74, Y:0.13, Z:0.01 [[ 9.96750497e-01 -8.05509003e-02 0.00000000e+00 1.37395719e+01] [ 8.05509003e-02 9.96750497e-01 0.00000000e+00 1.28428872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25680728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380371743 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:13.75, Y:0.14, Z:0.02 [[ 0.99554385 -0.09429975 0. 13.75369736] [ 0.09429975 0.99554385 0. 0.13668971] [ 0. 0. 1. 0.01747817] [ 0. 0. 0. 1. ]] SLAMing on 13.410371743 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:13.80, Y:0.12, Z:0.01 [[ 9.96126491e-01 -8.79318681e-02 0.00000000e+00 1.37999551e+01] [ 8.79318681e-02 9.96126491e-01 0.00000000e+00 1.24255540e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11175707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440371743 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:13.82, Y:0.14, Z:0.02 [[ 0.99503716 -0.09950406 0. 13.81599087] [ 0.09950406 0.99503716 0. 0.13535248] [ 0. 0. 1. 0.01682917] [ 0. 0. 0. 1. ]] SLAMing on 13.470371743 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:13.86, Y:0.12, Z:0.01 [[ 9.95438662e-01 -9.54037203e-02 0.00000000e+00 1.38617344e+01] [ 9.54037203e-02 9.95438662e-01 0.00000000e+00 1.21572045e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33518529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500371743 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:13.89, Y:0.12, Z:0.01 [[ 0.99513381 -0.09853277 0. 13.89017121] [ 0.09853277 0.99513381 0. 0.12300554] [ 0. 0. 1. 0.01447409] [ 0. 0. 0. 1. ]] SLAMing on 13.530371743 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:13.92, Y:0.12, Z:0.01 [[ 0.99486017 -0.10125825 0. 13.92427312] [ 0.10125825 0.99486017 0. 0.11939383] [ 0. 0. 1. 0.01454188] [ 0. 0. 0. 1. ]] SLAMing on 13.560371743 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:13.96, Y:0.12, Z:0.01 [[ 0.9946759 -0.10305264 0. 13.9566656 ] [ 0.10305264 0.9946759 0. 0.12008313] [ 0. 0. 1. 0.01447969] [ 0. 0. 0. 1. ]] SLAMing on 13.590371743 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:13.99, Y:0.12, Z:0.01 [[ 0.99448619 -0.10486764 0. 13.98837558] [ 0.10486764 0.99448619 0. 0.12134613] [ 0. 0. 1. 0.01461776] [ 0. 0. 0. 1. ]] SLAMing on 13.620371743 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:14.00, Y:0.13, Z:0.02 [[ 0.99341484 -0.11457294 0. 14.00481546] [ 0.11457294 0.99341484 0. 0.13078556] [ 0. 0. 1. 0.01800876] [ 0. 0. 0. 1. ]] SLAMing on 13.650371743000001 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:14.05, Y:0.12, Z:0.01 [[ 9.94292970e-01 -1.06684062e-01 0.00000000e+00 1.40496129e+01] [ 1.06684062e-01 9.94292970e-01 0.00000000e+00 1.21917746e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32802950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680371743 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:14.08, Y:0.12, Z:0.01 [[ 9.94285990e-01 -1.06749094e-01 0.00000000e+00 1.40829566e+01] [ 1.06749094e-01 9.94285990e-01 0.00000000e+00 1.23765794e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27167901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.710371743 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:14.11, Y:0.13, Z:0.01 [[ 9.94388800e-01 -1.05787118e-01 0.00000000e+00 1.41135057e+01] [ 1.05787118e-01 9.94388800e-01 0.00000000e+00 1.25025729e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24055142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740371743 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:14.13, Y:0.14, Z:0.02 [[ 0.99367615 -0.11228409 0. 14.13054729] [ 0.11228409 0.99367615 0. 0.13672605] [ 0. 0. 1. 0.01695745] [ 0. 0. 0. 1. ]] SLAMing on 13.770371743 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:14.17, Y:0.13, Z:0.01 [[ 9.94677974e-01 -1.03032652e-01 0.00000000e+00 1.41746500e+01] [ 1.03032652e-01 9.94677974e-01 0.00000000e+00 1.29207984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21918139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800371743 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:14.21, Y:0.13, Z:0.01 [[ 9.95043492e-01 -9.94406798e-02 0.00000000e+00 1.42082819e+01] [ 9.94406798e-02 9.95043492e-01 0.00000000e+00 1.30772234e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09417285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.830371743 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:14.24, Y:0.13, Z:0.01 [[ 9.95275262e-01 -9.70935265e-02 0.00000000e+00 1.42396148e+01] [ 9.70935265e-02 9.95275262e-01 0.00000000e+00 1.33090899e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03412756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860371743 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:14.27, Y:0.14, Z:0.01 [[ 9.95440738e-01 -9.53820634e-02 0.00000000e+00 1.42720506e+01] [ 9.53820634e-02 9.95440738e-01 0.00000000e+00 1.35274638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02743851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.890371743 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:14.31, Y:0.14, Z:0.01 [[ 9.95646362e-01 -9.32111636e-02 0.00000000e+00 1.43059121e+01] [ 9.32111636e-02 9.95646362e-01 0.00000000e+00 1.36653147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00687410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920371743 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:14.34, Y:0.14, Z:0.01 [[ 9.96074492e-01 -8.85189628e-02 0.00000000e+00 1.43409347e+01] [ 8.85189628e-02 9.96074492e-01 0.00000000e+00 1.36771793e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03987188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.950371743 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:14.37, Y:0.14, Z:0.01 [[ 9.96154643e-01 -8.76123666e-02 0.00000000e+00 1.43698884e+01] [ 8.76123666e-02 9.96154643e-01 0.00000000e+00 1.39743768e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12294755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980371743 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:14.40, Y:0.14, Z:0.01 [[ 9.96201455e-01 -8.70784798e-02 0.00000000e+00 1.43972929e+01] [ 8.70784798e-02 9.96201455e-01 0.00000000e+00 1.42418872e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20331419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.010371743 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:14.43, Y:0.15, Z:0.01 [[ 9.95989986e-01 -8.94647877e-02 0.00000000e+00 1.44263697e+01] [ 8.94647877e-02 9.95989986e-01 0.00000000e+00 1.46828651e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31468166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040371743 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:14.46, Y:0.15, Z:0.01 [[ 9.95905545e-01 -9.03999233e-02 0.00000000e+00 1.44591297e+01] [ 9.03999233e-02 9.95905545e-01 0.00000000e+00 1.48292468e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25114742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.070371743 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:14.49, Y:0.15, Z:0.01 [[ 9.95884530e-01 -9.06311386e-02 0.00000000e+00 1.44909364e+01] [ 9.06311386e-02 9.95884530e-01 0.00000000e+00 1.47204337e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08916033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100371743 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:14.52, Y:0.15, Z:0.01 [[ 9.95629265e-01 -9.33936111e-02 0.00000000e+00 1.45180445e+01] [ 9.33936111e-02 9.95629265e-01 0.00000000e+00 1.50311247e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09506933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.130371743 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:14.53, Y:0.16, Z:0.02 [[ 0.99452253 -0.10452238 0. 14.53056138] [ 0.10452238 0.99452253 0. 0.16326998] [ 0. 0. 1. 0.01523723] [ 0. 0. 0. 1. ]] SLAMing on 14.160371743 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:14.58, Y:0.15, Z:0.01 [[ 9.95488709e-01 -9.48800850e-02 0.00000000e+00 1.45785587e+01] [ 9.48800850e-02 9.95488709e-01 0.00000000e+00 1.52164879e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09553190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.190371743 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:14.61, Y:0.15, Z:0.01 [[ 9.95556215e-01 -9.41691160e-02 0.00000000e+00 1.46073889e+01] [ 9.41691160e-02 9.95556215e-01 0.00000000e+00 1.54064100e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05682280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.220371743 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:14.64, Y:0.16, Z:0.01 [[ 9.95359124e-01 -9.62300043e-02 0.00000000e+00 1.46389840e+01] [ 9.62300043e-02 9.95359124e-01 0.00000000e+00 1.56923845e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11974140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.250371743 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:14.67, Y:0.16, Z:0.01 [[ 9.95482059e-01 -9.49498264e-02 0.00000000e+00 1.46699594e+01] [ 9.49498264e-02 9.95482059e-01 0.00000000e+00 1.58220786e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10324054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280371743 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:14.70, Y:0.16, Z:0.01 [[ 9.95681589e-01 -9.28341188e-02 0.00000000e+00 1.46990317e+01] [ 9.28341188e-02 9.95681589e-01 0.00000000e+00 1.59131104e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13902071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.310371743 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:14.73, Y:0.16, Z:0.01 [[ 9.95666576e-01 -9.29949923e-02 0.00000000e+00 1.47312853e+01] [ 9.29949923e-02 9.95666576e-01 0.00000000e+00 1.61675094e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16051055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340371743 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:14.76, Y:0.16, Z:0.01 [[ 9.95516452e-01 -9.45885473e-02 0.00000000e+00 1.47624686e+01] [ 9.45885473e-02 9.95516452e-01 0.00000000e+00 1.64682521e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32729153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.370371743 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:14.79, Y:0.17, Z:0.01 [[ 9.95483436e-01 -9.49353875e-02 0.00000000e+00 1.47939084e+01] [ 9.49353875e-02 9.95483436e-01 0.00000000e+00 1.67528512e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32729153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400371743 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:14.81, Y:0.18, Z:0.02 [[ 0.99453252 -0.10442728 0. 14.81191792] [ 0.10442728 0.99453252 0. 0.17915333] [ 0. 0. 1. 0.01787201] [ 0. 0. 0. 1. ]] SLAMing on 14.430371743 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:14.86, Y:0.17, Z:0.01 [[ 9.95328549e-01 -9.65457376e-02 0.00000000e+00 1.48569949e+01] [ 9.65457376e-02 9.95328549e-01 0.00000000e+00 1.70225858e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36451773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460371743 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:14.89, Y:0.17, Z:0.01 [[ 9.94945782e-01 -1.00413596e-01 0.00000000e+00 1.48856068e+01] [ 1.00413596e-01 9.94945782e-01 0.00000000e+00 1.71870846e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40060045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.490371743 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:14.92, Y:0.17, Z:0.01 [[ 9.94757158e-01 -1.02265324e-01 0.00000000e+00 1.49185615e+01] [ 1.02265324e-01 9.94757158e-01 0.00000000e+00 1.72909040e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37426954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520371743 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:14.95, Y:0.17, Z:0.01 [[ 9.94444245e-01 -1.05264638e-01 0.00000000e+00 1.49516858e+01] [ 1.05264638e-01 9.94444245e-01 0.00000000e+00 1.74355371e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32075544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.550371743 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:14.98, Y:0.18, Z:0.01 [[ 9.94251332e-01 -1.07071419e-01 0.00000000e+00 1.49824663e+01] [ 1.07071419e-01 9.94251332e-01 0.00000000e+00 1.76776230e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25634922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580371743 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:15.01, Y:0.18, Z:0.01 [[ 9.94181082e-01 -1.07721754e-01 0.00000000e+00 1.50128620e+01] [ 1.07721754e-01 9.94181082e-01 0.00000000e+00 1.77428979e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08373098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.610371743 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:15.04, Y:0.18, Z:0.01 [[ 9.94154456e-01 -1.07967206e-01 0.00000000e+00 1.50443353e+01] [ 1.07967206e-01 9.94154456e-01 0.00000000e+00 1.80299913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08373098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640371743 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:15.08, Y:0.18, Z:0.01 [[ 9.94029045e-01 -1.09115800e-01 0.00000000e+00 1.50773536e+01] [ 1.09115800e-01 9.94029045e-01 0.00000000e+00 1.81864951e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.65388432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.670371743 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:15.11, Y:0.18, Z:0.01 [[ 9.93957647e-01 -1.09764277e-01 0.00000000e+00 1.51099391e+01] [ 1.09764277e-01 9.93957647e-01 0.00000000e+00 1.82099603e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77231147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700371743 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:15.14, Y:0.18, Z:0.01 [[ 9.93926620e-01 -1.10044869e-01 0.00000000e+00 1.51427866e+01] [ 1.10044869e-01 9.93926620e-01 0.00000000e+00 1.84414338e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38162519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.730371743 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:15.18, Y:0.19, Z:0.01 [[ 9.93935906e-01 -1.09960972e-01 0.00000000e+00 1.51757191e+01] [ 1.09960972e-01 9.93935906e-01 0.00000000e+00 1.87052508e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68759001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760371743 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:15.19, Y:0.20, Z:0.01 [[ 9.93251776e-01 -1.15978060e-01 0.00000000e+00 1.51946726e+01] [ 1.15978060e-01 9.93251776e-01 0.00000000e+00 1.97480716e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33185031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.790371743 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:15.24, Y:0.19, Z:0.01 [[ 9.94158251e-01 -1.07932260e-01 0.00000000e+00 1.52376814e+01] [ 1.07932260e-01 9.94158251e-01 0.00000000e+00 1.91619851e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01545880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820371743 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:15.27, Y:0.19, Z:0.01 [[ 9.94283177e-01 -1.06775298e-01 0.00000000e+00 1.52710608e+01] [ 1.06775298e-01 9.94283177e-01 0.00000000e+00 1.93518541e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47880913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.850371743 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:15.30, Y:0.20, Z:0.01 [[ 9.94412538e-01 -1.05563745e-01 0.00000000e+00 1.53038434e+01] [ 1.05563745e-01 9.94412538e-01 0.00000000e+00 1.95888252e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02678398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880371743 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:15.33, Y:0.20, Z:0.01 [[ 9.94479881e-01 -1.04927438e-01 0.00000000e+00 1.53346532e+01] [ 1.04927438e-01 9.94479881e-01 0.00000000e+00 1.98021839e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24493694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.910371743 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:15.37, Y:0.20, Z:0.01 [[ 9.94313237e-01 -1.06495007e-01 0.00000000e+00 1.53686697e+01] [ 1.06495007e-01 9.94313237e-01 0.00000000e+00 1.99492319e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00156150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940371743 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:15.40, Y:0.20, Z:0.01 [[ 9.94097005e-01 -1.08494903e-01 0.00000000e+00 1.53993261e+01] [ 1.08494903e-01 9.94097005e-01 0.00000000e+00 2.01651329e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46137382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.970371743 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:15.43, Y:0.20, Z:0.01 [[ 9.93755322e-01 -1.11581181e-01 0.00000000e+00 1.54318121e+01] [ 1.11581181e-01 9.93755322e-01 0.00000000e+00 2.04323391e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44677204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000371743 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:15.46, Y:0.21, Z:0.01 [[ 9.93575502e-01 -1.13171205e-01 0.00000000e+00 1.54628570e+01] [ 1.13171205e-01 9.93575502e-01 0.00000000e+00 2.05928078e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53895025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.030371743 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:15.50, Y:0.21, Z:0.01 [[ 9.92771026e-01 -1.20023704e-01 0.00000000e+00 1.54961840e+01] [ 1.20023704e-01 9.92771026e-01 0.00000000e+00 2.07010806e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64643620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060371743 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:15.51, Y:0.22, Z:0.01 [[ 9.91256102e-01 -1.31952036e-01 0.00000000e+00 1.55127230e+01] [ 1.31952036e-01 9.91256102e-01 0.00000000e+00 2.18978983e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.86349871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.090371743 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:15.56, Y:0.21, Z:0.01 [[ 9.92010704e-01 -1.26153727e-01 0.00000000e+00 1.55582327e+01] [ 1.26153727e-01 9.92010704e-01 0.00000000e+00 2.10877987e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08711446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120371743 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:15.59, Y:0.21, Z:0.01 [[ 9.91532393e-01 -1.29859591e-01 0.00000000e+00 1.55911147e+01] [ 1.29859591e-01 9.91532393e-01 0.00000000e+00 2.14021736e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76046191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.150371743 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:15.61, Y:0.23, Z:0.01 [[ 9.90522685e-01 -1.37349228e-01 0.00000000e+00 1.56069248e+01] [ 1.37349228e-01 9.90522685e-01 0.00000000e+00 2.27615124e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14075896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180371743 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:15.64, Y:0.23, Z:0.01 [[ 9.90765524e-01 -1.35586419e-01 0.00000000e+00 1.56395435e+01] [ 1.35586419e-01 9.90765524e-01 0.00000000e+00 2.31351042e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14849434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.210371743 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:15.67, Y:0.24, Z:0.01 [[ 9.91054015e-01 -1.33461375e-01 0.00000000e+00 1.56724169e+01] [ 1.33461375e-01 9.91054015e-01 0.00000000e+00 2.35473429e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14824844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240371743 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:15.72, Y:0.23, Z:0.01 [[ 9.92568783e-01 -1.21684885e-01 0.00000000e+00 1.57194846e+01] [ 1.21684885e-01 9.92568783e-01 0.00000000e+00 2.28036066e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23678057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.270371743 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:15.73, Y:0.24, Z:0.01 [[ 9.91876211e-01 -1.27206851e-01 0.00000000e+00 1.57332779e+01] [ 1.27206851e-01 9.91876211e-01 0.00000000e+00 2.44640629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01640488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300371743 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:15.78, Y:0.24, Z:0.01 [[ 9.93478795e-01 -1.14017033e-01 0.00000000e+00 1.57822892e+01] [ 1.14017033e-01 9.93478795e-01 0.00000000e+00 2.35624176e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10553011e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.330371743 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:15.81, Y:0.24, Z:0.01 [[ 9.93671222e-01 -1.12327657e-01 0.00000000e+00 1.58129403e+01] [ 1.12327657e-01 9.93671222e-01 0.00000000e+00 2.39562605e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77086284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.360371743 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:15.84, Y:0.24, Z:0.01 [[ 9.93753216e-01 -1.11599935e-01 0.00000000e+00 1.58441892e+01] [ 1.11599935e-01 9.93753216e-01 0.00000000e+00 2.43534292e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05001413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.390371743 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:15.86, Y:0.26, Z:0.01 [[ 9.92692022e-01 -1.20675391e-01 0.00000000e+00 1.58550233e+01] [ 1.20675391e-01 9.92692022e-01 0.00000000e+00 2.61719788e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06352366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420371743 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:15.89, Y:0.27, Z:0.01 [[ 9.92907382e-01 -1.18890416e-01 0.00000000e+00 1.58873684e+01] [ 1.18890416e-01 9.92907382e-01 0.00000000e+00 2.65517480e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89834079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.450371743 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:15.92, Y:0.27, Z:0.01 [[ 9.93096875e-01 -1.17297045e-01 0.00000000e+00 1.59207060e+01] [ 1.17297045e-01 9.93096875e-01 0.00000000e+00 2.69540977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91505429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480371743 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:15.95, Y:0.27, Z:0.01 [[ 9.93557957e-01 -1.13325137e-01 0.00000000e+00 1.59531100e+01] [ 1.13325137e-01 9.93557957e-01 0.00000000e+00 2.73314045e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.43030547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.510371743 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:15.99, Y:0.28, Z:0.01 [[ 9.93859746e-01 -1.10647211e-01 0.00000000e+00 1.59857914e+01] [ 1.10647211e-01 9.93859746e-01 0.00000000e+00 2.76749488e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71443663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540371743 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:16.02, Y:0.28, Z:0.01 [[ 9.94164675e-01 -1.07873073e-01 0.00000000e+00 1.60186195e+01] [ 1.07873073e-01 9.94164675e-01 0.00000000e+00 2.80352172e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68775480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.570371743 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:16.05, Y:0.28, Z:0.01 [[ 9.94484555e-01 -1.04883122e-01 0.00000000e+00 1.60514568e+01] [ 1.04883122e-01 9.94484555e-01 0.00000000e+00 2.83914615e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.88774679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600371743 meters Centerline goodness : 0.995051 Centerline is valid? [True, True] Translation: X:16.10, Y:0.28, Z:0.00 [[ 9.95966421e-01 -8.97267385e-02 0.00000000e+00 1.60977297e+01] [ 8.97267385e-02 9.95966421e-01 0.00000000e+00 2.76362433e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54319544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.630371743 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:16.13, Y:0.28, Z:0.00 [[ 9.96162954e-01 -8.75178248e-02 0.00000000e+00 1.61293671e+01] [ 8.75178248e-02 9.96162954e-01 0.00000000e+00 2.79430365e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33303540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660371743 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:16.16, Y:0.28, Z:0.01 [[ 9.96464480e-01 -8.40151234e-02 0.00000000e+00 1.61610256e+01] [ 8.40151234e-02 9.96464480e-01 0.00000000e+00 2.82037728e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99845426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.690371743 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:16.17, Y:0.30, Z:0.01 [[ 9.95594798e-01 -9.37603196e-02 0.00000000e+00 1.61746815e+01] [ 9.37603196e-02 9.95594798e-01 0.00000000e+00 2.95968073e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01434721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720371743 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:16.22, Y:0.29, Z:0.01 [[ 9.96493050e-01 -8.36755750e-02 0.00000000e+00 1.62213297e+01] [ 8.36755750e-02 9.96493050e-01 0.00000000e+00 2.86775791e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86127193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.750371743 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:16.24, Y:0.30, Z:0.01 [[ 9.95540705e-01 -9.43329417e-02 0.00000000e+00 1.62353513e+01] [ 9.43329417e-02 9.95540705e-01 0.00000000e+00 2.99452133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00460018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780371743 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:16.27, Y:0.30, Z:0.01 [[ 9.95239596e-01 -9.74584345e-02 0.00000000e+00 1.62689598e+01] [ 9.74584345e-02 9.95239596e-01 0.00000000e+00 2.99315669e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27339840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.810371743 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:16.30, Y:0.30, Z:0.01 [[ 9.95004878e-01 -9.98263174e-02 0.00000000e+00 1.63025009e+01] [ 9.98263174e-02 9.95004878e-01 0.00000000e+00 3.00523999e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94367035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840371743 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:16.35, Y:0.29, Z:0.01 [[ 9.95234331e-01 -9.75121838e-02 0.00000000e+00 1.63468720e+01] [ 9.75121838e-02 9.95234331e-01 0.00000000e+00 2.89267594e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05902714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.870371743 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:16.38, Y:0.29, Z:0.01 [[ 9.94888095e-01 -1.00983559e-01 0.00000000e+00 1.63798556e+01] [ 1.00983559e-01 9.94888095e-01 0.00000000e+00 2.90979648e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59097546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900371743 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:16.41, Y:0.29, Z:0.00 [[ 9.94521050e-01 -1.04536506e-01 0.00000000e+00 1.64121787e+01] [ 1.04536506e-01 9.94521050e-01 0.00000000e+00 2.92119464e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96396927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.930371743 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:16.43, Y:0.30, Z:0.01 [[ 9.93197023e-01 -1.16446014e-01 0.00000000e+00 1.64297240e+01] [ 1.16446014e-01 9.93197023e-01 0.00000000e+00 3.03092598e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52010837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960371743 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:16.46, Y:0.30, Z:0.01 [[ 9.92516997e-01 -1.22106551e-01 0.00000000e+00 1.64628439e+01] [ 1.22106551e-01 9.92516997e-01 0.00000000e+00 3.02362278e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33350452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.990371743 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:16.50, Y:0.30, Z:0.01 [[ 9.92225148e-01 -1.24455837e-01 0.00000000e+00 1.64955141e+01] [ 1.24455837e-01 9.92225148e-01 0.00000000e+00 3.03598181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97341191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020371743 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:16.54, Y:0.29, Z:0.01 [[ 9.92989476e-01 -1.18202792e-01 0.00000000e+00 1.65399076e+01] [ 1.18202792e-01 9.92989476e-01 0.00000000e+00 2.94774498e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77898266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.050371743 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:16.56, Y:0.30, Z:0.01 [[ 9.91445687e-01 -1.30519921e-01 0.00000000e+00 1.65571770e+01] [ 1.30519921e-01 9.91445687e-01 0.00000000e+00 3.04753312e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.36433990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080371742999997 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:16.59, Y:0.31, Z:0.01 [[ 9.91305924e-01 -1.31577223e-01 0.00000000e+00 1.65899371e+01] [ 1.31577223e-01 9.91305924e-01 0.00000000e+00 3.06504384e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63227674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.110371742999998 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:16.63, Y:0.30, Z:0.01 [[ 9.92175985e-01 -1.24847164e-01 0.00000000e+00 1.66341591e+01] [ 1.24847164e-01 9.92175985e-01 0.00000000e+00 2.99282879e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53912797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140371743 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:16.67, Y:0.30, Z:0.01 [[ 9.92311290e-01 -1.23767139e-01 0.00000000e+00 1.66669927e+01] [ 1.23767139e-01 9.92311290e-01 0.00000000e+00 2.98565985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82602994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.170371742999997 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:16.68, Y:0.31, Z:0.01 [[ 9.90971503e-01 -1.34072671e-01 0.00000000e+00 1.66829451e+01] [ 1.34072671e-01 9.90971503e-01 0.00000000e+00 3.12270289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21783040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200371742999998 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:16.72, Y:0.31, Z:0.01 [[ 9.90976264e-01 -1.34037471e-01 0.00000000e+00 1.67163218e+01] [ 1.34037471e-01 9.90976264e-01 0.00000000e+00 3.14646911e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52829146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.230371743 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:16.76, Y:0.31, Z:0.00 [[ 9.92079925e-01 -1.25608212e-01 0.00000000e+00 1.67617886e+01] [ 1.25608212e-01 9.92079925e-01 0.00000000e+00 3.06485554e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99799419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260371742999997 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:16.79, Y:0.31, Z:0.00 [[ 9.91807173e-01 -1.27744009e-01 0.00000000e+00 1.67928724e+01] [ 1.27744009e-01 9.91807173e-01 0.00000000e+00 3.09979682e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85377684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.290371742999998 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:16.81, Y:0.32, Z:0.00 [[ 9.90552328e-01 -1.37135282e-01 0.00000000e+00 1.68091523e+01] [ 1.37135282e-01 9.90552328e-01 0.00000000e+00 3.23044633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89598485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320371743 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:16.84, Y:0.33, Z:0.00 [[ 9.90577044e-01 -1.36956638e-01 0.00000000e+00 1.68406470e+01] [ 1.36956638e-01 9.90577044e-01 0.00000000e+00 3.26219083e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82932291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.350371742999997 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:16.87, Y:0.33, Z:0.00 [[ 9.90698340e-01 -1.36076444e-01 0.00000000e+00 1.68739689e+01] [ 1.36076444e-01 9.90698340e-01 0.00000000e+00 3.30049733e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58725372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380371742999998 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:16.92, Y:0.32, Z:-0.00 [[ 9.92167089e-01 -1.24917841e-01 0.00000000e+00 1.69218551e+01] [ 1.24917841e-01 9.92167089e-01 0.00000000e+00 3.21972340e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18514852e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.410371743 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:16.94, Y:0.34, Z:0.01 [[ 9.91351967e-01 -1.31229867e-01 0.00000000e+00 1.69361801e+01] [ 1.31229867e-01 9.91351967e-01 0.00000000e+00 3.39896047e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21420619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440371742999996 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:16.97, Y:0.35, Z:0.00 [[ 9.92101963e-01 -1.25434029e-01 0.00000000e+00 1.69667100e+01] [ 1.25434029e-01 9.92101963e-01 0.00000000e+00 3.45499929e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52378339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.470371742999998 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:17.00, Y:0.35, Z:0.00 [[ 9.92460410e-01 -1.22565637e-01 0.00000000e+00 1.69999238e+01] [ 1.22565637e-01 9.92460410e-01 0.00000000e+00 3.49638767e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57929488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500371743 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:17.03, Y:0.35, Z:0.00 [[ 9.92494879e-01 -1.22286201e-01 0.00000000e+00 1.70333957e+01] [ 1.22286201e-01 9.92494879e-01 0.00000000e+00 3.52649131e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57929488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.530371743 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:17.07, Y:0.36, Z:0.00 [[ 9.92847580e-01 -1.19388786e-01 0.00000000e+00 1.70655511e+01] [ 1.19388786e-01 9.92847580e-01 0.00000000e+00 3.56409007e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49554325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560371742999997 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:17.10, Y:0.36, Z:0.01 [[ 9.93180056e-01 -1.16590639e-01 0.00000000e+00 1.70984289e+01] [ 1.16590639e-01 9.93180056e-01 0.00000000e+00 3.60029762e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83698707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.590371743 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:17.13, Y:0.36, Z:0.01 [[ 9.93752840e-01 -1.11603280e-01 0.00000000e+00 1.71310813e+01] [ 1.11603280e-01 9.93752840e-01 0.00000000e+00 3.64044947e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42403292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620371743 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:17.18, Y:0.36, Z:0.00 [[ 9.94936486e-01 -1.00505662e-01 0.00000000e+00 1.71772152e+01] [ 1.00505662e-01 9.94936486e-01 0.00000000e+00 3.56286795e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85393668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.650371742999997 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:17.21, Y:0.36, Z:0.00 [[ 9.95161014e-01 -9.82576000e-02 0.00000000e+00 1.72098408e+01] [ 9.82576000e-02 9.95161014e-01 0.00000000e+00 3.57532455e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80149114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680371743 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:17.22, Y:0.37, Z:0.01 [[ 9.93938884e-01 -1.09934049e-01 0.00000000e+00 1.72226284e+01] [ 1.09934049e-01 9.93938884e-01 0.00000000e+00 3.72759608e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.95439203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.710371743 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:17.25, Y:0.37, Z:0.01 [[ 9.93858994e-01 -1.10653961e-01 0.00000000e+00 1.72544225e+01] [ 1.10653961e-01 9.93858994e-01 0.00000000e+00 3.74484258e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88735898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740371742999997 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:17.30, Y:0.37, Z:0.00 [[ 9.94834666e-01 -1.01508560e-01 0.00000000e+00 1.73015531e+01] [ 1.01508560e-01 9.94834666e-01 0.00000000e+00 3.65802355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59491956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.770371743 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:17.31, Y:0.38, Z:0.01 [[ 9.93515399e-01 -1.13697635e-01 0.00000000e+00 1.73148613e+01] [ 1.13697635e-01 9.93515399e-01 0.00000000e+00 3.77619887e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.44973205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800371743 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:17.35, Y:0.38, Z:0.01 [[ 9.92979478e-01 -1.18286755e-01 0.00000000e+00 1.73479551e+01] [ 1.18286755e-01 9.92979478e-01 0.00000000e+00 3.78545731e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32165664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.830371742999997 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:17.39, Y:0.37, Z:0.00 [[ 9.93738832e-01 -1.11727948e-01 0.00000000e+00 1.73942265e+01] [ 1.11727948e-01 9.93738832e-01 0.00000000e+00 3.70642962e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78336902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860371742999998 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:17.41, Y:0.38, Z:0.01 [[ 9.92268545e-01 -1.24109363e-01 0.00000000e+00 1.74088874e+01] [ 1.24109363e-01 9.92268545e-01 0.00000000e+00 3.82451408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88001411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.890371743 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:17.45, Y:0.38, Z:0.00 [[ 9.92527436e-01 -1.22021677e-01 0.00000000e+00 1.74535789e+01] [ 1.22021677e-01 9.92527436e-01 0.00000000e+00 3.75120672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16735854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920371742999997 meters Centerline goodness : 0.993976 Centerline is valid? [True, True] Translation: X:17.47, Y:0.39, Z:0.00 [[ 9.91279405e-01 -1.31776863e-01 0.00000000e+00 1.74722885e+01] [ 1.31776863e-01 9.91279405e-01 0.00000000e+00 3.85952405e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38135386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.950371742999998 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:17.50, Y:0.39, Z:0.00 [[ 9.90839138e-01 -1.35047408e-01 0.00000000e+00 1.75049641e+01] [ 1.35047408e-01 9.90839138e-01 0.00000000e+00 3.88313690e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76734904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980371743 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:17.55, Y:0.38, Z:0.00 [[ 9.91668851e-01 -1.28813391e-01 0.00000000e+00 1.75499579e+01] [ 1.28813391e-01 9.91668851e-01 0.00000000e+00 3.82621181e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34171910e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.010371742999997 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:17.57, Y:0.39, Z:0.00 [[ 9.90385947e-01 -1.38331758e-01 0.00000000e+00 1.75672968e+01] [ 1.38331758e-01 9.90385947e-01 0.00000000e+00 3.94712623e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16631221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040371742999998 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:17.60, Y:0.40, Z:0.00 [[ 9.90209782e-01 -1.39587208e-01 0.00000000e+00 1.76003798e+01] [ 1.39587208e-01 9.90209782e-01 0.00000000e+00 3.98020146e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18164646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.070371743 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:17.65, Y:0.39, Z:-0.00 [[ 9.90975062e-01 -1.34046361e-01 0.00000000e+00 1.76457479e+01] [ 1.34046361e-01 9.90975062e-01 0.00000000e+00 3.91863309e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09784614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100371742999997 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:17.66, Y:0.40, Z:0.00 [[ 9.89472753e-01 -1.44719283e-01 0.00000000e+00 1.76620829e+01] [ 1.44719283e-01 9.89472753e-01 0.00000000e+00 4.04680262e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74603288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.130371742999998 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:17.71, Y:0.40, Z:-0.00 [[ 9.90221428e-01 -1.39504565e-01 0.00000000e+00 1.77054562e+01] [ 1.39504565e-01 9.90221428e-01 0.00000000e+00 3.99746847e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17422447e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160371743 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:17.72, Y:0.41, Z:0.00 [[ 9.88477983e-01 -1.51364719e-01 0.00000000e+00 1.77232497e+01] [ 1.51364719e-01 9.88477983e-01 0.00000000e+00 4.13188209e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83639630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.190371742999996 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:17.77, Y:0.41, Z:0.00 [[ 9.89253678e-01 -1.46209306e-01 0.00000000e+00 1.77666120e+01] [ 1.46209306e-01 9.89253678e-01 0.00000000e+00 4.08702421e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02535288e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220371742999998 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:17.80, Y:0.41, Z:0.00 [[ 9.88904405e-01 -1.48553284e-01 0.00000000e+00 1.77993433e+01] [ 1.48553284e-01 9.88904405e-01 0.00000000e+00 4.13116062e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37916024e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.250371743 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:17.83, Y:0.42, Z:-0.00 [[ 9.88933519e-01 -1.48359341e-01 0.00000000e+00 1.78308145e+01] [ 1.48359341e-01 9.88933519e-01 0.00000000e+00 4.17058325e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94958662e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280371743 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:17.86, Y:0.42, Z:-0.00 [[ 9.89210006e-01 -1.46504484e-01 0.00000000e+00 1.78639313e+01] [ 1.46504484e-01 9.89210006e-01 0.00000000e+00 4.22511446e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29339178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.310371742999997 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:17.90, Y:0.43, Z:-0.00 [[ 9.89353959e-01 -1.45529188e-01 0.00000000e+00 1.78969546e+01] [ 1.45529188e-01 9.89353959e-01 0.00000000e+00 4.28103851e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.28881611e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340371743 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:17.93, Y:0.44, Z:0.00 [[ 9.90358327e-01 -1.38529361e-01 0.00000000e+00 1.79276092e+01] [ 1.38529361e-01 9.90358327e-01 0.00000000e+00 4.37439448e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03067057e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.370371743 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:17.96, Y:0.44, Z:0.00 [[ 9.90857684e-01 -1.34911271e-01 0.00000000e+00 1.79585175e+01] [ 1.34911271e-01 9.90857684e-01 0.00000000e+00 4.44510894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34030536e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400371742999997 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:17.97, Y:0.46, Z:0.01 [[ 9.90038124e-01 -1.40799550e-01 0.00000000e+00 1.79720761e+01] [ 1.40799550e-01 9.90038124e-01 0.00000000e+00 4.61811627e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21019897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.430371743 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:18.02, Y:0.45, Z:0.00 [[ 9.92141443e-01 -1.25121370e-01 0.00000000e+00 1.80198545e+01] [ 1.25121370e-01 9.92141443e-01 0.00000000e+00 4.54452077e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48019015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460371743 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:18.03, Y:0.48, Z:0.01 [[ 9.91655910e-01 -1.28912980e-01 0.00000000e+00 1.80306365e+01] [ 1.28912980e-01 9.91655910e-01 0.00000000e+00 4.76049854e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05010981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.490371742999997 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:18.06, Y:0.48, Z:0.01 [[ 9.92142111e-01 -1.25116075e-01 0.00000000e+00 1.80632744e+01] [ 1.25116075e-01 9.92142111e-01 0.00000000e+00 4.81996306e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02169688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520371743 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:18.10, Y:0.49, Z:0.01 [[ 9.92808970e-01 -1.19709436e-01 0.00000000e+00 1.80951732e+01] [ 1.19709436e-01 9.92808970e-01 0.00000000e+00 4.89834724e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98795964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.550371743 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:18.13, Y:0.49, Z:0.01 [[ 9.93077252e-01 -1.17463066e-01 0.00000000e+00 1.81284283e+01] [ 1.17463066e-01 9.93077252e-01 0.00000000e+00 4.94590925e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48461938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580371742999997 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:18.17, Y:0.49, Z:0.00 [[ 9.94065905e-01 -1.08779487e-01 0.00000000e+00 1.81709806e+01] [ 1.08779487e-01 9.94065905e-01 0.00000000e+00 4.89215611e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83548082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.610371742999998 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:18.19, Y:0.50, Z:0.01 [[ 9.93261250e-01 -1.15896887e-01 0.00000000e+00 1.81895315e+01] [ 1.15896887e-01 9.93261250e-01 0.00000000e+00 5.03733580e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03147476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640371743 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:18.22, Y:0.51, Z:0.01 [[ 9.93273427e-01 -1.15792481e-01 0.00000000e+00 1.82226237e+01] [ 1.15792481e-01 9.93273427e-01 0.00000000e+00 5.06812601e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39985719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.670371742999997 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:18.26, Y:0.51, Z:0.01 [[ 9.93198476e-01 -1.16433620e-01 0.00000000e+00 1.82550479e+01] [ 1.16433620e-01 9.93198476e-01 0.00000000e+00 5.09959052e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20215158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700371742999998 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:18.30, Y:0.50, Z:-0.00 [[ 9.93876900e-01 -1.10493021e-01 0.00000000e+00 1.82988130e+01] [ 1.10493021e-01 9.93876900e-01 0.00000000e+00 5.03797036e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.01878640e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.730371743 meters Centerline goodness : 0.995247 Centerline is valid? [True, True] Translation: X:18.33, Y:0.51, Z:-0.00 [[ 9.93669369e-01 -1.12344049e-01 0.00000000e+00 1.83308460e+01] [ 1.12344049e-01 9.93669369e-01 0.00000000e+00 5.07098113e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95354647e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760371742999997 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:18.36, Y:0.51, Z:-0.00 [[ 9.93573656e-01 -1.13187415e-01 0.00000000e+00 1.83649276e+01] [ 1.13187415e-01 9.93573656e-01 0.00000000e+00 5.09380225e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.36169411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.790371742999998 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:18.39, Y:0.51, Z:0.00 [[ 9.93171566e-01 -1.16662935e-01 0.00000000e+00 1.83933107e+01] [ 1.16662935e-01 9.93171566e-01 0.00000000e+00 5.13734032e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51365815e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820371743 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:18.43, Y:0.52, Z:0.00 [[ 9.92989929e-01 -1.18198986e-01 0.00000000e+00 1.84262825e+01] [ 1.18198986e-01 9.92989929e-01 0.00000000e+00 5.17047280e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24921676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.850371742999997 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:18.46, Y:0.52, Z:0.00 [[ 9.93003378e-01 -1.18085950e-01 0.00000000e+00 1.84590246e+01] [ 1.18085950e-01 9.93003378e-01 0.00000000e+00 5.19294147e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09767707e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880371742999998 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:18.49, Y:0.52, Z:0.00 [[ 9.92222074e-01 -1.24480340e-01 0.00000000e+00 1.84893999e+01] [ 1.24480340e-01 9.92222074e-01 0.00000000e+00 5.22736857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04110397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.910371743 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:18.51, Y:0.53, Z:0.01 [[ 9.90981642e-01 -1.33997703e-01 0.00000000e+00 1.85090988e+01] [ 1.33997703e-01 9.90981642e-01 0.00000000e+00 5.34021885e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86424288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940371742999996 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:18.55, Y:0.53, Z:0.00 [[ 9.91596872e-01 -1.29366315e-01 0.00000000e+00 1.85520977e+01] [ 1.29366315e-01 9.91596872e-01 0.00000000e+00 5.28362971e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90194873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.970371742999998 meters Centerline goodness : 0.995641 Centerline is valid? [True, True] Translation: X:18.57, Y:0.54, Z:0.01 [[ 9.90091820e-01 -1.40421466e-01 0.00000000e+00 1.85714677e+01] [ 1.40421466e-01 9.90091820e-01 0.00000000e+00 5.40328790e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72848382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000371743 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:18.60, Y:0.54, Z:0.01 [[ 9.89991813e-01 -1.41124801e-01 0.00000000e+00 1.86039357e+01] [ 1.41124801e-01 9.89991813e-01 0.00000000e+00 5.43628693e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74100365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.030371742999996 meters Centerline goodness : 0.995427 Centerline is valid? [True, True] Translation: X:18.65, Y:0.54, Z:0.00 [[ 9.90694919e-01 -1.36101352e-01 0.00000000e+00 1.86464852e+01] [ 1.36101352e-01 9.90694919e-01 0.00000000e+00 5.39789057e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99066531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060371742999997 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:18.68, Y:0.54, Z:0.00 [[ 9.90587029e-01 -1.36884393e-01 0.00000000e+00 1.86800569e+01] [ 1.36884393e-01 9.90587029e-01 0.00000000e+00 5.42988593e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22210139e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.090371743 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:18.70, Y:0.56, Z:0.00 [[ 9.89333417e-01 -1.45668767e-01 0.00000000e+00 1.86989987e+01] [ 1.45668767e-01 9.89333417e-01 0.00000000e+00 5.55427056e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39965867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120371743 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:18.74, Y:0.55, Z:-0.00 [[ 9.90256673e-01 -1.39254164e-01 0.00000000e+00 1.87421609e+01] [ 1.39254164e-01 9.90256673e-01 0.00000000e+00 5.50460511e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21466959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.150371742999997 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:18.77, Y:0.55, Z:-0.00 [[ 9.90151710e-01 -1.39998540e-01 0.00000000e+00 1.87747098e+01] [ 1.39998540e-01 9.90151710e-01 0.00000000e+00 5.54910315e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37065661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180371743 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:18.81, Y:0.56, Z:-0.00 [[ 9.90137515e-01 -1.40098897e-01 0.00000000e+00 1.88060785e+01] [ 1.40098897e-01 9.90137515e-01 0.00000000e+00 5.60056240e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25158529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.210371743 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:18.82, Y:0.58, Z:0.00 [[ 9.89325497e-01 -1.45722545e-01 0.00000000e+00 1.88245809e+01] [ 1.45722545e-01 9.89325497e-01 0.00000000e+00 5.75036770e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34405227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240371742999997 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:18.87, Y:0.57, Z:-0.00 [[ 9.90545119e-01 -1.37187341e-01 0.00000000e+00 1.88676297e+01] [ 1.37187341e-01 9.90545119e-01 0.00000000e+00 5.71144408e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56346846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.270371743 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:18.90, Y:0.58, Z:-0.00 [[ 9.90651067e-01 -1.36420170e-01 0.00000000e+00 1.89001075e+01] [ 1.36420170e-01 9.90651067e-01 0.00000000e+00 5.75916822e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27203700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300371743 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:18.92, Y:0.59, Z:0.00 [[ 9.89830652e-01 -1.42250769e-01 0.00000000e+00 1.89186992e+01] [ 1.42250769e-01 9.89830652e-01 0.00000000e+00 5.90269672e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95809502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.330371742999997 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:18.96, Y:0.59, Z:-0.00 [[ 9.91032481e-01 -1.33621184e-01 0.00000000e+00 1.89626642e+01] [ 1.33621184e-01 9.91032481e-01 0.00000000e+00 5.86051097e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48549648e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360371742999998 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:18.99, Y:0.59, Z:0.00 [[ 9.91029905e-01 -1.33640289e-01 0.00000000e+00 1.89943611e+01] [ 1.33640289e-01 9.91029905e-01 0.00000000e+00 5.93323932e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70672484e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.390371743 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:19.03, Y:0.60, Z:0.00 [[ 9.90983931e-01 -1.33980778e-01 0.00000000e+00 1.90257360e+01] [ 1.33980778e-01 9.90983931e-01 0.00000000e+00 5.96757984e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70672484e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420371742999997 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:19.06, Y:0.60, Z:0.00 [[ 9.90906843e-01 -1.34549725e-01 0.00000000e+00 1.90557487e+01] [ 1.34549725e-01 9.90906843e-01 0.00000000e+00 6.02220741e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.37153362e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.450371742999998 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:19.09, Y:0.61, Z:0.00 [[ 9.90397754e-01 -1.38247202e-01 0.00000000e+00 1.90864579e+01] [ 1.38247202e-01 9.90397754e-01 0.00000000e+00 6.08159597e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16929468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480371743 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:19.12, Y:0.61, Z:0.00 [[ 9.90201851e-01 -1.39643458e-01 0.00000000e+00 1.91168956e+01] [ 1.39643458e-01 9.90201851e-01 0.00000000e+00 6.12898492e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87157391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.510371742999997 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:19.15, Y:0.62, Z:0.00 [[ 9.89731186e-01 -1.42941172e-01 0.00000000e+00 1.91500065e+01] [ 1.42941172e-01 9.89731186e-01 0.00000000e+00 6.17069909e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01668544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540371742999998 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:19.18, Y:0.62, Z:0.00 [[ 9.89569292e-01 -1.44057684e-01 0.00000000e+00 1.91806067e+01] [ 1.44057684e-01 9.89569292e-01 0.00000000e+00 6.21482842e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53493861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.570371743 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:19.21, Y:0.63, Z:-0.00 [[ 9.89103900e-01 -1.47219141e-01 0.00000000e+00 1.92125694e+01] [ 1.47219141e-01 9.89103900e-01 0.00000000e+00 6.27657378e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00908283e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600371742999997 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:19.23, Y:0.64, Z:0.00 [[ 9.87858578e-01 -1.55355815e-01 0.00000000e+00 1.92296778e+01] [ 1.55355815e-01 9.87858578e-01 0.00000000e+00 6.41491623e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94650508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.630371742999998 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:19.27, Y:0.64, Z:-0.00 [[ 9.89113601e-01 -1.47153951e-01 0.00000000e+00 1.92733002e+01] [ 1.47153951e-01 9.89113601e-01 0.00000000e+00 6.38431621e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.07923420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660371743 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:19.29, Y:0.65, Z:0.00 [[ 9.88168613e-01 -1.53371418e-01 0.00000000e+00 1.92918482e+01] [ 1.53371418e-01 9.88168613e-01 0.00000000e+00 6.51832828e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58508246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.690371742999996 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:19.32, Y:0.66, Z:0.00 [[ 9.88453291e-01 -1.51525874e-01 0.00000000e+00 1.93245485e+01] [ 1.51525874e-01 9.88453291e-01 0.00000000e+00 6.56785489e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57532777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720371742999998 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:19.36, Y:0.66, Z:0.00 [[ 9.89506697e-01 -1.44487010e-01 0.00000000e+00 1.93636478e+01] [ 1.44487010e-01 9.89506697e-01 0.00000000e+00 6.56203467e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65543212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.750371743 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:19.40, Y:0.66, Z:0.00 [[ 9.90250361e-01 -1.39299039e-01 0.00000000e+00 1.93992574e+01] [ 1.39299039e-01 9.90250361e-01 0.00000000e+00 6.58899613e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59567652e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780371742999996 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:19.43, Y:0.67, Z:0.00 [[ 9.91136209e-01 -1.32849597e-01 0.00000000e+00 1.94279172e+01] [ 1.32849597e-01 9.91136209e-01 0.00000000e+00 6.66908857e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59923890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.810371742999997 meters Centerline goodness : 0.994407 Centerline is valid? [True, True] Translation: X:19.46, Y:0.68, Z:0.00 [[ 9.91489250e-01 -1.30188584e-01 0.00000000e+00 1.94578041e+01] [ 1.30188584e-01 9.91489250e-01 0.00000000e+00 6.75412171e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94586447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840371743 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:19.49, Y:0.68, Z:0.00 [[ 9.91920002e-01 -1.26864928e-01 0.00000000e+00 1.94900832e+01] [ 1.26864928e-01 9.91920002e-01 0.00000000e+00 6.78872418e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29390906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.870371743 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:19.52, Y:0.68, Z:0.00 [[ 9.92193155e-01 -1.24710639e-01 0.00000000e+00 1.95242988e+01] [ 1.24710639e-01 9.92193155e-01 0.00000000e+00 6.82113784e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30258063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900371742999997 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:19.55, Y:0.69, Z:0.00 [[ 9.91993043e-01 -1.26292530e-01 0.00000000e+00 1.95540466e+01] [ 1.26292530e-01 9.91993043e-01 0.00000000e+00 6.89242309e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03266715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.930371743 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:19.59, Y:0.69, Z:-0.00 [[ 9.92234306e-01 -1.24382800e-01 0.00000000e+00 1.95866490e+01] [ 1.24382800e-01 9.92234306e-01 0.00000000e+00 6.91282894e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24253608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960371743 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:19.62, Y:0.69, Z:-0.00 [[ 9.92185650e-01 -1.24770335e-01 0.00000000e+00 1.96201494e+01] [ 1.24770335e-01 9.92185650e-01 0.00000000e+00 6.94134717e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98759610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.990371742999997 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:19.65, Y:0.70, Z:-0.00 [[ 9.92043051e-01 -1.25899103e-01 0.00000000e+00 1.96500666e+01] [ 1.25899103e-01 9.92043051e-01 0.00000000e+00 6.98341332e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.75378909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020371743 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:19.68, Y:0.70, Z:-0.00 [[ 9.91957052e-01 -1.26574906e-01 0.00000000e+00 1.96830213e+01] [ 1.26574906e-01 9.91957052e-01 0.00000000e+00 7.02025758e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37008097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.050371743 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:19.71, Y:0.71, Z:-0.00 [[ 9.91780874e-01 -1.27948030e-01 0.00000000e+00 1.97140680e+01] [ 1.27948030e-01 9.91780874e-01 0.00000000e+00 7.06594664e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22759465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080371742999997 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:19.75, Y:0.71, Z:-0.00 [[ 9.91826311e-01 -1.27595334e-01 0.00000000e+00 1.97462823e+01] [ 1.27595334e-01 9.91826311e-01 0.00000000e+00 7.09792430e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38114605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.110371742999998 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:19.78, Y:0.71, Z:-0.00 [[ 9.91681548e-01 -1.28715609e-01 0.00000000e+00 1.97758828e+01] [ 1.28715609e-01 9.91681548e-01 0.00000000e+00 7.13597985e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05376391e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140371743 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:19.81, Y:0.72, Z:0.00 [[ 9.91528780e-01 -1.29887179e-01 0.00000000e+00 1.98059993e+01] [ 1.29887179e-01 9.91528780e-01 0.00000000e+00 7.16278835e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76528883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.170371742999997 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:19.84, Y:0.72, Z:0.00 [[ 9.91350666e-01 -1.31239695e-01 0.00000000e+00 1.98392388e+01] [ 1.31239695e-01 9.91350666e-01 0.00000000e+00 7.18790617e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80841427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200371742999998 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:19.87, Y:0.72, Z:0.00 [[ 9.90896913e-01 -1.34622838e-01 0.00000000e+00 1.98685551e+01] [ 1.34622838e-01 9.90896913e-01 0.00000000e+00 7.23452946e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27214078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.230371743 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:19.90, Y:0.73, Z:0.00 [[ 9.90741035e-01 -1.35765244e-01 0.00000000e+00 1.99029603e+01] [ 1.35765244e-01 9.90741035e-01 0.00000000e+00 7.25159034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31311521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260371742999997 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:19.93, Y:0.73, Z:0.00 [[ 9.89827832e-01 -1.42270387e-01 0.00000000e+00 1.99337194e+01] [ 1.42270387e-01 9.89827832e-01 0.00000000e+00 7.28151358e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11594425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.290371742999998 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:19.97, Y:0.73, Z:-0.00 [[ 9.89688058e-01 -1.43239474e-01 0.00000000e+00 1.99674998e+01] [ 1.43239474e-01 9.89688058e-01 0.00000000e+00 7.29337780e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.71035462e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320371743 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:19.99, Y:0.74, Z:0.00 [[ 9.88001529e-01 -1.54444093e-01 0.00000000e+00 1.99920381e+01] [ 1.54444093e-01 9.88001529e-01 0.00000000e+00 7.37654616e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80754694e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.350371742999997 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:20.03, Y:0.73, Z:-0.01 [[ 9.88419121e-01 -1.51748612e-01 0.00000000e+00 2.00336179e+01] [ 1.51748612e-01 9.88419121e-01 0.00000000e+00 7.34046809e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12909580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380371742999998 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:20.07, Y:0.74, Z:-0.01 [[ 9.87946774e-01 -1.54793966e-01 0.00000000e+00 2.00658164e+01] [ 1.54793966e-01 9.87946774e-01 0.00000000e+00 7.37095633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01414193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.410371743 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:20.10, Y:0.74, Z:-0.01 [[ 9.87377706e-01 -1.58383289e-01 0.00000000e+00 2.00983606e+01] [ 1.58383289e-01 9.87377706e-01 0.00000000e+00 7.40960699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96330789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440371742999996 meters Centerline goodness : 0.992921 Centerline is valid? [True, True] Translation: X:20.13, Y:0.74, Z:-0.01 [[ 9.87121234e-01 -1.59973962e-01 0.00000000e+00 2.01306775e+01] [ 1.59973962e-01 9.87121234e-01 0.00000000e+00 7.44606257e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.06674614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.470371742999998 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:20.16, Y:0.75, Z:-0.01 [[ 9.86787256e-01 -1.62021331e-01 0.00000000e+00 2.01618232e+01] [ 1.62021331e-01 9.86787256e-01 0.00000000e+00 7.50320874e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64988931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500371743 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:20.19, Y:0.76, Z:-0.01 [[ 9.87112247e-01 -1.60029410e-01 0.00000000e+00 2.01946260e+01] [ 1.60029410e-01 9.87112247e-01 0.00000000e+00 7.56280584e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.30229925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.530371742999996 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:20.21, Y:0.77, Z:-0.00 [[ 9.86268419e-01 -1.65150251e-01 0.00000000e+00 2.02129386e+01] [ 1.65150251e-01 9.86268419e-01 0.00000000e+00 7.68817059e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18905671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560371742999997 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:20.25, Y:0.77, Z:-0.00 [[ 9.87351460e-01 -1.58546821e-01 0.00000000e+00 2.02537842e+01] [ 1.58546821e-01 9.87351460e-01 0.00000000e+00 7.67668877e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71443403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.590371743 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:20.28, Y:0.77, Z:-0.00 [[ 9.87952776e-01 -1.54755657e-01 0.00000000e+00 2.02848293e+01] [ 1.54755657e-01 9.87952776e-01 0.00000000e+00 7.74334856e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.39811289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620371743 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:20.30, Y:0.79, Z:0.00 [[ 9.87317261e-01 -1.58759646e-01 0.00000000e+00 2.03045377e+01] [ 1.58759646e-01 9.87317261e-01 0.00000000e+00 7.85827613e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08251400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.650371742999997 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:20.35, Y:0.78, Z:-0.01 [[ 9.88877768e-01 -1.48730494e-01 0.00000000e+00 2.03496824e+01] [ 1.48730494e-01 9.88877768e-01 0.00000000e+00 7.82272611e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.48425049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680371743 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:20.36, Y:0.80, Z:-0.00 [[ 9.87870772e-01 -1.55278261e-01 0.00000000e+00 2.03647237e+01] [ 1.55278261e-01 9.87870772e-01 0.00000000e+00 7.96063831e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09529123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.710371743 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:20.40, Y:0.80, Z:-0.00 [[ 9.87987129e-01 -1.54536186e-01 0.00000000e+00 2.03963374e+01] [ 1.54536186e-01 9.87987129e-01 0.00000000e+00 8.00774960e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58784349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740371742999997 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:20.44, Y:0.80, Z:-0.01 [[ 9.88881064e-01 -1.48708581e-01 0.00000000e+00 2.04387681e+01] [ 1.48708581e-01 9.88881064e-01 0.00000000e+00 7.98482638e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.48235546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.770371743 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:20.47, Y:0.81, Z:-0.01 [[ 9.88660860e-01 -1.50165587e-01 0.00000000e+00 2.04684515e+01] [ 1.50165587e-01 9.88660860e-01 0.00000000e+00 8.05483596e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87200342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800371743 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:20.50, Y:0.81, Z:-0.01 [[ 9.88663775e-01 -1.50146394e-01 0.00000000e+00 2.05010062e+01] [ 1.50146394e-01 9.88663775e-01 0.00000000e+00 8.09854028e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.36353358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.830371742999997 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:20.52, Y:0.82, Z:-0.01 [[ 9.87890491e-01 -1.55152759e-01 0.00000000e+00 2.05227078e+01] [ 1.55152759e-01 9.87890491e-01 0.00000000e+00 8.20899945e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22229089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860371742999998 meters Centerline goodness : 0.992221 Centerline is valid? [True, True] Translation: X:20.56, Y:0.82, Z:-0.01 [[ 9.89428683e-01 -1.45020280e-01 0.00000000e+00 2.05601521e+01] [ 1.45020280e-01 9.89428683e-01 0.00000000e+00 8.19822977e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.86526616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.890371743 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:20.60, Y:0.82, Z:-0.01 [[ 9.89477650e-01 -1.44685800e-01 0.00000000e+00 2.05963466e+01] [ 1.44685800e-01 9.89477650e-01 0.00000000e+00 8.24573299e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.46883612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920371742999997 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:20.63, Y:0.83, Z:-0.01 [[ 9.89336124e-01 -1.45650380e-01 0.00000000e+00 2.06280417e+01] [ 1.45650380e-01 9.89336124e-01 0.00000000e+00 8.31814953e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76937605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.950371742999998 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:20.65, Y:0.85, Z:-0.00 [[ 9.89014573e-01 -1.47818044e-01 0.00000000e+00 2.06469090e+01] [ 1.47818044e-01 9.89014573e-01 0.00000000e+00 8.46315139e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61597691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980371743 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:20.69, Y:0.85, Z:-0.00 [[ 9.89978285e-01 -1.41219672e-01 0.00000000e+00 2.06877830e+01] [ 1.41219672e-01 9.89978285e-01 0.00000000e+00 8.45173954e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40040918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.010371742999997 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:20.71, Y:0.86, Z:0.00 [[ 9.89383912e-01 -1.45325409e-01 0.00000000e+00 2.07078530e+01] [ 1.45325409e-01 9.89383912e-01 0.00000000e+00 8.56459654e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.87990877e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040371742999998 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:20.75, Y:0.85, Z:-0.00 [[ 9.90299237e-01 -1.38951145e-01 0.00000000e+00 2.07490367e+01] [ 1.38951145e-01 9.90299237e-01 0.00000000e+00 8.54673070e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61383235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.070371743 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:20.78, Y:0.86, Z:0.00 [[ 9.90248867e-01 -1.39309659e-01 0.00000000e+00 2.07783972e+01] [ 1.39309659e-01 9.90248867e-01 0.00000000e+00 8.60563527e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40532001e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100371742999997 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:20.81, Y:0.87, Z:0.00 [[ 9.90031570e-01 -1.40845625e-01 0.00000000e+00 2.08094997e+01] [ 1.40845625e-01 9.90031570e-01 0.00000000e+00 8.65483298e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75992075e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.130371742999998 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:20.84, Y:0.87, Z:-0.00 [[ 9.90004450e-01 -1.41036130e-01 0.00000000e+00 2.08399203e+01] [ 1.41036130e-01 9.90004450e-01 0.00000000e+00 8.69745246e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00847081e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160371743 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:20.87, Y:0.87, Z:-0.00 [[ 9.89882749e-01 -1.41887782e-01 0.00000000e+00 2.08722558e+01] [ 1.41887782e-01 9.89882749e-01 0.00000000e+00 8.73795289e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55117637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.190371742999996 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:20.90, Y:0.88, Z:-0.00 [[ 9.89384799e-01 -1.45319368e-01 0.00000000e+00 2.08980029e+01] [ 1.45319368e-01 9.89384799e-01 0.00000000e+00 8.80471221e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22182561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220371742999998 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:20.93, Y:0.88, Z:-0.00 [[ 9.89239908e-01 -1.46302444e-01 0.00000000e+00 2.09297605e+01] [ 1.46302444e-01 9.89239908e-01 0.00000000e+00 8.83699629e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38413078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.250371743 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:20.97, Y:0.88, Z:-0.01 [[ 9.89390548e-01 -1.45280223e-01 0.00000000e+00 2.09688746e+01] [ 1.45280223e-01 9.89390548e-01 0.00000000e+00 8.82123970e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77691377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280371742999996 meters Centerline goodness : 0.992510 Centerline is valid? [True, True] Translation: X:21.00, Y:0.88, Z:-0.01 [[ 9.89487632e-01 -1.44617518e-01 0.00000000e+00 2.10016156e+01] [ 1.44617518e-01 9.89487632e-01 0.00000000e+00 8.83637260e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.26391548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.310371742999997 meters Centerline goodness : 0.992510 Centerline is valid? [True, True] Translation: X:21.03, Y:0.89, Z:-0.01 [[ 9.89446839e-01 -1.44896352e-01 0.00000000e+00 2.10339493e+01] [ 1.44896352e-01 9.89446839e-01 0.00000000e+00 8.87364073e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.26391548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340371743 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:21.07, Y:0.89, Z:-0.01 [[ 9.89472162e-01 -1.44723326e-01 0.00000000e+00 2.10676515e+01] [ 1.44723326e-01 9.89472162e-01 0.00000000e+00 8.89643231e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.74323005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.370371743 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:21.10, Y:0.89, Z:-0.01 [[ 9.89640853e-01 -1.43565252e-01 0.00000000e+00 2.11007357e+01] [ 1.43565252e-01 9.89640853e-01 0.00000000e+00 8.91978913e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08162089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400371742999997 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:21.13, Y:0.90, Z:-0.01 [[ 9.89401994e-01 -1.45202250e-01 0.00000000e+00 2.11313197e+01] [ 1.45202250e-01 9.89401994e-01 0.00000000e+00 8.96840034e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.27619046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.430371743 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:21.16, Y:0.90, Z:-0.00 [[ 9.89042057e-01 -1.47634040e-01 0.00000000e+00 2.11577211e+01] [ 1.47634040e-01 9.89042057e-01 0.00000000e+00 9.03142836e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.23275622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460371743 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:21.19, Y:0.90, Z:-0.00 [[ 9.89456642e-01 -1.44829394e-01 0.00000000e+00 2.11919431e+01] [ 1.44829394e-01 9.89456642e-01 0.00000000e+00 9.03650420e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.65192172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.490371742999997 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:21.22, Y:0.91, Z:-0.00 [[ 9.89175046e-01 -1.46740345e-01 0.00000000e+00 2.12229229e+01] [ 1.46740345e-01 9.89175046e-01 0.00000000e+00 9.07000919e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.22090920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520371743 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:21.26, Y:0.91, Z:-0.00 [[ 9.88875360e-01 -1.48746501e-01 0.00000000e+00 2.12550506e+01] [ 1.48746501e-01 9.88875360e-01 0.00000000e+00 9.09470983e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.55265728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.550371743 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:21.28, Y:0.91, Z:-0.00 [[ 9.88502336e-01 -1.51205593e-01 0.00000000e+00 2.12845665e+01] [ 1.51205593e-01 9.88502336e-01 0.00000000e+00 9.13962353e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45273987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580371742999997 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:21.32, Y:0.92, Z:-0.00 [[ 9.88597116e-01 -1.50584667e-01 0.00000000e+00 2.13195597e+01] [ 1.50584667e-01 9.88597116e-01 0.00000000e+00 9.15082373e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26323911e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.610371742999998 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:21.35, Y:0.92, Z:-0.00 [[ 9.88332210e-01 -1.52313633e-01 0.00000000e+00 2.13521668e+01] [ 1.52313633e-01 9.88332210e-01 0.00000000e+00 9.16480577e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56440377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640371743 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:21.38, Y:0.92, Z:-0.00 [[ 9.88000343e-01 -1.54451686e-01 0.00000000e+00 2.13837805e+01] [ 1.54451686e-01 9.88000343e-01 0.00000000e+00 9.19527414e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.93138559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.670371742999997 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:21.42, Y:0.92, Z:-0.01 [[ 9.87845247e-01 -1.55440560e-01 0.00000000e+00 2.14166971e+01] [ 1.55440560e-01 9.87845247e-01 0.00000000e+00 9.22028000e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65528114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700371742999998 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:21.45, Y:0.93, Z:-0.00 [[ 9.87605085e-01 -1.56959217e-01 0.00000000e+00 2.14488235e+01] [ 1.56959217e-01 9.87605085e-01 0.00000000e+00 9.25074038e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.92097864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.730371743 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:21.48, Y:0.93, Z:-0.01 [[ 9.87368575e-01 -1.58440199e-01 0.00000000e+00 2.14797118e+01] [ 1.58440199e-01 9.87368575e-01 0.00000000e+00 9.26703995e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04984665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760371742999997 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:21.51, Y:0.93, Z:-0.00 [[ 9.87211657e-01 -1.59415006e-01 0.00000000e+00 2.15097487e+01] [ 1.59415006e-01 9.87211657e-01 0.00000000e+00 9.29946355e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.40236855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.790371742999998 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:21.53, Y:0.94, Z:-0.00 [[ 9.86540903e-01 -1.63514670e-01 0.00000000e+00 2.15336603e+01] [ 1.63514670e-01 9.86540903e-01 0.00000000e+00 9.36919575e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81891111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820371743 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:21.57, Y:0.94, Z:-0.00 [[ 9.86563825e-01 -1.63376313e-01 0.00000000e+00 2.15651945e+01] [ 1.63376313e-01 9.86563825e-01 0.00000000e+00 9.40052523e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73501839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.850371742999997 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:21.59, Y:0.94, Z:-0.00 [[ 9.86450377e-01 -1.64059909e-01 0.00000000e+00 2.15935835e+01] [ 1.64059909e-01 9.86450377e-01 0.00000000e+00 9.44491133e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.83902399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880371742999998 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:21.63, Y:0.95, Z:-0.00 [[ 9.86608844e-01 -1.63104225e-01 0.00000000e+00 2.16317614e+01] [ 1.63104225e-01 9.86608844e-01 0.00000000e+00 9.46104035e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.53556716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.910371743 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:21.66, Y:0.95, Z:-0.01 [[ 9.86429704e-01 -1.64184164e-01 0.00000000e+00 2.16608579e+01] [ 1.64184164e-01 9.86429704e-01 0.00000000e+00 9.50737155e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17346459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940371742999996 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:21.69, Y:0.95, Z:-0.00 [[ 9.86310120e-01 -1.64901022e-01 0.00000000e+00 2.16942101e+01] [ 1.64901022e-01 9.86310120e-01 0.00000000e+00 9.53904699e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.61096670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.970371742999998 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:21.73, Y:0.96, Z:-0.00 [[ 9.86439496e-01 -1.64125320e-01 0.00000000e+00 2.17298348e+01] [ 1.64125320e-01 9.86439496e-01 0.00000000e+00 9.56071382e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.70983010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000371743 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:21.76, Y:0.96, Z:-0.00 [[ 9.86456830e-01 -1.64021101e-01 0.00000000e+00 2.17629774e+01] [ 1.64021101e-01 9.86456830e-01 0.00000000e+00 9.57432236e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.35000808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.030371742999996 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:21.79, Y:0.96, Z:-0.01 [[ 9.86309703e-01 -1.64903516e-01 0.00000000e+00 2.17917060e+01] [ 1.64903516e-01 9.86309703e-01 0.00000000e+00 9.60951658e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86604966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060371742999997 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:21.83, Y:0.96, Z:-0.01 [[ 9.85956832e-01 -1.67000377e-01 0.00000000e+00 2.18269236e+01] [ 1.67000377e-01 9.85956832e-01 0.00000000e+00 9.64002016e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.66067689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.090371743 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:21.86, Y:0.97, Z:-0.01 [[ 9.85957596e-01 -1.66995865e-01 0.00000000e+00 2.18555973e+01] [ 1.66995865e-01 9.85957596e-01 0.00000000e+00 9.65711825e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.01042310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120371742999996 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:21.89, Y:0.97, Z:-0.01 [[ 9.85574388e-01 -1.69242801e-01 0.00000000e+00 2.18908123e+01] [ 1.69242801e-01 9.85574388e-01 0.00000000e+00 9.69180330e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.05212281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.150371742999997 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:21.92, Y:0.97, Z:-0.01 [[ 9.85293529e-01 -1.70870309e-01 0.00000000e+00 2.19221464e+01] [ 1.70870309e-01 9.85293529e-01 0.00000000e+00 9.73684826e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.47639406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180371743 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:21.95, Y:0.98, Z:-0.01 [[ 9.85252978e-01 -1.71103973e-01 0.00000000e+00 2.19547026e+01] [ 1.71103973e-01 9.85252978e-01 0.00000000e+00 9.77055255e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54254251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.210371743 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:21.99, Y:0.98, Z:-0.01 [[ 9.85259779e-01 -1.71064804e-01 0.00000000e+00 2.19874210e+01] [ 1.71064804e-01 9.85259779e-01 0.00000000e+00 9.80619151e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.44683355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240371742999997 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:22.02, Y:0.98, Z:-0.01 [[ 9.85536255e-01 -1.69464716e-01 0.00000000e+00 2.20192141e+01] [ 1.69464716e-01 9.85536255e-01 0.00000000e+00 9.83491458e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55713062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.270371743 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:22.05, Y:0.99, Z:-0.01 [[ 9.85709101e-01 -1.68456428e-01 0.00000000e+00 2.20503260e+01] [ 1.68456428e-01 9.85709101e-01 0.00000000e+00 9.86524633e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22787015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300371743 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:22.08, Y:0.99, Z:-0.01 [[ 9.85833540e-01 -1.67726656e-01 0.00000000e+00 2.20818071e+01] [ 1.67726656e-01 9.85833540e-01 0.00000000e+00 9.89978948e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69416275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.330371742999997 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:22.11, Y:0.99, Z:-0.01 [[ 9.85913045e-01 -1.67258687e-01 0.00000000e+00 2.21146835e+01] [ 1.67258687e-01 9.85913045e-01 0.00000000e+00 9.93297079e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40123645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360371742999998 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:22.15, Y:1.00, Z:-0.01 [[ 9.85931972e-01 -1.67147082e-01 0.00000000e+00 2.21460917e+01] [ 1.67147082e-01 9.85931972e-01 0.00000000e+00 9.97033334e-01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.73781408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.390371743 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:22.18, Y:1.00, Z:-0.01 [[ 9.85781673e-01 -1.68031226e-01 0.00000000e+00 2.21790652e+01] [ 1.68031226e-01 9.85781673e-01 0.00000000e+00 1.00093282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.90718457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420371742999997 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:22.21, Y:1.00, Z:-0.01 [[ 9.85536027e-01 -1.69466040e-01 0.00000000e+00 2.22097145e+01] [ 1.69466040e-01 9.85536027e-01 0.00000000e+00 1.00384536e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11383003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.450371742999998 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:22.24, Y:1.01, Z:-0.01 [[ 9.85448188e-01 -1.69976083e-01 0.00000000e+00 2.22428673e+01] [ 1.69976083e-01 9.85448188e-01 0.00000000e+00 1.00593475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.97963377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480371743 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:22.28, Y:1.01, Z:-0.01 [[ 9.85172643e-01 -1.71565916e-01 0.00000000e+00 2.22752633e+01] [ 1.71565916e-01 9.85172643e-01 0.00000000e+00 1.00875661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.44978554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.510371742999997 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:22.31, Y:1.01, Z:-0.01 [[ 9.84934288e-01 -1.72929026e-01 0.00000000e+00 2.23052840e+01] [ 1.72929026e-01 9.84934288e-01 0.00000000e+00 1.01211111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.27613922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540371742999998 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:22.34, Y:1.02, Z:-0.01 [[ 9.84945167e-01 -1.72867053e-01 0.00000000e+00 2.23388360e+01] [ 1.72867053e-01 9.84945167e-01 0.00000000e+00 1.01501475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.00580792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.570371743 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:22.37, Y:1.02, Z:-0.01 [[ 9.84893824e-01 -1.73159336e-01 0.00000000e+00 2.23705022e+01] [ 1.73159336e-01 9.84893824e-01 0.00000000e+00 1.01860080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.52189341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600371742999997 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:22.40, Y:1.02, Z:-0.01 [[ 9.85115450e-01 -1.71894006e-01 0.00000000e+00 2.24033523e+01] [ 1.71894006e-01 9.85115450e-01 0.00000000e+00 1.02175006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.89723968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.630371742999998 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:22.43, Y:1.03, Z:-0.01 [[ 9.85216720e-01 -1.71312625e-01 0.00000000e+00 2.24338616e+01] [ 1.71312625e-01 9.85216720e-01 0.00000000e+00 1.02561457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.29892449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660371743 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:22.47, Y:1.03, Z:-0.01 [[ 9.85504494e-01 -1.69649319e-01 0.00000000e+00 2.24660625e+01] [ 1.69649319e-01 9.85504494e-01 0.00000000e+00 1.02854274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09609473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.690371742999996 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:22.50, Y:1.03, Z:-0.01 [[ 9.85626839e-01 -1.68937072e-01 0.00000000e+00 2.24990061e+01] [ 1.68937072e-01 9.85626839e-01 0.00000000e+00 1.03194546e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05209678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720371742999998 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:22.53, Y:1.04, Z:-0.01 [[ 9.85684904e-01 -1.68597953e-01 0.00000000e+00 2.25307804e+01] [ 1.68597953e-01 9.85684904e-01 0.00000000e+00 1.03500829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02826263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.750371743 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:22.56, Y:1.04, Z:-0.01 [[ 9.85580144e-01 -1.69209277e-01 0.00000000e+00 2.25621933e+01] [ 1.69209277e-01 9.85580144e-01 0.00000000e+00 1.03824406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.58049346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780371742999996 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:22.60, Y:1.04, Z:-0.01 [[ 9.85258886e-01 -1.71069947e-01 0.00000000e+00 2.25952396e+01] [ 1.71069947e-01 9.85258886e-01 0.00000000e+00 1.03972051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39036228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.810371742999997 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:22.63, Y:1.04, Z:-0.01 [[ 9.84878014e-01 -1.73249236e-01 0.00000000e+00 2.26270455e+01] [ 1.73249236e-01 9.84878014e-01 0.00000000e+00 1.04265284e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78866980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840371743 meters Centerline goodness : 0.995709 Centerline is valid? [True, True] Translation: X:22.66, Y:1.05, Z:-0.01 [[ 9.84529424e-01 -1.75219329e-01 0.00000000e+00 2.26591589e+01] [ 1.75219329e-01 9.84529424e-01 0.00000000e+00 1.04541751e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.32194507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.870371742999996 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:22.69, Y:1.05, Z:-0.01 [[ 9.84181341e-01 -1.77164013e-01 0.00000000e+00 2.26915504e+01] [ 1.77164013e-01 9.84181341e-01 0.00000000e+00 1.04821120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.09168346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900371742999997 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:22.71, Y:1.05, Z:-0.01 [[ 9.82928303e-01 -1.83988997e-01 0.00000000e+00 2.27145781e+01] [ 1.83988997e-01 9.82928303e-01 0.00000000e+00 1.05415179e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.37684533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.930371743 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:22.75, Y:1.05, Z:-0.01 [[ 9.83348301e-01 -1.81730898e-01 0.00000000e+00 2.27526897e+01] [ 1.81730898e-01 9.83348301e-01 0.00000000e+00 1.05261098e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09990730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960371743 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:22.78, Y:1.05, Z:-0.01 [[ 9.83329507e-01 -1.81832560e-01 0.00000000e+00 2.27847049e+01] [ 1.81832560e-01 9.83329507e-01 0.00000000e+00 1.05386923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12095972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.990371742999997 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:22.81, Y:1.06, Z:-0.01 [[ 9.82382162e-01 -1.86883086e-01 0.00000000e+00 2.28075662e+01] [ 1.86883086e-01 9.82382162e-01 0.00000000e+00 1.06120855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34351675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020371743 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:22.85, Y:1.06, Z:-0.01 [[ 9.82899712e-01 -1.84141674e-01 0.00000000e+00 2.28465157e+01] [ 1.84141674e-01 9.82899712e-01 0.00000000e+00 1.05756191e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12783409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.050371743 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:22.88, Y:1.06, Z:-0.01 [[ 9.83008328e-01 -1.83560963e-01 0.00000000e+00 2.28790098e+01] [ 1.83560963e-01 9.83008328e-01 0.00000000e+00 1.06038568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16364589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080371742999997 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:22.91, Y:1.06, Z:-0.01 [[ 9.82935835e-01 -1.83948754e-01 0.00000000e+00 2.29106570e+01] [ 1.83948754e-01 9.82935835e-01 0.00000000e+00 1.06410594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.20340046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.110371742999998 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:22.94, Y:1.07, Z:-0.01 [[ 9.83383207e-01 -1.81541920e-01 0.00000000e+00 2.29438845e+01] [ 1.81541920e-01 9.83383207e-01 0.00000000e+00 1.06706351e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.54838779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140371743 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:22.98, Y:1.07, Z:-0.01 [[ 9.83702523e-01 -1.79803631e-01 0.00000000e+00 2.29765294e+01] [ 1.79803631e-01 9.83702523e-01 0.00000000e+00 1.07009843e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28528190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.170371742999997 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:23.01, Y:1.07, Z:-0.01 [[ 9.83971783e-01 -1.78324228e-01 0.00000000e+00 2.30068334e+01] [ 1.78324228e-01 9.83971783e-01 0.00000000e+00 1.07326144e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34336894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200371742999998 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:23.04, Y:1.08, Z:-0.01 [[ 9.83953550e-01 -1.78424805e-01 0.00000000e+00 2.30400670e+01] [ 1.78424805e-01 9.83953550e-01 0.00000000e+00 1.07723092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34336894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.230371743 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:23.08, Y:1.08, Z:-0.01 [[ 9.84687836e-01 -1.74326894e-01 0.00000000e+00 2.30751047e+01] [ 1.74326894e-01 9.84687836e-01 0.00000000e+00 1.07844545e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.53843212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260371742999997 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:23.10, Y:1.08, Z:-0.00 [[ 9.84678011e-01 -1.74382382e-01 0.00000000e+00 2.31045234e+01] [ 1.74382382e-01 9.84678011e-01 0.00000000e+00 1.08263333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17845474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.290371742999998 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:23.14, Y:1.09, Z:-0.01 [[ 9.84932988e-01 -1.72936433e-01 0.00000000e+00 2.31377800e+01] [ 1.72936433e-01 9.84932988e-01 0.00000000e+00 1.08519820e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79295821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320371743 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:23.17, Y:1.09, Z:-0.00 [[ 9.85012101e-01 -1.72485251e-01 0.00000000e+00 2.31682617e+01] [ 1.72485251e-01 9.85012101e-01 0.00000000e+00 1.08849177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36050829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.350371742999997 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:23.20, Y:1.09, Z:-0.01 [[ 9.85030760e-01 -1.72378656e-01 0.00000000e+00 2.32015794e+01] [ 1.72378656e-01 9.85030760e-01 0.00000000e+00 1.08966209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.61803075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380371742999998 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:23.23, Y:1.09, Z:-0.01 [[ 9.85225678e-01 -1.71261096e-01 0.00000000e+00 2.32342744e+01] [ 1.71261096e-01 9.85225678e-01 0.00000000e+00 1.09117213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.19875133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.410371743 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:23.27, Y:1.09, Z:-0.01 [[ 9.85241115e-01 -1.71172267e-01 0.00000000e+00 2.32650466e+01] [ 1.71172267e-01 9.85241115e-01 0.00000000e+00 1.09382060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.17577756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440371742999996 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:23.30, Y:1.10, Z:-0.01 [[ 9.85141786e-01 -1.71743012e-01 0.00000000e+00 2.32977785e+01] [ 1.71743012e-01 9.85141786e-01 0.00000000e+00 1.09716309e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96779491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.470371742999998 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:23.33, Y:1.10, Z:-0.01 [[ 9.85166772e-01 -1.71599626e-01 0.00000000e+00 2.33306673e+01] [ 1.71599626e-01 9.85166772e-01 0.00000000e+00 1.09906439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57075636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500371743 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:23.36, Y:1.10, Z:-0.01 [[ 9.85209856e-01 -1.71352090e-01 0.00000000e+00 2.33626675e+01] [ 1.71352090e-01 9.85209856e-01 0.00000000e+00 1.10227881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31045254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.530371742999996 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:23.39, Y:1.10, Z:-0.01 [[ 9.85501767e-01 -1.69665164e-01 0.00000000e+00 2.33949072e+01] [ 1.69665164e-01 9.85501767e-01 0.00000000e+00 1.10466053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18315261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560371742999997 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:23.43, Y:1.11, Z:-0.01 [[ 9.85877943e-01 -1.67465462e-01 0.00000000e+00 2.34285200e+01] [ 1.67465462e-01 9.85877943e-01 0.00000000e+00 1.10635180e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01860583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.590371743 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:23.46, Y:1.11, Z:-0.01 [[ 9.86053244e-01 -1.66430168e-01 0.00000000e+00 2.34596382e+01] [ 1.66430168e-01 9.86053244e-01 0.00000000e+00 1.10976045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63844750e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620371742999996 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:23.49, Y:1.11, Z:-0.01 [[ 9.86280655e-01 -1.65077161e-01 0.00000000e+00 2.34924889e+01] [ 1.65077161e-01 9.86280655e-01 0.00000000e+00 1.11301390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06248627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.650371742999997 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:23.51, Y:1.12, Z:-0.01 [[ 9.85250123e-01 -1.71120411e-01 0.00000000e+00 2.35105742e+01] [ 1.71120411e-01 9.85250123e-01 0.00000000e+00 1.12426626e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.38035687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680371743 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:23.55, Y:1.12, Z:-0.01 [[ 9.86670625e-01 -1.62730075e-01 0.00000000e+00 2.35539212e+01] [ 1.62730075e-01 9.86670625e-01 0.00000000e+00 1.11894365e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.35382640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.710371743 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:23.58, Y:1.12, Z:-0.01 [[ 9.86716019e-01 -1.62454600e-01 0.00000000e+00 2.35840962e+01] [ 1.62454600e-01 9.86716019e-01 0.00000000e+00 1.12264484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.68859600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740371742999997 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:23.62, Y:1.13, Z:-0.01 [[ 9.86642564e-01 -1.62900127e-01 0.00000000e+00 2.36158056e+01] [ 1.62900127e-01 9.86642564e-01 0.00000000e+00 1.12626722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.78341157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.770371743 meters Centerline goodness : 0.995992 Centerline is valid? [True, True] Translation: X:23.65, Y:1.13, Z:-0.01 [[ 9.86524704e-01 -1.63612375e-01 0.00000000e+00 2.36482746e+01] [ 1.63612375e-01 9.86524704e-01 0.00000000e+00 1.12914381e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.98274388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800371743 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:23.68, Y:1.13, Z:-0.01 [[ 9.86332627e-01 -1.64766345e-01 0.00000000e+00 2.36807970e+01] [ 1.64766345e-01 9.86332627e-01 0.00000000e+00 1.12915129e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81002058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.830371742999997 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:23.71, Y:1.13, Z:-0.01 [[ 9.85939062e-01 -1.67105256e-01 0.00000000e+00 2.37137381e+01] [ 1.67105256e-01 9.85939062e-01 0.00000000e+00 1.13221922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99474129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860371742999998 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:23.73, Y:1.14, Z:-0.01 [[ 9.84081354e-01 -1.77718568e-01 0.00000000e+00 2.37328271e+01] [ 1.77718568e-01 9.84081354e-01 0.00000000e+00 1.14179776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.38806875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.890371743 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:23.76, Y:1.14, Z:-0.01 [[ 9.83851825e-01 -1.78984876e-01 0.00000000e+00 2.37647793e+01] [ 1.78984876e-01 9.83851825e-01 0.00000000e+00 1.14403707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22426377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920371742999997 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:23.81, Y:1.14, Z:-0.01 [[ 9.85000383e-01 -1.72552153e-01 0.00000000e+00 2.38085807e+01] [ 1.72552153e-01 9.85000383e-01 0.00000000e+00 1.13756169e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.04014426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.950371742999998 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:23.84, Y:1.14, Z:-0.01 [[ 9.84667482e-01 -1.74441824e-01 0.00000000e+00 2.38417381e+01] [ 1.74441824e-01 9.84667482e-01 0.00000000e+00 1.14013341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62863845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980371743 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:23.86, Y:1.15, Z:-0.01 [[ 9.82981531e-01 -1.83704407e-01 0.00000000e+00 2.38595646e+01] [ 1.83704407e-01 9.82981531e-01 0.00000000e+00 1.14956153e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40099878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.010371742999997 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:23.89, Y:1.15, Z:-0.00 [[ 9.82977062e-01 -1.83728321e-01 0.00000000e+00 2.38925572e+01] [ 1.83728321e-01 9.82977062e-01 0.00000000e+00 1.15254703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66211541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040371742999998 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:23.94, Y:1.15, Z:-0.01 [[ 9.84185221e-01 -1.77142457e-01 0.00000000e+00 2.39351167e+01] [ 1.77142457e-01 9.84185221e-01 0.00000000e+00 1.14816677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12017147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.070371743 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:23.97, Y:1.15, Z:-0.01 [[ 9.84346974e-01 -1.76241411e-01 0.00000000e+00 2.39679274e+01] [ 1.76241411e-01 9.84346974e-01 0.00000000e+00 1.15145149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11177537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100371742999997 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:24.00, Y:1.16, Z:-0.01 [[ 9.84626768e-01 -1.74671485e-01 0.00000000e+00 2.39983300e+01] [ 1.74671485e-01 9.84626768e-01 0.00000000e+00 1.15542345e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76634125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.130371742999998 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:24.02, Y:1.17, Z:-0.00 [[ 9.83742134e-01 -1.79586789e-01 0.00000000e+00 2.40185983e+01] [ 1.79586789e-01 9.83742134e-01 0.00000000e+00 1.16636120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65318175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160371743 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:24.06, Y:1.16, Z:-0.01 [[ 9.84975634e-01 -1.72693372e-01 0.00000000e+00 2.40614204e+01] [ 1.72693372e-01 9.84975634e-01 0.00000000e+00 1.16253422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56277388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.190371742999996 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:24.09, Y:1.17, Z:-0.00 [[ 9.85084366e-01 -1.72072053e-01 0.00000000e+00 2.40932811e+01] [ 1.72072053e-01 9.85084366e-01 0.00000000e+00 1.16679065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21292251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220371742999998 meters Centerline goodness : 0.995697 Centerline is valid? [True, True] Translation: X:24.11, Y:1.18, Z:-0.00 [[ 9.84165662e-01 -1.77251092e-01 0.00000000e+00 2.41138546e+01] [ 1.77251092e-01 9.84165662e-01 0.00000000e+00 1.17772825e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.85659123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.250371743 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:24.16, Y:1.17, Z:-0.01 [[ 9.85221543e-01 -1.71284884e-01 0.00000000e+00 2.41567461e+01] [ 1.71284884e-01 9.85221543e-01 0.00000000e+00 1.17425475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.69855404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280371742999996 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:24.18, Y:1.19, Z:-0.00 [[ 9.84032343e-01 -1.77989743e-01 0.00000000e+00 2.41772308e+01] [ 1.77989743e-01 9.84032343e-01 0.00000000e+00 1.18594578e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93542306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.310371742999997 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:24.22, Y:1.18, Z:-0.01 [[ 9.84887666e-01 -1.73194360e-01 0.00000000e+00 2.42204361e+01] [ 1.73194360e-01 9.84887666e-01 0.00000000e+00 1.18248949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.12914864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340371743 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:24.25, Y:1.19, Z:-0.01 [[ 9.84503781e-01 -1.75363350e-01 0.00000000e+00 2.42531192e+01] [ 1.75363350e-01 9.84503781e-01 0.00000000e+00 1.18682888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75832007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.370371742999996 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:24.28, Y:1.19, Z:-0.01 [[ 9.84305033e-01 -1.76475502e-01 0.00000000e+00 2.42827700e+01] [ 1.76475502e-01 9.84305033e-01 0.00000000e+00 1.19083358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.69312337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400371742999997 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:24.30, Y:1.20, Z:-0.01 [[ 9.82947573e-01 -1.83886019e-01 0.00000000e+00 2.43023902e+01] [ 1.83886019e-01 9.82947573e-01 0.00000000e+00 1.20228449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88104045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.430371743 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:24.33, Y:1.21, Z:-0.01 [[ 9.82295028e-01 -1.87340538e-01 0.00000000e+00 2.43341446e+01] [ 1.87340538e-01 9.82295028e-01 0.00000000e+00 1.20724341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07490767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460371743 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:24.37, Y:1.21, Z:-0.00 [[ 9.82836731e-01 -1.84477534e-01 0.00000000e+00 2.43730385e+01] [ 1.84477534e-01 9.82836731e-01 0.00000000e+00 1.20689990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38543123e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.490371742999997 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:24.41, Y:1.21, Z:-0.00 [[ 9.82534657e-01 -1.86079681e-01 0.00000000e+00 2.44050000e+01] [ 1.86079681e-01 9.82534657e-01 0.00000000e+00 1.21234660e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76732276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520371743 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:24.44, Y:1.22, Z:-0.00 [[ 9.82206047e-01 -1.87806498e-01 0.00000000e+00 2.44362958e+01] [ 1.87806498e-01 9.82206047e-01 0.00000000e+00 1.21799908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31369701e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.550371743 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:24.47, Y:1.22, Z:-0.00 [[ 9.82083941e-01 -1.88443979e-01 0.00000000e+00 2.44683901e+01] [ 1.88443979e-01 9.82083941e-01 0.00000000e+00 1.22317387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.54927147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580371742999997 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:24.50, Y:1.23, Z:-0.00 [[ 9.82032795e-01 -1.88710332e-01 0.00000000e+00 2.45011383e+01] [ 1.88710332e-01 9.82032795e-01 0.00000000e+00 1.22816020e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14050447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.610371742999998 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:24.53, Y:1.23, Z:-0.00 [[ 9.81770499e-01 -1.90070218e-01 0.00000000e+00 2.45337065e+01] [ 1.90070218e-01 9.81770499e-01 0.00000000e+00 1.23427061e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71590979e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640371743 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:24.57, Y:1.24, Z:-0.00 [[ 9.81655488e-01 -1.90663323e-01 0.00000000e+00 2.45666571e+01] [ 1.90663323e-01 9.81655488e-01 0.00000000e+00 1.23940714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18907531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.670371742999997 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:24.60, Y:1.24, Z:-0.00 [[ 9.81758884e-01 -1.90130202e-01 0.00000000e+00 2.45981606e+01] [ 1.90130202e-01 9.81758884e-01 0.00000000e+00 1.24375790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49969263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700371742999998 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:24.63, Y:1.25, Z:-0.00 [[ 9.81529049e-01 -1.91313160e-01 0.00000000e+00 2.46306838e+01] [ 1.91313160e-01 9.81529049e-01 0.00000000e+00 1.24938703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.25713951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.730371743 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:24.66, Y:1.26, Z:-0.00 [[ 9.81272695e-01 -1.92623724e-01 0.00000000e+00 2.46623571e+01] [ 1.92623724e-01 9.81272695e-01 0.00000000e+00 1.25603218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27693207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760371742999997 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:24.69, Y:1.26, Z:-0.00 [[ 9.81081044e-01 -1.93597484e-01 0.00000000e+00 2.46919582e+01] [ 1.93597484e-01 9.81081044e-01 0.00000000e+00 1.26161978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94401472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.790371742999998 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:24.73, Y:1.27, Z:-0.00 [[ 9.80957082e-01 -1.94224622e-01 0.00000000e+00 2.47253141e+01] [ 1.94224622e-01 9.80957082e-01 0.00000000e+00 1.26669090e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43926791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820371743 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:24.76, Y:1.27, Z:-0.00 [[ 9.80616931e-01 -1.95934773e-01 0.00000000e+00 2.47572225e+01] [ 1.95934773e-01 9.80616931e-01 0.00000000e+00 1.27319130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79811427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.850371742999997 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:24.79, Y:1.28, Z:-0.00 [[ 9.80390909e-01 -1.97062591e-01 0.00000000e+00 2.47868968e+01] [ 1.97062591e-01 9.80390909e-01 0.00000000e+00 1.27870240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.11568145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880371742999998 meters Centerline goodness : 0.995481 Centerline is valid? [True, True] Translation: X:24.82, Y:1.28, Z:-0.00 [[ 9.79986718e-01 -1.99062887e-01 0.00000000e+00 2.48187641e+01] [ 1.99062887e-01 9.79986718e-01 0.00000000e+00 1.28367523e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.29313528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.910371743 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:24.85, Y:1.29, Z:-0.00 [[ 9.79830406e-01 -1.99830869e-01 0.00000000e+00 2.48494343e+01] [ 1.99830869e-01 9.79830406e-01 0.00000000e+00 1.28874420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42022792e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940371742999996 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:24.88, Y:1.29, Z:-0.00 [[ 9.79536857e-01 -2.01264863e-01 0.00000000e+00 2.48817228e+01] [ 2.01264863e-01 9.79536857e-01 0.00000000e+00 1.29449737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.73314599e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.970371742999998 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:24.91, Y:1.30, Z:-0.00 [[ 9.79481946e-01 -2.01531927e-01 0.00000000e+00 2.49129595e+01] [ 2.01531927e-01 9.79481946e-01 0.00000000e+00 1.29930140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04560958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000371743 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:24.94, Y:1.30, Z:-0.00 [[ 9.79117717e-01 -2.03294112e-01 0.00000000e+00 2.49449499e+01] [ 2.03294112e-01 9.79117717e-01 0.00000000e+00 1.30494928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.32697161e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.030371742999996 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:24.98, Y:1.31, Z:0.00 [[ 9.78964661e-01 -2.04029879e-01 0.00000000e+00 2.49755462e+01] [ 2.04029879e-01 9.78964661e-01 0.00000000e+00 1.31036422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97786605e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060371742999997 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:25.01, Y:1.32, Z:-0.00 [[ 9.79065906e-01 -2.03543491e-01 0.00000000e+00 2.50060261e+01] [ 2.03543491e-01 9.79065906e-01 0.00000000e+00 1.31523134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.56414942e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.090371743 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:25.04, Y:1.32, Z:0.00 [[ 9.78880650e-01 -2.04432562e-01 0.00000000e+00 2.50378546e+01] [ 2.04432562e-01 9.78880650e-01 0.00000000e+00 1.32099869e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57482357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120371742999996 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:25.07, Y:1.33, Z:0.00 [[ 9.78837965e-01 -2.04636845e-01 0.00000000e+00 2.50701767e+01] [ 2.04636845e-01 9.78837965e-01 0.00000000e+00 1.32520210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57482357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.150371742999997 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:25.10, Y:1.33, Z:0.00 [[ 9.78925034e-01 -2.04219924e-01 0.00000000e+00 2.51023254e+01] [ 2.04219924e-01 9.78925034e-01 0.00000000e+00 1.33026443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15511691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180371743 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:25.13, Y:1.34, Z:0.00 [[ 9.79044607e-01 -2.03645912e-01 0.00000000e+00 2.51323405e+01] [ 2.03645912e-01 9.79044607e-01 0.00000000e+00 1.33748368e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14824041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.210371743 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:25.17, Y:1.34, Z:0.00 [[ 9.79103804e-01 -2.03361112e-01 0.00000000e+00 2.51650074e+01] [ 2.03361112e-01 9.79103804e-01 0.00000000e+00 1.34253719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59641747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240371742999997 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:25.20, Y:1.35, Z:0.00 [[ 9.79196775e-01 -2.02912976e-01 0.00000000e+00 2.51978102e+01] [ 2.02912976e-01 9.79196775e-01 0.00000000e+00 1.34747483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28644816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.270371743 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:25.23, Y:1.35, Z:0.00 [[ 9.79339029e-01 -2.02225288e-01 0.00000000e+00 2.52293322e+01] [ 2.02225288e-01 9.79339029e-01 0.00000000e+00 1.35188964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29282665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300371743 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:25.26, Y:1.36, Z:0.00 [[ 9.79364295e-01 -2.02102888e-01 0.00000000e+00 2.52612978e+01] [ 2.02102888e-01 9.79364295e-01 0.00000000e+00 1.35674954e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38010858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.330371742999997 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:25.29, Y:1.36, Z:0.00 [[ 9.79346933e-01 -2.02187007e-01 0.00000000e+00 2.52935767e+01] [ 2.02187007e-01 9.79346933e-01 0.00000000e+00 1.36154399e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47904445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360371742999998 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:25.33, Y:1.37, Z:0.00 [[ 9.79468691e-01 -2.01596340e-01 0.00000000e+00 2.53258818e+01] [ 2.01596340e-01 9.79468691e-01 0.00000000e+00 1.36654648e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.38212652e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.390371743 meters Centerline goodness : 0.995380 Centerline is valid? [True, True] Translation: X:25.36, Y:1.37, Z:0.00 [[ 9.79668375e-01 -2.00623715e-01 0.00000000e+00 2.53585595e+01] [ 2.00623715e-01 9.79668375e-01 0.00000000e+00 1.37278174e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30286962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420371742999997 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:25.39, Y:1.38, Z:0.00 [[ 9.79692801e-01 -2.00504403e-01 0.00000000e+00 2.53893968e+01] [ 2.00504403e-01 9.79692801e-01 0.00000000e+00 1.37892904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11303384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.450371742999998 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:25.42, Y:1.38, Z:0.00 [[ 9.79995897e-01 -1.99017690e-01 0.00000000e+00 2.54209336e+01] [ 1.99017690e-01 9.79995897e-01 0.00000000e+00 1.38361981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45786218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480371743 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:25.45, Y:1.39, Z:0.00 [[ 9.80635759e-01 -1.95840516e-01 0.00000000e+00 2.54520187e+01] [ 1.95840516e-01 9.80635759e-01 0.00000000e+00 1.38962210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31035495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.510371742999997 meters Centerline goodness : 0.995040 Centerline is valid? [True, True] Translation: X:25.49, Y:1.39, Z:0.00 [[ 9.80984312e-01 -1.94087040e-01 0.00000000e+00 2.54858263e+01] [ 1.94087040e-01 9.80984312e-01 0.00000000e+00 1.39434187e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47597965e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540371742999998 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:25.52, Y:1.40, Z:0.00 [[ 9.81193771e-01 -1.93025343e-01 0.00000000e+00 2.55187112e+01] [ 1.93025343e-01 9.81193771e-01 0.00000000e+00 1.39975519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35670138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.570371743 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:25.55, Y:1.41, Z:0.00 [[ 9.81663965e-01 -1.90619675e-01 0.00000000e+00 2.55513150e+01] [ 1.90619675e-01 9.81663965e-01 0.00000000e+00 1.40603625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21336515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600371742999997 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:25.58, Y:1.41, Z:0.00 [[ 9.81823005e-01 -1.89798807e-01 0.00000000e+00 2.55843630e+01] [ 1.89798807e-01 9.81823005e-01 0.00000000e+00 1.41128877e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80129602e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.630371742999998 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:25.62, Y:1.42, Z:-0.00 [[ 9.82151327e-01 -1.88092451e-01 0.00000000e+00 2.56180201e+01] [ 1.88092451e-01 9.82151327e-01 0.00000000e+00 1.41507657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39989767e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660371743 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:25.65, Y:1.42, Z:-0.00 [[ 9.82191988e-01 -1.87880009e-01 0.00000000e+00 2.56467499e+01] [ 1.87880009e-01 9.82191988e-01 0.00000000e+00 1.42043561e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86143115e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.690371742999996 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:25.68, Y:1.43, Z:-0.00 [[ 9.82207835e-01 -1.87797147e-01 0.00000000e+00 2.56768402e+01] [ 1.87797147e-01 9.82207835e-01 0.00000000e+00 1.42511786e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62516188e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720371742999998 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:25.71, Y:1.43, Z:-0.00 [[ 9.82061224e-01 -1.88562328e-01 0.00000000e+00 2.57097566e+01] [ 1.88562328e-01 9.82061224e-01 0.00000000e+00 1.42974782e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21034677e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.750371743 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:25.74, Y:1.43, Z:0.00 [[ 9.81902327e-01 -1.89388013e-01 0.00000000e+00 2.57418404e+01] [ 1.89388013e-01 9.81902327e-01 0.00000000e+00 1.43433813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14709777e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780371742999996 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:25.77, Y:1.44, Z:0.00 [[ 9.81701730e-01 -1.90425084e-01 0.00000000e+00 2.57733622e+01] [ 1.90425084e-01 9.81701730e-01 0.00000000e+00 1.43938871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03723170e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.810371742999997 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:25.80, Y:1.44, Z:0.00 [[ 9.81560440e-01 -1.91152039e-01 0.00000000e+00 2.58029159e+01] [ 1.91152039e-01 9.81560440e-01 0.00000000e+00 1.44445084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72607141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840371743 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:25.83, Y:1.45, Z:0.00 [[ 9.81403116e-01 -1.91958130e-01 0.00000000e+00 2.58326701e+01] [ 1.91958130e-01 9.81403116e-01 0.00000000e+00 1.44913240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24812371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.870371742999996 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:25.85, Y:1.46, Z:-0.00 [[ 9.80195383e-01 -1.98032855e-01 0.00000000e+00 2.58536905e+01] [ 1.98032855e-01 9.80195383e-01 0.00000000e+00 1.45943017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65034638e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900371742999997 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:25.89, Y:1.46, Z:0.00 [[ 9.81072453e-01 -1.93641013e-01 0.00000000e+00 2.58945694e+01] [ 1.93641013e-01 9.81072453e-01 0.00000000e+00 1.45770873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35049488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.930371743 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:25.93, Y:1.46, Z:0.00 [[ 9.80868335e-01 -1.94672312e-01 0.00000000e+00 2.59260313e+01] [ 1.94672312e-01 9.80868335e-01 0.00000000e+00 1.46229362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18420321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960371743 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:25.96, Y:1.47, Z:0.00 [[ 9.80883870e-01 -1.94594025e-01 0.00000000e+00 2.59579965e+01] [ 1.94594025e-01 9.80883870e-01 0.00000000e+00 1.46628700e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17764442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.990371742999997 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:25.99, Y:1.47, Z:0.00 [[ 9.80513161e-01 -1.96453409e-01 0.00000000e+00 2.59901552e+01] [ 1.96453409e-01 9.80513161e-01 0.00000000e+00 1.47113386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29825752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020371743 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:26.02, Y:1.47, Z:0.00 [[ 9.80735051e-01 -1.95342672e-01 0.00000000e+00 2.60218859e+01] [ 1.95342672e-01 9.80735051e-01 0.00000000e+00 1.47442733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.30829072e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.050371743 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:26.05, Y:1.48, Z:0.00 [[ 9.80629777e-01 -1.95870471e-01 0.00000000e+00 2.60530851e+01] [ 1.95870471e-01 9.80629777e-01 0.00000000e+00 1.47941848e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61368241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080371742999997 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:26.09, Y:1.48, Z:0.00 [[ 9.80625167e-01 -1.95893545e-01 0.00000000e+00 2.60863097e+01] [ 1.95893545e-01 9.80625167e-01 0.00000000e+00 1.48358439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57176983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.110371742999998 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:26.11, Y:1.49, Z:0.01 [[ 9.80436563e-01 -1.96835326e-01 0.00000000e+00 2.61148316e+01] [ 1.96835326e-01 9.80436563e-01 0.00000000e+00 1.48913315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14211641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140371743 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:26.15, Y:1.49, Z:0.01 [[ 9.80420232e-01 -1.96916654e-01 0.00000000e+00 2.61478947e+01] [ 1.96916654e-01 9.80420232e-01 0.00000000e+00 1.49263768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10979803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.170371742999997 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:26.18, Y:1.50, Z:0.01 [[ 9.80290436e-01 -1.97561788e-01 0.00000000e+00 2.61783084e+01] [ 1.97561788e-01 9.80290436e-01 0.00000000e+00 1.49644808e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16474844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200371742999998 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:26.21, Y:1.50, Z:0.01 [[ 9.80029730e-01 -1.98851022e-01 0.00000000e+00 2.62098754e+01] [ 1.98851022e-01 9.80029730e-01 0.00000000e+00 1.50101504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81811035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.230371743 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:26.24, Y:1.50, Z:0.00 [[ 9.79946486e-01 -1.99260844e-01 0.00000000e+00 2.62411231e+01] [ 1.99260844e-01 9.79946486e-01 0.00000000e+00 1.50404897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15638208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260371742999997 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:26.28, Y:1.51, Z:0.00 [[ 9.80013710e-01 -1.98929958e-01 0.00000000e+00 2.62755461e+01] [ 1.98929958e-01 9.80013710e-01 0.00000000e+00 1.50685235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10169062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.290371742999998 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:26.31, Y:1.51, Z:0.00 [[ 9.79795288e-01 -2.00002983e-01 0.00000000e+00 2.63072999e+01] [ 2.00002983e-01 9.79795288e-01 0.00000000e+00 1.51105484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39206184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320371743 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:26.34, Y:1.51, Z:0.00 [[ 9.79789833e-01 -2.00029707e-01 0.00000000e+00 2.63397782e+01] [ 2.00029707e-01 9.79789833e-01 0.00000000e+00 1.51465177e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34004378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.350371742999997 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:26.37, Y:1.52, Z:0.01 [[ 9.79954023e-01 -1.99223774e-01 0.00000000e+00 2.63718104e+01] [ 1.99223774e-01 9.79954023e-01 0.00000000e+00 1.51822705e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11673078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380371742999998 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:26.40, Y:1.52, Z:0.00 [[ 9.80166298e-01 -1.98176759e-01 0.00000000e+00 2.64038358e+01] [ 1.98176759e-01 9.80166298e-01 0.00000000e+00 1.52187077e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78361739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.410371743 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:26.44, Y:1.53, Z:0.00 [[ 9.80292149e-01 -1.97553289e-01 0.00000000e+00 2.64366904e+01] [ 1.97553289e-01 9.80292149e-01 0.00000000e+00 1.52587826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02875036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440371742999996 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:26.47, Y:1.53, Z:0.00 [[ 9.80380860e-01 -1.97112581e-01 0.00000000e+00 2.64695760e+01] [ 1.97112581e-01 9.80380860e-01 0.00000000e+00 1.52992817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44883602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.470371742999998 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:26.50, Y:1.53, Z:0.00 [[ 9.80397122e-01 -1.97031679e-01 0.00000000e+00 2.65031301e+01] [ 1.97031679e-01 9.80397122e-01 0.00000000e+00 1.53357252e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30450142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500371743 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:26.53, Y:1.54, Z:0.00 [[ 9.80305887e-01 -1.97485109e-01 0.00000000e+00 2.65335778e+01] [ 1.97485109e-01 9.80305887e-01 0.00000000e+00 1.53874102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80539839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.530371742999996 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:26.57, Y:1.54, Z:0.00 [[ 9.80442897e-01 -1.96803775e-01 0.00000000e+00 2.65664795e+01] [ 1.96803775e-01 9.80442897e-01 0.00000000e+00 1.54328036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56309518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560371742999997 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:26.60, Y:1.55, Z:0.00 [[ 9.80457025e-01 -1.96733380e-01 0.00000000e+00 2.65968305e+01] [ 1.96733380e-01 9.80457025e-01 0.00000000e+00 1.54820038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26767408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.590371743 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:26.63, Y:1.55, Z:0.00 [[ 9.80510027e-01 -1.96469048e-01 0.00000000e+00 2.66292027e+01] [ 1.96469048e-01 9.80510027e-01 0.00000000e+00 1.55266844e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72728028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620371742999996 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:26.66, Y:1.56, Z:0.01 [[ 9.80365667e-01 -1.97188129e-01 0.00000000e+00 2.66584562e+01] [ 1.97188129e-01 9.80365667e-01 0.00000000e+00 1.55770243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04483119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.650371742999997 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:26.69, Y:1.56, Z:0.01 [[ 9.79846939e-01 -1.99749783e-01 0.00000000e+00 2.66907642e+01] [ 1.99749783e-01 9.79846939e-01 0.00000000e+00 1.56127160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25470346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680371743 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:26.72, Y:1.57, Z:0.01 [[ 9.79366215e-01 -2.02093586e-01 0.00000000e+00 2.67197386e+01] [ 2.02093586e-01 9.79366215e-01 0.00000000e+00 1.56587167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10932927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.710371742999996 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:26.75, Y:1.57, Z:0.01 [[ 9.78677090e-01 -2.05404851e-01 0.00000000e+00 2.67487981e+01] [ 2.05404851e-01 9.78677090e-01 0.00000000e+00 1.57159075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03015531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740371742999997 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:26.78, Y:1.57, Z:0.01 [[ 9.78604713e-01 -2.05749400e-01 0.00000000e+00 2.67836188e+01] [ 2.05749400e-01 9.78604713e-01 0.00000000e+00 1.57372552e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.07814628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.770371743 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:26.80, Y:1.58, Z:0.00 [[ 9.76959846e-01 -2.13423192e-01 0.00000000e+00 2.68045264e+01] [ 2.13423192e-01 9.76959846e-01 0.00000000e+00 1.58334038e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31281499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800371743 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:26.84, Y:1.59, Z:0.00 [[ 9.76745910e-01 -2.14400157e-01 0.00000000e+00 2.68364840e+01] [ 2.14400157e-01 9.76745910e-01 0.00000000e+00 1.58719455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16198464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.830371742999997 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:26.88, Y:1.59, Z:0.01 [[ 9.77482821e-01 -2.11015009e-01 0.00000000e+00 2.68762529e+01] [ 2.11015009e-01 9.77482821e-01 0.00000000e+00 1.58607765e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13108206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860371742999998 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:26.91, Y:1.59, Z:0.01 [[ 9.77298459e-01 -2.11867226e-01 0.00000000e+00 2.69061646e+01] [ 2.11867226e-01 9.77298459e-01 0.00000000e+00 1.59036407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44975156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.890371743 meters Centerline goodness : 0.994427 Centerline is valid? [True, True] Translation: X:26.94, Y:1.60, Z:0.01 [[ 9.77262671e-01 -2.12032241e-01 0.00000000e+00 2.69377824e+01] [ 2.12032241e-01 9.77262671e-01 0.00000000e+00 1.59527856e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76561883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920371742999997 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:26.97, Y:1.60, Z:0.01 [[ 9.77372555e-01 -2.11525148e-01 0.00000000e+00 2.69689357e+01] [ 2.11525148e-01 9.77372555e-01 0.00000000e+00 1.59959503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14414802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.950371742999998 meters Centerline goodness : 0.994407 Centerline is valid? [True, True] Translation: X:27.00, Y:1.61, Z:0.01 [[ 9.77733803e-01 -2.09849019e-01 0.00000000e+00 2.70017115e+01] [ 2.09849019e-01 9.77733803e-01 0.00000000e+00 1.60506049e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03940936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980371743 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:27.03, Y:1.61, Z:0.01 [[ 9.77865772e-01 -2.09233202e-01 0.00000000e+00 2.70307159e+01] [ 2.09233202e-01 9.77865772e-01 0.00000000e+00 1.61057553e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.95170925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.010371742999997 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:27.06, Y:1.62, Z:0.01 [[ 9.77844113e-01 -2.09334398e-01 0.00000000e+00 2.70630387e+01] [ 2.09334398e-01 9.77844113e-01 0.00000000e+00 1.61501183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.95170925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040371742999998 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:27.10, Y:1.62, Z:0.01 [[ 9.78242669e-01 -2.07463925e-01 0.00000000e+00 2.70954038e+01] [ 2.07463925e-01 9.78242669e-01 0.00000000e+00 1.61936239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03249942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.070371743 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:27.13, Y:1.62, Z:0.01 [[ 9.78856337e-01 -2.04548948e-01 0.00000000e+00 2.71250106e+01] [ 2.04548948e-01 9.78856337e-01 0.00000000e+00 1.62462260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99560226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100371742999997 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:27.16, Y:1.63, Z:0.01 [[ 9.79216997e-01 -2.02815366e-01 0.00000000e+00 2.71570896e+01] [ 2.02815366e-01 9.79216997e-01 0.00000000e+00 1.62915006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43223735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.130371742999998 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:27.19, Y:1.63, Z:0.01 [[ 9.79947963e-01 -1.99253584e-01 0.00000000e+00 2.71903533e+01] [ 1.99253584e-01 9.79947963e-01 0.00000000e+00 1.63262075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.95592390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160371743 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:27.22, Y:1.64, Z:0.01 [[ 9.80817100e-01 -1.94930287e-01 0.00000000e+00 2.72208187e+01] [ 1.94930287e-01 9.80817100e-01 0.00000000e+00 1.63786183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.76705512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.190371742999996 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:27.25, Y:1.64, Z:0.01 [[ 9.81431314e-01 -1.91813908e-01 0.00000000e+00 2.72549500e+01] [ 1.91813908e-01 9.81431314e-01 0.00000000e+00 1.64164960e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07220728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220371742999998 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:27.28, Y:1.65, Z:0.01 [[ 9.81900365e-01 -1.89398187e-01 0.00000000e+00 2.72849852e+01] [ 1.89398187e-01 9.81900365e-01 0.00000000e+00 1.64666264e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.32050636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.250371743 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:27.32, Y:1.65, Z:0.01 [[ 9.83158340e-01 -1.82755789e-01 0.00000000e+00 2.73196964e+01] [ 1.82755789e-01 9.83158340e-01 0.00000000e+00 1.65102596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17168930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280371742999996 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:27.35, Y:1.66, Z:0.01 [[ 9.83674548e-01 -1.79956617e-01 0.00000000e+00 2.73504993e+01] [ 1.79956617e-01 9.83674548e-01 0.00000000e+00 1.65611530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17794687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.310371742999997 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:27.38, Y:1.66, Z:0.01 [[ 9.84072960e-01 -1.77765040e-01 0.00000000e+00 2.73829223e+01] [ 1.77765040e-01 9.84072960e-01 0.00000000e+00 1.66102801e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26129526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340371743 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:27.42, Y:1.67, Z:0.01 [[ 9.84713811e-01 -1.74180109e-01 0.00000000e+00 2.74152342e+01] [ 1.74180109e-01 9.84713811e-01 0.00000000e+00 1.66539896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06257992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.370371742999996 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:27.45, Y:1.67, Z:0.01 [[ 9.85103744e-01 -1.71961081e-01 0.00000000e+00 2.74462978e+01] [ 1.71961081e-01 9.85103744e-01 0.00000000e+00 1.66994894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22821431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400371742999997 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:27.48, Y:1.67, Z:0.01 [[ 9.85361745e-01 -1.70476482e-01 0.00000000e+00 2.74777667e+01] [ 1.70476482e-01 9.85361745e-01 0.00000000e+00 1.67401366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15258222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.430371743 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:27.51, Y:1.68, Z:0.01 [[ 9.85669323e-01 -1.68689022e-01 0.00000000e+00 2.75090607e+01] [ 1.68689022e-01 9.85669323e-01 0.00000000e+00 1.67800242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05617385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460371742999996 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:27.54, Y:1.68, Z:0.01 [[ 9.86076133e-01 -1.66294498e-01 0.00000000e+00 2.75427778e+01] [ 1.66294498e-01 9.86076133e-01 0.00000000e+00 1.68215790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04662200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.490371742999997 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:27.56, Y:1.69, Z:0.01 [[ 9.85080633e-01 -1.72093424e-01 0.00000000e+00 2.75613629e+01] [ 1.72093424e-01 9.85080633e-01 0.00000000e+00 1.69386748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44722385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520371743 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:27.59, Y:1.70, Z:0.01 [[ 9.85300935e-01 -1.70827596e-01 0.00000000e+00 2.75936585e+01] [ 1.70827596e-01 9.85300935e-01 0.00000000e+00 1.69799736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31081872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.550371743 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:27.64, Y:1.69, Z:0.01 [[ 9.86640482e-01 -1.62912737e-01 0.00000000e+00 2.76359621e+01] [ 1.62912737e-01 9.86640482e-01 0.00000000e+00 1.69480102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15337272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580371742999997 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:27.67, Y:1.70, Z:0.01 [[ 9.86723094e-01 -1.62411622e-01 0.00000000e+00 2.76669696e+01] [ 1.62411622e-01 9.86723094e-01 0.00000000e+00 1.69903967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26443041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.610371742999998 meters Centerline goodness : 0.993211 Centerline is valid? [True, True] Translation: X:27.70, Y:1.70, Z:0.01 [[ 9.86866640e-01 -1.61537098e-01 0.00000000e+00 2.77000120e+01] [ 1.61537098e-01 9.86866640e-01 0.00000000e+00 1.70311799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36064386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640371743 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:27.73, Y:1.71, Z:0.01 [[ 9.87294971e-01 -1.58898209e-01 0.00000000e+00 2.77304024e+01] [ 1.58898209e-01 9.87294971e-01 0.00000000e+00 1.70678896e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44134937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.670371742999997 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:27.76, Y:1.71, Z:0.01 [[ 9.87485697e-01 -1.57708589e-01 0.00000000e+00 2.77639300e+01] [ 1.57708589e-01 9.87485697e-01 0.00000000e+00 1.71090953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48083240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700371742999998 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:27.80, Y:1.71, Z:0.01 [[ 9.87734168e-01 -1.56144847e-01 0.00000000e+00 2.77963131e+01] [ 1.56144847e-01 9.87734168e-01 0.00000000e+00 1.71423799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39361356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.730371743 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:27.82, Y:1.72, Z:0.02 [[ 9.87040317e-01 -1.60472469e-01 0.00000000e+00 2.78160479e+01] [ 1.60472469e-01 9.87040317e-01 0.00000000e+00 1.72405897e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78176121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760371742999997 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:27.86, Y:1.72, Z:0.01 [[ 9.88344557e-01 -1.52233493e-01 0.00000000e+00 2.78585167e+01] [ 1.52233493e-01 9.88344557e-01 0.00000000e+00 1.71961894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49005124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.790371742999998 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:27.89, Y:1.72, Z:0.01 [[ 9.88584805e-01 -1.50665467e-01 0.00000000e+00 2.78909260e+01] [ 1.50665467e-01 9.88584805e-01 0.00000000e+00 1.72255620e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33074690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820371743 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:27.92, Y:1.73, Z:0.01 [[ 9.88717770e-01 -1.49790423e-01 0.00000000e+00 2.79225629e+01] [ 1.49790423e-01 9.88717770e-01 0.00000000e+00 1.72500220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32266521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.850371742999997 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:27.96, Y:1.73, Z:0.01 [[ 9.88793423e-01 -1.49290210e-01 0.00000000e+00 2.79552925e+01] [ 1.49290210e-01 9.88793423e-01 0.00000000e+00 1.72786340e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27845855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880371742999998 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:27.99, Y:1.73, Z:0.01 [[ 9.88752243e-01 -1.49562706e-01 0.00000000e+00 2.79871231e+01] [ 1.49562706e-01 9.88752243e-01 0.00000000e+00 1.72972738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23632529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.910371743 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:28.01, Y:1.74, Z:0.02 [[ 9.87537706e-01 -1.57382592e-01 0.00000000e+00 2.80056064e+01] [ 1.57382592e-01 9.87537706e-01 0.00000000e+00 1.74041997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53308396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940371742999996 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:28.05, Y:1.73, Z:0.01 [[ 9.88433582e-01 -1.51654388e-01 0.00000000e+00 2.80476422e+01] [ 1.51654388e-01 9.88433582e-01 0.00000000e+00 1.73499702e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29109175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.970371742999998 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:28.08, Y:1.73, Z:0.01 [[ 9.87993088e-01 -1.54498081e-01 0.00000000e+00 2.80807389e+01] [ 1.54498081e-01 9.87993088e-01 0.00000000e+00 1.73498869e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26084992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000371743 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:28.11, Y:1.74, Z:0.01 [[ 9.87607384e-01 -1.56944750e-01 0.00000000e+00 2.81124236e+01] [ 1.56944750e-01 9.87607384e-01 0.00000000e+00 1.73807112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31915900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.030371742999996 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:28.14, Y:1.74, Z:0.01 [[ 9.87149104e-01 -1.59801897e-01 0.00000000e+00 2.81440385e+01] [ 1.59801897e-01 9.87149104e-01 0.00000000e+00 1.74167837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44751077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060371742999997 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:28.16, Y:1.75, Z:0.02 [[ 9.85340683e-01 -1.70598176e-01 0.00000000e+00 2.81639362e+01] [ 1.70598176e-01 9.85340683e-01 0.00000000e+00 1.75031217e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83373328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.090371743 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:28.20, Y:1.75, Z:0.02 [[ 9.85087120e-01 -1.72056286e-01 0.00000000e+00 2.81963518e+01] [ 1.72056286e-01 9.85087120e-01 0.00000000e+00 1.75287045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84188913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120371742999996 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:28.24, Y:1.75, Z:0.01 [[ 9.86040180e-01 -1.66507547e-01 0.00000000e+00 2.82397394e+01] [ 1.66507547e-01 9.86040180e-01 0.00000000e+00 1.74798489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48952517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.150371742999997 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:28.27, Y:1.75, Z:0.02 [[ 9.85428700e-01 -1.70089026e-01 0.00000000e+00 2.82706822e+01] [ 1.70089026e-01 9.85428700e-01 0.00000000e+00 1.74949675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56251425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180371743 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:28.29, Y:1.76, Z:0.02 [[ 9.83871023e-01 -1.78879317e-01 0.00000000e+00 2.82901931e+01] [ 1.78879317e-01 9.83871023e-01 0.00000000e+00 1.75987711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98452846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.210371742999996 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:28.33, Y:1.76, Z:0.01 [[ 9.84773766e-01 -1.73840819e-01 0.00000000e+00 2.83329798e+01] [ 1.73840819e-01 9.84773766e-01 0.00000000e+00 1.75503464e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49684180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240371742999997 meters Centerline goodness : 0.995958 Centerline is valid? [True, True] Translation: X:28.35, Y:1.77, Z:0.02 [[ 9.83273625e-01 -1.82134506e-01 0.00000000e+00 2.83523949e+01] [ 1.82134506e-01 9.83273625e-01 0.00000000e+00 1.76554636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02025888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.270371743 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:28.39, Y:1.76, Z:0.02 [[ 9.83716101e-01 -1.79729330e-01 0.00000000e+00 2.83938524e+01] [ 1.79729330e-01 9.83716101e-01 0.00000000e+00 1.76115865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92336589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300371743 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:28.43, Y:1.76, Z:0.02 [[ 9.83764425e-01 -1.79464635e-01 0.00000000e+00 2.84252960e+01] [ 1.79464635e-01 9.83764425e-01 0.00000000e+00 1.76393463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69346742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.330371742999997 meters Centerline goodness : 0.995652 Centerline is valid? [True, True] Translation: X:28.45, Y:1.77, Z:0.02 [[ 9.82378810e-01 -1.86900705e-01 0.00000000e+00 2.84459651e+01] [ 1.86900705e-01 9.82378810e-01 0.00000000e+00 1.77438875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03442495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360371742999998 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:28.48, Y:1.78, Z:0.02 [[ 9.82255666e-01 -1.87546810e-01 0.00000000e+00 2.84778529e+01] [ 1.87546810e-01 9.82255666e-01 0.00000000e+00 1.77836482e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02298848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.390371743 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:28.52, Y:1.78, Z:0.02 [[ 9.83143057e-01 -1.82837988e-01 0.00000000e+00 2.85191628e+01] [ 1.82837988e-01 9.83143057e-01 0.00000000e+00 1.77558725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79912424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420371742999997 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:28.54, Y:1.79, Z:0.02 [[ 9.81870083e-01 -1.89555110e-01 0.00000000e+00 2.85388574e+01] [ 1.89555110e-01 9.81870083e-01 0.00000000e+00 1.78652286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15410640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.450371742999998 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:28.57, Y:1.79, Z:0.02 [[ 9.81688977e-01 -1.90490817e-01 0.00000000e+00 2.85705071e+01] [ 1.90490817e-01 9.81688977e-01 0.00000000e+00 1.79090784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14993590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480371743 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:28.61, Y:1.79, Z:0.02 [[ 9.82732784e-01 -1.85030471e-01 0.00000000e+00 2.86119831e+01] [ 1.85030471e-01 9.82732784e-01 0.00000000e+00 1.78857855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92984034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.510371742999997 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:28.64, Y:1.79, Z:0.02 [[ 9.82395283e-01 -1.86814102e-01 0.00000000e+00 2.86414400e+01] [ 1.86814102e-01 9.82395283e-01 0.00000000e+00 1.79366329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08347328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540371742999998 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:28.67, Y:1.80, Z:0.02 [[ 9.81909078e-01 -1.89353012e-01 0.00000000e+00 2.86726991e+01] [ 1.89353012e-01 9.81909078e-01 0.00000000e+00 1.79900888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08321039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.570371743 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:28.70, Y:1.80, Z:0.02 [[ 9.81704645e-01 -1.90410058e-01 0.00000000e+00 2.87042465e+01] [ 1.90410058e-01 9.81704645e-01 0.00000000e+00 1.80402280e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94172696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600371742999997 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:28.73, Y:1.82, Z:0.02 [[ 9.80401339e-01 -1.97010695e-01 0.00000000e+00 2.87257015e+01] [ 1.97010695e-01 9.80401339e-01 0.00000000e+00 1.81505005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14901947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.630371742999998 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:28.77, Y:1.81, Z:0.02 [[ 9.81115380e-01 -1.93423397e-01 0.00000000e+00 2.87652910e+01] [ 1.93423397e-01 9.81115380e-01 0.00000000e+00 1.81364291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97767429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660371743 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:28.80, Y:1.82, Z:0.02 [[ 9.80901923e-01 -1.94502999e-01 0.00000000e+00 2.87950440e+01] [ 1.94502999e-01 9.80901923e-01 0.00000000e+00 1.81950816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06355026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.690371742999996 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:28.83, Y:1.83, Z:0.02 [[ 9.80695215e-01 -1.95542566e-01 0.00000000e+00 2.88266886e+01] [ 1.95542566e-01 9.80695215e-01 0.00000000e+00 1.82512775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17441699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720371742999998 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:28.86, Y:1.83, Z:0.02 [[ 9.80700976e-01 -1.95513673e-01 0.00000000e+00 2.88597366e+01] [ 1.95513673e-01 9.80700976e-01 0.00000000e+00 1.83062470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08984945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.750371743 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:28.89, Y:1.84, Z:0.02 [[ 9.80843703e-01 -1.94796383e-01 0.00000000e+00 2.88924285e+01] [ 1.94796383e-01 9.80843703e-01 0.00000000e+00 1.83824573e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16927714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780371742999996 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:28.92, Y:1.84, Z:0.02 [[ 9.80894794e-01 -1.94538950e-01 0.00000000e+00 2.89221312e+01] [ 1.94538950e-01 9.80894794e-01 0.00000000e+00 1.84455711e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25776517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.810371742999997 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:28.95, Y:1.85, Z:0.02 [[ 9.81260700e-01 -1.92684819e-01 0.00000000e+00 2.89549908e+01] [ 1.92684819e-01 9.81260700e-01 0.00000000e+00 1.84958476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10736852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840371743 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:28.99, Y:1.86, Z:0.02 [[ 9.81720215e-01 -1.90329765e-01 0.00000000e+00 2.89874862e+01] [ 1.90329765e-01 9.81720215e-01 0.00000000e+00 1.85749254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20640443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.870371742999996 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:29.02, Y:1.86, Z:0.02 [[ 9.82217975e-01 -1.87744109e-01 0.00000000e+00 2.90205890e+01] [ 1.87744109e-01 9.82217975e-01 0.00000000e+00 1.86328987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05411184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900371742999997 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:29.04, Y:1.88, Z:0.03 [[ 9.81733230e-01 -1.90262624e-01 0.00000000e+00 2.90400214e+01] [ 1.90262624e-01 9.81733230e-01 0.00000000e+00 1.87732984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54647959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.930371743 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:29.07, Y:1.88, Z:0.03 [[ 9.81788011e-01 -1.89979739e-01 0.00000000e+00 2.90733364e+01] [ 1.89979739e-01 9.81788011e-01 0.00000000e+00 1.88189259e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54647959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960371742999996 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:29.11, Y:1.89, Z:0.02 [[ 9.82187956e-01 -1.87901088e-01 0.00000000e+00 2.91050817e+01] [ 1.87901088e-01 9.82187956e-01 0.00000000e+00 1.88817935e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41889605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.990371742999997 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:29.15, Y:1.89, Z:0.02 [[ 9.83855436e-01 -1.78965029e-01 0.00000000e+00 2.91473522e+01] [ 1.78965029e-01 9.83855436e-01 0.00000000e+00 1.88748998e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04157702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020371743 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:29.17, Y:1.90, Z:0.03 [[ 9.83012320e-01 -1.83539581e-01 0.00000000e+00 2.91666715e+01] [ 1.83539581e-01 9.83012320e-01 0.00000000e+00 1.89987037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61007541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.050371743 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:29.21, Y:1.90, Z:0.02 [[ 9.84993318e-01 -1.72592478e-01 0.00000000e+00 2.92072968e+01] [ 1.72592478e-01 9.84993318e-01 0.00000000e+00 1.89971607e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02825818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080371742999997 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:29.24, Y:1.90, Z:0.02 [[ 9.85730415e-01 -1.68331663e-01 0.00000000e+00 2.92408416e+01] [ 1.68331663e-01 9.85730415e-01 0.00000000e+00 1.90453911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89092287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.110371742999998 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:29.26, Y:1.92, Z:0.03 [[ 9.84809143e-01 -1.73640294e-01 0.00000000e+00 2.92581094e+01] [ 1.73640294e-01 9.84809143e-01 0.00000000e+00 1.91806687e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51265453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140371743 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:29.29, Y:1.92, Z:0.03 [[ 9.85447361e-01 -1.69980879e-01 0.00000000e+00 2.92908813e+01] [ 1.69980879e-01 9.85447361e-01 0.00000000e+00 1.92467047e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62346249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.170371742999997 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:29.32, Y:1.93, Z:0.03 [[ 9.85835645e-01 -1.67714285e-01 0.00000000e+00 2.93239953e+01] [ 1.67714285e-01 9.85835645e-01 0.00000000e+00 1.92940124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64981858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200371742999998 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:29.37, Y:1.93, Z:0.02 [[ 9.87322469e-01 -1.58727256e-01 0.00000000e+00 2.93679401e+01] [ 1.58727256e-01 9.87322469e-01 0.00000000e+00 1.92637526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09789313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.230371743 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:29.39, Y:1.94, Z:0.03 [[ 9.86781986e-01 -1.62053425e-01 0.00000000e+00 2.93855918e+01] [ 1.62053425e-01 9.86781986e-01 0.00000000e+00 1.93863732e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68758902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260371742999997 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:29.42, Y:1.94, Z:0.03 [[ 9.87254588e-01 -1.59148919e-01 0.00000000e+00 2.94172645e+01] [ 1.59148919e-01 9.87254588e-01 0.00000000e+00 1.94266664e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68067418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.290371742999998 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:29.46, Y:1.94, Z:0.02 [[ 9.88844797e-01 -1.48949549e-01 0.00000000e+00 2.94596042e+01] [ 1.48949549e-01 9.88844797e-01 0.00000000e+00 1.93893094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15524625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320371743 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:29.48, Y:1.95, Z:0.03 [[ 9.88570307e-01 -1.50760569e-01 0.00000000e+00 2.94790685e+01] [ 1.50760569e-01 9.88570307e-01 0.00000000e+00 1.95085113e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76629805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.350371742999997 meters Centerline goodness : 0.994305 Centerline is valid? [True, True] Translation: X:29.51, Y:1.95, Z:0.03 [[ 9.88983203e-01 -1.48027784e-01 0.00000000e+00 2.95119586e+01] [ 1.48027784e-01 9.88983203e-01 0.00000000e+00 1.95486455e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81281190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380371742999998 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:29.55, Y:1.95, Z:0.02 [[ 9.90327492e-01 -1.38749623e-01 0.00000000e+00 2.95535445e+01] [ 1.38749623e-01 9.90327492e-01 0.00000000e+00 1.95033650e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33586620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.410371743 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:29.58, Y:1.95, Z:0.02 [[ 9.90634009e-01 -1.36543985e-01 0.00000000e+00 2.95847143e+01] [ 1.36543985e-01 9.90634009e-01 0.00000000e+00 1.95120986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30316744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440371742999996 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:29.61, Y:1.96, Z:0.03 [[ 9.89688113e-01 -1.43239098e-01 0.00000000e+00 2.96060967e+01] [ 1.43239098e-01 9.89688113e-01 0.00000000e+00 1.96119186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75594055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.470371742999998 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:29.65, Y:1.95, Z:0.02 [[ 9.90799667e-01 -1.35336694e-01 0.00000000e+00 2.96505379e+01] [ 1.35336694e-01 9.90799667e-01 0.00000000e+00 1.95473802e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21923591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500371743 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:29.67, Y:1.96, Z:0.03 [[ 9.89318101e-01 -1.45772754e-01 0.00000000e+00 2.96685852e+01] [ 1.45772754e-01 9.89318101e-01 0.00000000e+00 1.96325226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67256990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.530371742999996 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:29.70, Y:1.97, Z:0.03 [[ 9.89140831e-01 -1.46970802e-01 0.00000000e+00 2.97022355e+01] [ 1.46970802e-01 9.89140831e-01 0.00000000e+00 1.96513686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73376737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560371742999997 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:29.73, Y:1.97, Z:0.03 [[ 9.88910625e-01 -1.48511873e-01 0.00000000e+00 2.97346198e+01] [ 1.48511873e-01 9.88910625e-01 0.00000000e+00 1.96666357e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54289504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.590371743 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:29.77, Y:1.97, Z:0.03 [[ 9.88375499e-01 -1.52032475e-01 0.00000000e+00 2.97671615e+01] [ 1.52032475e-01 9.88375499e-01 0.00000000e+00 1.96527814e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51488725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620371742999996 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:29.80, Y:1.97, Z:0.02 [[ 9.88135760e-01 -1.53582942e-01 0.00000000e+00 2.98007406e+01] [ 1.53582942e-01 9.88135760e-01 0.00000000e+00 1.96656459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46741956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.650371742999997 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:29.85, Y:1.96, Z:0.02 [[ 9.89228285e-01 -1.46381007e-01 0.00000000e+00 2.98462583e+01] [ 1.46381007e-01 9.89228285e-01 0.00000000e+00 1.95868124e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93183321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680371743 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:29.86, Y:1.97, Z:0.03 [[ 9.87386611e-01 -1.58327763e-01 0.00000000e+00 2.98637272e+01] [ 1.58327763e-01 9.87386611e-01 0.00000000e+00 1.96673566e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50324635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.710371742999996 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:29.91, Y:1.96, Z:0.02 [[ 9.88672651e-01 -1.50087941e-01 0.00000000e+00 2.99103497e+01] [ 1.50087941e-01 9.88672651e-01 0.00000000e+00 1.95915719e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96992757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740371742999997 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:29.94, Y:1.96, Z:0.02 [[ 9.88462913e-01 -1.51463096e-01 0.00000000e+00 2.99379535e+01] [ 1.51463096e-01 9.88462913e-01 0.00000000e+00 1.96189512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01406171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.770371743 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:29.97, Y:1.96, Z:0.02 [[ 9.88039414e-01 -1.54201547e-01 0.00000000e+00 2.99713334e+01] [ 1.54201547e-01 9.88039414e-01 0.00000000e+00 1.96186790e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03756925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800371742999996 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:29.99, Y:1.97, Z:0.03 [[ 9.86506600e-01 -1.63721497e-01 0.00000000e+00 2.99875543e+01] [ 1.63721497e-01 9.86506600e-01 0.00000000e+00 1.97293764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55100835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.830371742999997 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:30.02, Y:1.97, Z:0.03 [[ 9.86225506e-01 -1.65406322e-01 0.00000000e+00 3.00208189e+01] [ 1.65406322e-01 9.86225506e-01 0.00000000e+00 1.97461343e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54054787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860371742999998 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:30.05, Y:1.97, Z:0.02 [[ 9.85441818e-01 -1.70013012e-01 0.00000000e+00 3.00529558e+01] [ 1.70013012e-01 9.85441818e-01 0.00000000e+00 1.97418944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48550758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.890371743 meters Centerline goodness : 0.994763 Centerline is valid? [True, True] Translation: X:30.09, Y:1.98, Z:0.03 [[ 9.85066694e-01 -1.72173191e-01 0.00000000e+00 3.00856273e+01] [ 1.72173191e-01 9.85066694e-01 0.00000000e+00 1.97650421e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55604560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920371742999997 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:30.13, Y:1.97, Z:0.02 [[ 9.85846932e-01 -1.67647923e-01 0.00000000e+00 3.01301869e+01] [ 1.67647923e-01 9.85846932e-01 0.00000000e+00 1.97071091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98357899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.950371742999998 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:30.15, Y:1.98, Z:0.02 [[ 9.83687413e-01 -1.79886281e-01 0.00000000e+00 3.01471687e+01] [ 1.79886281e-01 9.83687413e-01 0.00000000e+00 1.97985623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36479359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980371743 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:30.19, Y:1.97, Z:0.02 [[ 9.84646213e-01 -1.74561840e-01 0.00000000e+00 3.01917324e+01] [ 1.74561840e-01 9.84646213e-01 0.00000000e+00 1.97401505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83083834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.010371742999997 meters Centerline goodness : 0.994250 Centerline is valid? [True, True] Translation: X:30.22, Y:1.98, Z:0.02 [[ 9.84258179e-01 -1.76736635e-01 0.00000000e+00 3.02228187e+01] [ 1.76736635e-01 9.84258179e-01 0.00000000e+00 1.97728373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83216501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040371742999998 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:30.24, Y:1.99, Z:0.02 [[ 9.82503226e-01 -1.86245564e-01 0.00000000e+00 3.02409151e+01] [ 1.86245564e-01 9.82503226e-01 0.00000000e+00 1.98956095e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40196725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.070371743 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:30.28, Y:1.99, Z:0.02 [[ 9.83189589e-01 -1.82587603e-01 0.00000000e+00 3.02825384e+01] [ 1.82587603e-01 9.83189589e-01 0.00000000e+00 1.98547303e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12339179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100371742999997 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:30.30, Y:2.00, Z:0.03 [[ 9.81756609e-01 -1.90141949e-01 0.00000000e+00 3.03026587e+01] [ 1.90141949e-01 9.81756609e-01 0.00000000e+00 1.99740663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68672939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.130371742999998 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:30.33, Y:2.00, Z:0.03 [[ 9.81788129e-01 -1.89979131e-01 0.00000000e+00 3.03346270e+01] [ 1.89979131e-01 9.81788129e-01 0.00000000e+00 2.00184196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74563671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160371743 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:30.38, Y:2.00, Z:0.02 [[ 9.83381327e-01 -1.81552104e-01 0.00000000e+00 3.03782418e+01] [ 1.81552104e-01 9.83381327e-01 0.00000000e+00 1.99840015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41294678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.190371742999996 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:30.40, Y:2.01, Z:0.03 [[ 9.82215106e-01 -1.87759115e-01 0.00000000e+00 3.03961156e+01] [ 1.87759115e-01 9.82215106e-01 0.00000000e+00 2.01134383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86665423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220371742999998 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:30.43, Y:2.02, Z:0.03 [[ 9.82489423e-01 -1.86318367e-01 0.00000000e+00 3.04287486e+01] [ 1.86318367e-01 9.82489423e-01 0.00000000e+00 2.01603299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83848867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.250371743 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:30.47, Y:2.01, Z:0.02 [[ 9.84058192e-01 -1.77846775e-01 0.00000000e+00 3.04704107e+01] [ 1.77846775e-01 9.84058192e-01 0.00000000e+00 2.01342059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42007867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280371742999996 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:30.50, Y:2.02, Z:0.02 [[ 9.84323242e-01 -1.76373907e-01 0.00000000e+00 3.05033033e+01] [ 1.76373907e-01 9.84323242e-01 0.00000000e+00 2.01683886e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33675706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.310371742999997 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:30.53, Y:2.02, Z:0.02 [[ 9.84275287e-01 -1.76641328e-01 0.00000000e+00 3.05331330e+01] [ 1.76641328e-01 9.84275287e-01 0.00000000e+00 2.02226450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29407688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340371743 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:30.55, Y:2.03, Z:0.03 [[ 9.83111433e-01 -1.83007950e-01 0.00000000e+00 3.05534955e+01] [ 1.83007950e-01 9.83111433e-01 0.00000000e+00 2.03471703e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53800464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.370371742999996 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:30.60, Y:2.03, Z:0.02 [[ 9.84417807e-01 -1.75845333e-01 0.00000000e+00 3.05956872e+01] [ 1.75845333e-01 9.84417807e-01 0.00000000e+00 2.03133106e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10174554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400371742999997 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:30.62, Y:2.04, Z:0.03 [[ 9.83312032e-01 -1.81927041e-01 0.00000000e+00 3.06154303e+01] [ 1.81927041e-01 9.83312032e-01 0.00000000e+00 2.04364437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50118559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.430371743 meters Centerline goodness : 0.994008 Centerline is valid? [True, True] Translation: X:30.65, Y:2.05, Z:0.02 [[ 9.83749220e-01 -1.79547964e-01 0.00000000e+00 3.06461710e+01] [ 1.79547964e-01 9.83749220e-01 0.00000000e+00 2.04858589e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15869645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460371742999996 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:30.68, Y:2.05, Z:0.02 [[ 9.84100531e-01 -1.77612346e-01 0.00000000e+00 3.06789260e+01] [ 1.77612346e-01 9.84100531e-01 0.00000000e+00 2.05357661e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21743745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.490371742999997 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:30.71, Y:2.06, Z:0.02 [[ 9.84476025e-01 -1.75519107e-01 0.00000000e+00 3.07099130e+01] [ 1.75519107e-01 9.84476025e-01 0.00000000e+00 2.05840053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00026081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520371743 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:30.74, Y:2.06, Z:0.02 [[ 9.85412791e-01 -1.70181172e-01 0.00000000e+00 3.07425885e+01] [ 1.70181172e-01 9.85412791e-01 0.00000000e+00 2.06389885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28147448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.550371742999996 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:30.78, Y:2.06, Z:0.02 [[ 9.86994456e-01 -1.60754298e-01 0.00000000e+00 3.07838028e+01] [ 1.60754298e-01 9.86994456e-01 0.00000000e+00 2.06087395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85298171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580371742999997 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:30.82, Y:2.06, Z:0.02 [[ 9.87548971e-01 -1.57311888e-01 0.00000000e+00 3.08165989e+01] [ 1.57311888e-01 9.87548971e-01 0.00000000e+00 2.06457785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86410581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.610371742999998 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:30.83, Y:2.08, Z:0.03 [[ 9.86565982e-01 -1.63363287e-01 0.00000000e+00 3.08346579e+01] [ 1.63363287e-01 9.86565982e-01 0.00000000e+00 2.07763927e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52154714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640371743 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:30.88, Y:2.07, Z:0.02 [[ 9.88366833e-01 -1.52088802e-01 0.00000000e+00 3.08812129e+01] [ 1.52088802e-01 9.88366833e-01 0.00000000e+00 2.07240389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13712817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.670371742999997 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:30.89, Y:2.09, Z:0.03 [[ 9.86732120e-01 -1.62356779e-01 0.00000000e+00 3.08949301e+01] [ 1.62356779e-01 9.86732120e-01 0.00000000e+00 2.08698609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83193318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700371742999998 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:30.94, Y:2.08, Z:0.02 [[ 9.87942571e-01 -1.54820786e-01 0.00000000e+00 3.09411181e+01] [ 1.54820786e-01 9.87942571e-01 0.00000000e+00 2.08050939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32657444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.730371743 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:30.96, Y:2.09, Z:0.03 [[ 9.85657587e-01 -1.68757583e-01 0.00000000e+00 3.09559841e+01] [ 1.68757583e-01 9.85657587e-01 0.00000000e+00 2.09269627e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88503293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760371742999997 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:31.00, Y:2.09, Z:0.02 [[ 9.86536750e-01 -1.63539721e-01 0.00000000e+00 3.10003795e+01] [ 1.63539721e-01 9.86536750e-01 0.00000000e+00 2.08681567e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31771913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.790371742999998 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:31.02, Y:2.10, Z:0.03 [[ 9.84529144e-01 -1.75220903e-01 0.00000000e+00 3.10179721e+01] [ 1.75220903e-01 9.84529144e-01 0.00000000e+00 2.09877657e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75255757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820371743 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:31.05, Y:2.10, Z:0.03 [[ 9.84578987e-01 -1.74940614e-01 0.00000000e+00 3.10513036e+01] [ 1.74940614e-01 9.84578987e-01 0.00000000e+00 2.10311363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75255757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.850371742999997 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:31.09, Y:2.10, Z:0.02 [[ 9.84761243e-01 -1.73911741e-01 0.00000000e+00 3.10941891e+01] [ 1.73911741e-01 9.84761243e-01 0.00000000e+00 2.09697089e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17182963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880371742999998 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:31.11, Y:2.11, Z:0.02 [[ 9.83428403e-01 -1.81296929e-01 0.00000000e+00 3.11148152e+01] [ 1.81296929e-01 9.83428403e-01 0.00000000e+00 2.10762517e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23699818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.910371743 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:31.15, Y:2.11, Z:0.03 [[ 9.82640281e-01 -1.85521100e-01 0.00000000e+00 3.11477937e+01] [ 1.85521100e-01 9.82640281e-01 0.00000000e+00 2.11180442e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64478947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940371742999996 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:31.18, Y:2.11, Z:0.03 [[ 9.82301121e-01 -1.87308592e-01 0.00000000e+00 3.11793162e+01] [ 1.87308592e-01 9.82301121e-01 0.00000000e+00 2.11499036e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67069523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.970371742999998 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:31.22, Y:2.11, Z:0.02 [[ 9.83479502e-01 -1.81019528e-01 0.00000000e+00 3.12209594e+01] [ 1.81019528e-01 9.83479502e-01 0.00000000e+00 2.11090595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24789787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000371743 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:31.25, Y:2.12, Z:0.02 [[ 9.83070477e-01 -1.83227827e-01 0.00000000e+00 3.12518248e+01] [ 1.83227827e-01 9.83070477e-01 0.00000000e+00 2.11636056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35817600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.030371742999996 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:31.28, Y:2.12, Z:0.02 [[ 9.82963810e-01 -1.83799206e-01 0.00000000e+00 3.12837152e+01] [ 1.83799206e-01 9.82963810e-01 0.00000000e+00 2.12087619e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39198873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060371742999997 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:31.32, Y:2.12, Z:0.02 [[ 9.83014866e-01 -1.83525947e-01 0.00000000e+00 3.13155398e+01] [ 1.83525947e-01 9.83014866e-01 0.00000000e+00 2.12491425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39201955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.090371743 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:31.34, Y:2.14, Z:0.03 [[ 9.81926815e-01 -1.89261009e-01 0.00000000e+00 3.13370100e+01] [ 1.89261009e-01 9.81926815e-01 0.00000000e+00 2.13570826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76423881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120371742999996 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:31.38, Y:2.13, Z:0.02 [[ 9.83289411e-01 -1.82049261e-01 0.00000000e+00 3.13799216e+01] [ 1.82049261e-01 9.83289411e-01 0.00000000e+00 2.13280769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36663085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.150371742999997 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:31.41, Y:2.14, Z:0.02 [[ 9.83414046e-01 -1.81374787e-01 0.00000000e+00 3.14129089e+01] [ 1.81374787e-01 9.83414046e-01 0.00000000e+00 2.13698247e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31420092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180371743 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:31.45, Y:2.14, Z:0.02 [[ 9.83650789e-01 -1.80086439e-01 0.00000000e+00 3.14465924e+01] [ 1.80086439e-01 9.83650789e-01 0.00000000e+00 2.14031748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14710983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.210371742999996 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:31.46, Y:2.15, Z:0.02 [[ 9.82372851e-01 -1.86932023e-01 0.00000000e+00 3.14626398e+01] [ 1.86932023e-01 9.82372851e-01 0.00000000e+00 2.15318226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43578973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240371742999997 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:31.51, Y:2.15, Z:0.02 [[ 9.83900851e-01 -1.78715179e-01 0.00000000e+00 3.15066898e+01] [ 1.78715179e-01 9.83900851e-01 0.00000000e+00 2.14967104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89862979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.270371743 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:31.53, Y:2.16, Z:0.02 [[ 9.83185380e-01 -1.82610267e-01 0.00000000e+00 3.15255871e+01] [ 1.82610267e-01 9.83185380e-01 0.00000000e+00 2.16347282e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46603747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300371742999996 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:31.57, Y:2.16, Z:0.02 [[ 9.85113839e-01 -1.71903239e-01 0.00000000e+00 3.15704811e+01] [ 1.71903239e-01 9.85113839e-01 0.00000000e+00 2.15966710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98681016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.330371742999997 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:31.60, Y:2.16, Z:0.02 [[ 9.85738889e-01 -1.68282030e-01 0.00000000e+00 3.16014491e+01] [ 1.68282030e-01 9.85738889e-01 0.00000000e+00 2.16362534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97055687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360371742999998 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:31.63, Y:2.17, Z:0.02 [[ 9.85994877e-01 -1.66775606e-01 0.00000000e+00 3.16325212e+01] [ 1.66775606e-01 9.85994877e-01 0.00000000e+00 2.16930373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11396076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.390371743 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:31.65, Y:2.18, Z:0.03 [[ 9.85735888e-01 -1.68299610e-01 0.00000000e+00 3.16498055e+01] [ 1.68299610e-01 9.85735888e-01 0.00000000e+00 2.18319063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68447508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420371742999997 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:31.68, Y:2.19, Z:0.03 [[ 9.86299459e-01 -1.64964777e-01 0.00000000e+00 3.16823976e+01] [ 1.64964777e-01 9.86299459e-01 0.00000000e+00 2.18814240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76682471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.450371742999998 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:31.73, Y:2.18, Z:0.02 [[ 9.88620930e-01 -1.50428244e-01 0.00000000e+00 3.17270345e+01] [ 1.50428244e-01 9.88620930e-01 0.00000000e+00 2.18382423e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38945073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480371743 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:31.74, Y:2.20, Z:0.03 [[ 9.87719444e-01 -1.56237961e-01 0.00000000e+00 3.17430824e+01] [ 1.56237961e-01 9.87719444e-01 0.00000000e+00 2.19715265e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92202933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.510371742999997 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:31.77, Y:2.20, Z:0.03 [[ 9.88184783e-01 -1.53267198e-01 0.00000000e+00 3.17748341e+01] [ 1.53267198e-01 9.88184783e-01 0.00000000e+00 2.20100562e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85849199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540371742999998 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:31.81, Y:2.20, Z:0.03 [[ 9.89020063e-01 -1.47781306e-01 0.00000000e+00 3.18075931e+01] [ 1.47781306e-01 9.89020063e-01 0.00000000e+00 2.20425508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83837243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.570371743 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:31.84, Y:2.21, Z:0.03 [[ 9.89396485e-01 -1.45239783e-01 0.00000000e+00 3.18409071e+01] [ 1.45239783e-01 9.89396485e-01 0.00000000e+00 2.20801406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84571849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600371742999997 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:31.87, Y:2.21, Z:0.03 [[ 9.89880015e-01 -1.41906858e-01 0.00000000e+00 3.18726142e+01] [ 1.41906858e-01 9.89880015e-01 0.00000000e+00 2.21077590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78800523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.630371742999998 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:31.91, Y:2.21, Z:0.03 [[ 9.90075876e-01 -1.40533836e-01 0.00000000e+00 3.19055610e+01] [ 1.40533836e-01 9.90075876e-01 0.00000000e+00 2.21411963e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77814324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660371743 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:31.94, Y:2.22, Z:0.03 [[ 9.90217548e-01 -1.39532106e-01 0.00000000e+00 3.19388270e+01] [ 1.39532106e-01 9.90217548e-01 0.00000000e+00 2.21725940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75380253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.690371742999996 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:31.97, Y:2.22, Z:0.03 [[ 9.90281539e-01 -1.39077219e-01 0.00000000e+00 3.19716063e+01] [ 1.39077219e-01 9.90281539e-01 0.00000000e+00 2.21836838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72871042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720371742999998 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:32.00, Y:2.22, Z:0.03 [[ 9.90223371e-01 -1.39490774e-01 0.00000000e+00 3.20033030e+01] [ 1.39490774e-01 9.90223371e-01 0.00000000e+00 2.22048138e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70877906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.750371743 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:32.04, Y:2.22, Z:0.03 [[ 9.90008242e-01 -1.41009509e-01 0.00000000e+00 3.20362463e+01] [ 1.41009509e-01 9.90008242e-01 0.00000000e+00 2.22037528e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72517791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780371742999996 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:32.07, Y:2.22, Z:0.03 [[ 9.89926567e-01 -1.41581753e-01 0.00000000e+00 3.20690853e+01] [ 1.41581753e-01 9.89926567e-01 0.00000000e+00 2.22268054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79631954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.810371742999997 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:32.10, Y:2.22, Z:0.03 [[ 9.89856851e-01 -1.42068346e-01 0.00000000e+00 3.21014854e+01] [ 1.42068346e-01 9.89856851e-01 0.00000000e+00 2.22472744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76418034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840371743 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:32.13, Y:2.23, Z:0.03 [[ 9.89793443e-01 -1.42509437e-01 0.00000000e+00 3.21339971e+01] [ 1.42509437e-01 9.89793443e-01 0.00000000e+00 2.22672532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73019403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.870371742999996 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:32.17, Y:2.23, Z:0.03 [[ 9.89869047e-01 -1.41983344e-01 0.00000000e+00 3.21671965e+01] [ 1.41983344e-01 9.89869047e-01 0.00000000e+00 2.22556296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67417896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900371742999997 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:32.20, Y:2.23, Z:0.03 [[ 9.89944850e-01 -1.41453858e-01 0.00000000e+00 3.22008394e+01] [ 1.41453858e-01 9.89944850e-01 0.00000000e+00 2.22689097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61065144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.930371743 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:32.23, Y:2.23, Z:0.03 [[ 9.90195591e-01 -1.39687838e-01 0.00000000e+00 3.22348541e+01] [ 1.39687838e-01 9.90195591e-01 0.00000000e+00 2.22532147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57131759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960371742999996 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:32.27, Y:2.23, Z:0.03 [[ 9.90441671e-01 -1.37932215e-01 0.00000000e+00 3.22681313e+01] [ 1.37932215e-01 9.90441671e-01 0.00000000e+00 2.22674048e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57880449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.990371742999997 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:32.30, Y:2.23, Z:0.03 [[ 9.90783437e-01 -1.35455457e-01 0.00000000e+00 3.23015066e+01] [ 1.35455457e-01 9.90783437e-01 0.00000000e+00 2.22837611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58671594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020371743 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:32.35, Y:2.22, Z:0.02 [[ 9.92869673e-01 -1.19204914e-01 0.00000000e+00 3.23512964e+01] [ 1.19204914e-01 9.92869673e-01 0.00000000e+00 2.21524271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79444576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.050371742999996 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:32.36, Y:2.23, Z:0.02 [[ 9.91710313e-01 -1.28493791e-01 0.00000000e+00 3.23645587e+01] [ 1.28493791e-01 9.91710313e-01 0.00000000e+00 2.23002532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46931513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080371742999997 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:32.40, Y:2.23, Z:0.02 [[ 9.92595703e-01 -1.21465100e-01 0.00000000e+00 3.23975901e+01] [ 1.21465100e-01 9.92595703e-01 0.00000000e+00 2.22828243e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42781964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.110371742999998 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:32.43, Y:2.23, Z:0.02 [[ 9.92974413e-01 -1.18329266e-01 0.00000000e+00 3.24310010e+01] [ 1.18329266e-01 9.92974413e-01 0.00000000e+00 2.22944895e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45345093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140371743 meters Centerline goodness : 0.992083 Centerline is valid? [True, True] Translation: X:32.46, Y:2.23, Z:0.03 [[ 9.93348924e-01 -1.15143023e-01 0.00000000e+00 3.24646929e+01] [ 1.15143023e-01 9.93348924e-01 0.00000000e+00 2.22994938e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52426593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.170371742999997 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:32.50, Y:2.23, Z:0.03 [[ 9.93854882e-01 -1.10690888e-01 0.00000000e+00 3.24977507e+01] [ 1.10690888e-01 9.93854882e-01 0.00000000e+00 2.22612690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67857007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200371742999998 meters Centerline goodness : 0.992208 Centerline is valid? [True, True] Translation: X:32.53, Y:2.23, Z:0.03 [[ 9.94062415e-01 -1.08811370e-01 0.00000000e+00 3.25305201e+01] [ 1.08811370e-01 9.94062415e-01 0.00000000e+00 2.22622749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72363929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.230371743 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:32.56, Y:2.23, Z:0.03 [[ 9.94214280e-01 -1.07414920e-01 0.00000000e+00 3.25640595e+01] [ 1.07414920e-01 9.94214280e-01 0.00000000e+00 2.22611387e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78721680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260371742999997 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:32.60, Y:2.22, Z:0.03 [[ 9.94331589e-01 -1.06323522e-01 0.00000000e+00 3.25976617e+01] [ 1.06323522e-01 9.94331589e-01 0.00000000e+00 2.22037164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74825719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.290371742999998 meters Centerline goodness : 0.990549 Centerline is valid? [True, True] Translation: X:32.63, Y:2.22, Z:0.03 [[ 9.94314678e-01 -1.06481551e-01 0.00000000e+00 3.26305299e+01] [ 1.06481551e-01 9.94314678e-01 0.00000000e+00 2.21845744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68940159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320371743 meters Centerline goodness : 0.989921 Centerline is valid? [True, True] Translation: X:32.66, Y:2.22, Z:0.03 [[ 9.94297900e-01 -1.06638111e-01 0.00000000e+00 3.26635335e+01] [ 1.06638111e-01 9.94297900e-01 0.00000000e+00 2.21585761e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58382698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.350371742999997 meters Centerline goodness : 0.989070 Centerline is valid? [True, True] Translation: X:32.70, Y:2.21, Z:0.03 [[ 9.94029928e-01 -1.09107753e-01 0.00000000e+00 3.26976307e+01] [ 1.09107753e-01 9.94029928e-01 0.00000000e+00 2.20648816e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51494658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380371742999998 meters Centerline goodness : 0.988770 Centerline is valid? [True, True] Translation: X:32.73, Y:2.20, Z:0.02 [[ 9.93831338e-01 -1.10902079e-01 0.00000000e+00 3.27309776e+01] [ 1.10902079e-01 9.93831338e-01 0.00000000e+00 2.20396681e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48804595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.410371743 meters Centerline goodness : 0.987121 Centerline is valid? [True, True] Translation: X:32.76, Y:2.20, Z:0.02 [[ 9.93383438e-01 -1.14844876e-01 0.00000000e+00 3.27647703e+01] [ 1.14844876e-01 9.93383438e-01 0.00000000e+00 2.19540208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47237626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440371742999996 meters Centerline goodness : 0.987204 Centerline is valid? [True, True] Translation: X:32.80, Y:2.19, Z:0.02 [[ 9.93190284e-01 -1.16503475e-01 0.00000000e+00 3.27985881e+01] [ 1.16503475e-01 9.93190284e-01 0.00000000e+00 2.19304989e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48104032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.470371742999998 meters Centerline goodness : 0.986383 Centerline is valid? [True, True] Translation: X:32.83, Y:2.19, Z:0.02 [[ 9.92994753e-01 -1.18158459e-01 0.00000000e+00 3.28311737e+01] [ 1.18158459e-01 9.92994753e-01 0.00000000e+00 2.19034080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48694938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500371743 meters Centerline goodness : 0.986640 Centerline is valid? [True, True] Translation: X:32.87, Y:2.19, Z:0.03 [[ 9.92766057e-01 -1.20064803e-01 0.00000000e+00 3.28651343e+01] [ 1.20064803e-01 9.92766057e-01 0.00000000e+00 2.18789999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51035321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.530371742999996 meters Centerline goodness : 0.986582 Centerline is valid? [True, True] Translation: X:32.91, Y:2.17, Z:0.02 [[ 9.93434686e-01 -1.14400722e-01 0.00000000e+00 3.29120951e+01] [ 1.14400722e-01 9.93434686e-01 0.00000000e+00 2.16805320e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02201259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560371742999997 meters Centerline goodness : 0.987436 Centerline is valid? [True, True] Translation: X:32.93, Y:2.18, Z:0.03 [[ 9.91931657e-01 -1.26773766e-01 0.00000000e+00 3.29274991e+01] [ 1.26773766e-01 9.91931657e-01 0.00000000e+00 2.17676760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60672115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.590371743 meters Centerline goodness : 0.987455 Centerline is valid? [True, True] Translation: X:32.96, Y:2.17, Z:0.03 [[ 9.91322613e-01 -1.31451426e-01 0.00000000e+00 3.29613406e+01] [ 1.31451426e-01 9.91322613e-01 0.00000000e+00 2.16987638e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68273189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620371742999996 meters Centerline goodness : 0.987714 Centerline is valid? [True, True] Translation: X:32.99, Y:2.17, Z:0.03 [[ 9.91031170e-01 -1.33630908e-01 0.00000000e+00 3.29947597e+01] [ 1.33630908e-01 9.91031170e-01 0.00000000e+00 2.16866024e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74434643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.650371742999997 meters Centerline goodness : 0.988402 Centerline is valid? [True, True] Translation: X:33.03, Y:2.17, Z:0.03 [[ 9.90682486e-01 -1.36191819e-01 0.00000000e+00 3.30277220e+01] [ 1.36191819e-01 9.90682486e-01 0.00000000e+00 2.16787053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77714900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680371743 meters Centerline goodness : 0.989273 Centerline is valid? [True, True] Translation: X:33.06, Y:2.16, Z:0.03 [[ 9.89940423e-01 -1.41484835e-01 0.00000000e+00 3.30618351e+01] [ 1.41484835e-01 9.89940423e-01 0.00000000e+00 2.16244697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82034644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.710371742999996 meters Centerline goodness : 0.989791 Centerline is valid? [True, True] Translation: X:33.09, Y:2.16, Z:0.03 [[ 9.89517568e-01 -1.44412541e-01 0.00000000e+00 3.30946505e+01] [ 1.44412541e-01 9.89517568e-01 0.00000000e+00 2.16217115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83653498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740371742999997 meters Centerline goodness : 0.989791 Centerline is valid? [True, True] Translation: X:33.13, Y:2.17, Z:0.03 [[ 9.89533160e-01 -1.44305669e-01 0.00000000e+00 3.31279202e+01] [ 1.44305669e-01 9.89533160e-01 0.00000000e+00 2.16626015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83653498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.770371743 meters Centerline goodness : 0.990749 Centerline is valid? [True, True] Translation: X:33.16, Y:2.17, Z:0.03 [[ 9.89053270e-01 -1.47558899e-01 0.00000000e+00 3.31611208e+01] [ 1.47558899e-01 9.89053270e-01 0.00000000e+00 2.16582602e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92511676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800371742999996 meters Centerline goodness : 0.992325 Centerline is valid? [True, True] Translation: X:33.19, Y:2.16, Z:0.03 [[ 9.87902389e-01 -1.55076979e-01 0.00000000e+00 3.31925849e+01] [ 1.55076979e-01 9.87902389e-01 0.00000000e+00 2.16203733e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05272839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.830371742999997 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:33.22, Y:2.16, Z:0.03 [[ 9.87275268e-01 -1.59020581e-01 0.00000000e+00 3.32248803e+01] [ 1.59020581e-01 9.87275268e-01 0.00000000e+00 2.16264624e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16228611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860371742999998 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:33.26, Y:2.16, Z:0.03 [[ 9.85933562e-01 -1.67137701e-01 0.00000000e+00 3.32570893e+01] [ 1.67137701e-01 9.85933562e-01 0.00000000e+00 2.16168748e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31792344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.890371743 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:33.29, Y:2.16, Z:0.03 [[ 0.98529208 -0.17087867 0. 33.28811097] [ 0.17087867 0.98529208 0. 2.16342548] [ 0. 0. 1. 0.03345707] [ 0. 0. 0. 1. ]] SLAMing on 31.920371742999997 meters Centerline goodness : 0.992463 Centerline is valid? [True, True] Translation: X:33.32, Y:2.17, Z:0.03 [[ 0.98470254 -0.17424383 0. 33.32053931] [ 0.17424383 0.98470254 0. 2.16569103] [ 0. 0. 1. 0.0335949 ] [ 0. 0. 0. 1. ]] SLAMing on 31.950371742999998 meters Centerline goodness : 0.992952 Centerline is valid? [True, True] Translation: X:33.35, Y:2.17, Z:0.03 [[ 0.98382237 -0.1791467 0. 33.3522248 ] [ 0.1791467 0.98382237 0. 2.16762479] [ 0. 0. 1. 0.03339047] [ 0. 0. 0. 1. ]] SLAMing on 31.980371743 meters Centerline goodness : 0.993091 Centerline is valid? [True, True] Translation: X:33.39, Y:2.16, Z:0.03 [[ 9.84800682e-01 -1.73688275e-01 0.00000000e+00 3.33920304e+01] [ 1.73688275e-01 9.84800682e-01 0.00000000e+00 2.16299881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75302716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.010371743 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:33.41, Y:2.18, Z:0.03 [[ 9.83263017e-01 -1.82191763e-01 0.00000000e+00 3.34114171e+01] [ 1.82191763e-01 9.83263017e-01 0.00000000e+00 2.17560699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29059250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040371743 meters Centerline goodness : 0.992047 Centerline is valid? [True, True] Translation: X:33.44, Y:2.18, Z:0.03 [[ 9.83113091e-01 -1.82999046e-01 0.00000000e+00 3.34432967e+01] [ 1.82999046e-01 9.83113091e-01 0.00000000e+00 2.18170305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23955583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.070371743 meters Centerline goodness : 0.992337 Centerline is valid? [True, True] Translation: X:33.47, Y:2.19, Z:0.03 [[ 9.83077321e-01 -1.83191107e-01 0.00000000e+00 3.34743773e+01] [ 1.83191107e-01 9.83077321e-01 0.00000000e+00 2.18736763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18389834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100371743000004 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:33.50, Y:2.20, Z:0.03 [[ 9.82907716e-01 -1.84098947e-01 0.00000000e+00 3.35047512e+01] [ 1.84098947e-01 9.82907716e-01 0.00000000e+00 2.19545008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17083802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.130371743 meters Centerline goodness : 0.992045 Centerline is valid? [True, True] Translation: X:33.54, Y:2.20, Z:0.03 [[ 9.82794894e-01 -1.84700288e-01 0.00000000e+00 3.35362354e+01] [ 1.84700288e-01 9.82794894e-01 0.00000000e+00 2.20122787e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19379385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160371743 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:33.57, Y:2.21, Z:0.03 [[ 9.82635252e-01 -1.85547731e-01 0.00000000e+00 3.35675780e+01] [ 1.85547731e-01 9.82635252e-01 0.00000000e+00 2.20667424e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27591393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.190371743 meters Centerline goodness : 0.992046 Centerline is valid? [True, True] Translation: X:33.60, Y:2.22, Z:0.03 [[ 0.98222638 -0.18770015 0. 33.59909074] [ 0.18770015 0.98222638 0. 2.21524468] [ 0. 0. 1. 0.03383424] [ 0. 0. 0. 1. ]] SLAMing on 32.220371743 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:33.63, Y:2.22, Z:0.03 [[ 0.98211024 -0.18830688 0. 33.6311752 ] [ 0.18830688 0.98211024 0. 2.22206552] [ 0. 0. 1. 0.03401725] [ 0. 0. 0. 1. ]] SLAMing on 32.250371743 meters Centerline goodness : 0.989837 Centerline is valid? [True, True] Translation: X:33.66, Y:2.23, Z:0.03 [[ 9.81944196e-01 -1.89170809e-01 0.00000000e+00 3.36615481e+01] [ 1.89170809e-01 9.81944196e-01 0.00000000e+00 2.23233225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21707498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280371743 meters Centerline goodness : 0.990630 Centerline is valid? [True, True] Translation: X:33.69, Y:2.24, Z:0.03 [[ 9.81999798e-01 -1.88881966e-01 0.00000000e+00 3.36935793e+01] [ 1.88881966e-01 9.81999798e-01 0.00000000e+00 2.23926222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10501673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.310371743000005 meters Centerline goodness : 0.990420 Centerline is valid? [True, True] Translation: X:33.74, Y:2.24, Z:0.03 [[ 9.83331335e-01 -1.81822676e-01 0.00000000e+00 3.37353815e+01] [ 1.81822676e-01 9.83331335e-01 0.00000000e+00 2.23896919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69981850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340371743 meters Centerline goodness : 0.990074 Centerline is valid? [True, True] Translation: X:33.77, Y:2.25, Z:0.02 [[ 9.83934796e-01 -1.78528197e-01 0.00000000e+00 3.37678920e+01] [ 1.78528197e-01 9.83934796e-01 0.00000000e+00 2.24870885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43225771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.370371743 meters Centerline goodness : 0.989517 Centerline is valid? [True, True] Translation: X:33.80, Y:2.26, Z:0.02 [[ 9.84197253e-01 -1.77075598e-01 0.00000000e+00 3.37958842e+01] [ 1.77075598e-01 9.84197253e-01 0.00000000e+00 2.25754381e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46609155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400371743 meters Centerline goodness : 0.988759 Centerline is valid? [True, True] Translation: X:33.83, Y:2.27, Z:0.02 [[ 9.85589417e-01 -1.69155258e-01 0.00000000e+00 3.38286582e+01] [ 1.69155258e-01 9.85589417e-01 0.00000000e+00 2.26919298e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32739948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.430371743 meters Centerline goodness : 0.988520 Centerline is valid? [True, True] Translation: X:33.86, Y:2.28, Z:0.03 [[ 9.85823725e-01 -1.67784335e-01 0.00000000e+00 3.38573027e+01] [ 1.67784335e-01 9.85823725e-01 0.00000000e+00 2.27940165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56537676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460371743 meters Centerline goodness : 0.986910 Centerline is valid? [True, True] Translation: X:33.88, Y:2.29, Z:0.03 [[ 9.85875552e-01 -1.67479541e-01 0.00000000e+00 3.38845366e+01] [ 1.67479541e-01 9.85875552e-01 0.00000000e+00 2.29090734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00588486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.490371743000004 meters Centerline goodness : 0.987350 Centerline is valid? [True, True] Translation: X:33.91, Y:2.31, Z:0.03 [[ 9.86291424e-01 -1.65012810e-01 0.00000000e+00 3.39069073e+01] [ 1.65012810e-01 9.86291424e-01 0.00000000e+00 2.30775373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12048057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520371743 meters Centerline goodness : 0.987195 Centerline is valid? [True, True] Translation: X:33.94, Y:2.32, Z:0.03 [[ 9.86666735e-01 -1.62753662e-01 0.00000000e+00 3.39395318e+01] [ 1.62753662e-01 9.86666735e-01 0.00000000e+00 2.31535519e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23024243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.550371743 meters Centerline goodness : 0.986022 Centerline is valid? [True, True] Translation: X:33.97, Y:2.33, Z:0.03 [[ 9.87173946e-01 -1.59648362e-01 0.00000000e+00 3.39713378e+01] [ 1.59648362e-01 9.87173946e-01 0.00000000e+00 2.32635404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32193468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580371743 meters Centerline goodness : 0.985919 Centerline is valid? [True, True] Translation: X:34.01, Y:2.33, Z:0.03 [[ 9.88275903e-01 -1.52678549e-01 0.00000000e+00 3.40136466e+01] [ 1.52678549e-01 9.88275903e-01 0.00000000e+00 2.32627261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11146192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.610371743 meters Centerline goodness : 0.985726 Centerline is valid? [True, True] Translation: X:34.05, Y:2.33, Z:0.03 [[ 9.88472820e-01 -1.51398429e-01 0.00000000e+00 3.40470518e+01] [ 1.51398429e-01 9.88472820e-01 0.00000000e+00 2.33231334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94065675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640371743 meters Centerline goodness : 0.986439 Centerline is valid? [True, True] Translation: X:34.08, Y:2.34, Z:0.03 [[ 9.88342336e-01 -1.52247911e-01 0.00000000e+00 3.40782732e+01] [ 1.52247911e-01 9.88342336e-01 0.00000000e+00 2.34126926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78404755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.670371743000004 meters Centerline goodness : 0.987331 Centerline is valid? [True, True] Translation: X:34.10, Y:2.36, Z:0.03 [[ 9.87062294e-01 -1.60337231e-01 0.00000000e+00 3.40956285e+01] [ 1.60337231e-01 9.87062294e-01 0.00000000e+00 2.35591284e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95222811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700371743 meters Centerline goodness : 0.985833 Centerline is valid? [True, True] Translation: X:34.14, Y:2.35, Z:0.03 [[ 9.88331961e-01 -1.52315250e-01 0.00000000e+00 3.41403714e+01] [ 1.52315250e-01 9.88331961e-01 0.00000000e+00 2.35231795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58946196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.730371743 meters Centerline goodness : 0.987698 Centerline is valid? [True, True] Translation: X:34.16, Y:2.37, Z:0.03 [[ 9.87171007e-01 -1.59666537e-01 0.00000000e+00 3.41577126e+01] [ 1.59666537e-01 9.87171007e-01 0.00000000e+00 2.36916501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99863513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760371743 meters Centerline goodness : 0.987719 Centerline is valid? [True, True] Translation: X:34.19, Y:2.37, Z:0.03 [[ 9.87368092e-01 -1.58443209e-01 0.00000000e+00 3.41904001e+01] [ 1.58443209e-01 9.87368092e-01 0.00000000e+00 2.37455254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10528755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.790371743 meters Centerline goodness : 0.987882 Centerline is valid? [True, True] Translation: X:34.22, Y:2.38, Z:0.03 [[ 9.87624552e-01 -1.56836679e-01 0.00000000e+00 3.42215065e+01] [ 1.56836679e-01 9.87624552e-01 0.00000000e+00 2.38105413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18031514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820371743 meters Centerline goodness : 0.988063 Centerline is valid? [True, True] Translation: X:34.25, Y:2.39, Z:0.03 [[ 9.87674519e-01 -1.56521708e-01 0.00000000e+00 3.42539350e+01] [ 1.56521708e-01 9.87674519e-01 0.00000000e+00 2.38645925e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21073331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.850371743000004 meters Centerline goodness : 0.987094 Centerline is valid? [True, True] Translation: X:34.30, Y:2.38, Z:0.03 [[ 9.89036388e-01 -1.47672015e-01 0.00000000e+00 3.42985689e+01] [ 1.47672015e-01 9.89036388e-01 0.00000000e+00 2.38160625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82533966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.880371743 meters Centerline goodness : 0.987520 Centerline is valid? [True, True] Translation: X:34.31, Y:2.40, Z:0.03 [[ 9.87975036e-01 -1.54613480e-01 0.00000000e+00 3.43137451e+01] [ 1.54613480e-01 9.87975036e-01 0.00000000e+00 2.39711740e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13736235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.910371743 meters Centerline goodness : 0.988305 Centerline is valid? [True, True] Translation: X:34.35, Y:2.40, Z:0.03 [[ 9.88180064e-01 -1.53297624e-01 0.00000000e+00 3.43458503e+01] [ 1.53297624e-01 9.88180064e-01 0.00000000e+00 2.40169334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08298893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940371743 meters Centerline goodness : 0.988626 Centerline is valid? [True, True] Translation: X:34.38, Y:2.41, Z:0.03 [[ 9.88767931e-01 -1.49458951e-01 0.00000000e+00 3.43778989e+01] [ 1.49458951e-01 9.88767931e-01 0.00000000e+00 2.40689729e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98440227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.970371743 meters Centerline goodness : 0.988175 Centerline is valid? [True, True] Translation: X:34.41, Y:2.41, Z:0.03 [[ 9.89063659e-01 -1.47489246e-01 0.00000000e+00 3.44100116e+01] [ 1.47489246e-01 9.89063659e-01 0.00000000e+00 2.41138796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87381657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000371743 meters Centerline goodness : 0.987834 Centerline is valid? [True, True] Translation: X:34.45, Y:2.41, Z:0.03 [[ 9.90190070e-01 -1.39726970e-01 0.00000000e+00 3.44518166e+01] [ 1.39726970e-01 9.90190070e-01 0.00000000e+00 2.40894235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86252515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.030371743 meters Centerline goodness : 0.986908 Centerline is valid? [True, True] Translation: X:34.48, Y:2.41, Z:0.03 [[ 9.90756506e-01 -1.35652299e-01 0.00000000e+00 3.44802943e+01] [ 1.35652299e-01 9.90756506e-01 0.00000000e+00 2.41209564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00302773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060371743000005 meters Centerline goodness : 0.987225 Centerline is valid? [True, True] Translation: X:34.52, Y:2.41, Z:0.03 [[ 9.90798382e-01 -1.35346100e-01 0.00000000e+00 3.45177638e+01] [ 1.35346100e-01 9.90798382e-01 0.00000000e+00 2.41248846e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63098508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.090371743 meters Centerline goodness : 0.988282 Centerline is valid? [True, True] Translation: X:34.53, Y:2.42, Z:0.03 [[ 9.89353085e-01 -1.45535127e-01 0.00000000e+00 3.45348881e+01] [ 1.45535127e-01 9.89353085e-01 0.00000000e+00 2.42478322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18955238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120371743 meters Centerline goodness : 0.988043 Centerline is valid? [True, True] Translation: X:34.57, Y:2.43, Z:0.03 [[ 9.89220082e-01 -1.46436434e-01 0.00000000e+00 3.45675746e+01] [ 1.46436434e-01 9.89220082e-01 0.00000000e+00 2.42821165e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24191834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.150371743 meters Centerline goodness : 0.986416 Centerline is valid? [True, True] Translation: X:34.61, Y:2.42, Z:0.03 [[ 9.89967420e-01 -1.41295816e-01 0.00000000e+00 3.46089463e+01] [ 1.41295816e-01 9.89967420e-01 0.00000000e+00 2.42455343e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13570362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180371743 meters Centerline goodness : 0.987558 Centerline is valid? [True, True] Translation: X:34.63, Y:2.43, Z:0.03 [[ 9.88750778e-01 -1.49572388e-01 0.00000000e+00 3.46307082e+01] [ 1.49572388e-01 9.88750778e-01 0.00000000e+00 2.43286985e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22689313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.210371743 meters Centerline goodness : 0.986538 Centerline is valid? [True, True] Translation: X:34.67, Y:2.43, Z:0.03 [[ 9.89409798e-01 -1.45149065e-01 0.00000000e+00 3.46724179e+01] [ 1.45149065e-01 9.89409798e-01 0.00000000e+00 2.42860653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12465153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240371743000004 meters Centerline goodness : 0.986556 Centerline is valid? [True, True] Translation: X:34.71, Y:2.43, Z:0.03 [[ 9.88759087e-01 -1.49517448e-01 0.00000000e+00 3.47059463e+01] [ 1.49517448e-01 9.88759087e-01 0.00000000e+00 2.42926848e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00725684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.270371743 meters Centerline goodness : 0.986479 Centerline is valid? [True, True] Translation: X:34.73, Y:2.44, Z:0.03 [[ 9.87379041e-01 -1.58374962e-01 0.00000000e+00 3.47266575e+01] [ 1.58374962e-01 9.87379041e-01 0.00000000e+00 2.43868298e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09811414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300371743 meters Centerline goodness : 0.985942 Centerline is valid? [True, True] Translation: X:34.77, Y:2.44, Z:0.03 [[ 9.87789297e-01 -1.55795713e-01 0.00000000e+00 3.47685314e+01] [ 1.55795713e-01 9.87789297e-01 0.00000000e+00 2.43574041e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00147686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.330371743 meters Centerline goodness : 0.986936 Centerline is valid? [True, True] Translation: X:34.80, Y:2.44, Z:0.03 [[ 9.86861575e-01 -1.61568040e-01 0.00000000e+00 3.48034592e+01] [ 1.61568040e-01 9.86861575e-01 0.00000000e+00 2.43700614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92231367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360371743 meters Centerline goodness : 0.986774 Centerline is valid? [True, True] Translation: X:34.82, Y:2.45, Z:0.03 [[ 9.85081775e-01 -1.72086885e-01 0.00000000e+00 3.48213574e+01] [ 1.72086885e-01 9.85081775e-01 0.00000000e+00 2.44769200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01435703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.390371743 meters Centerline goodness : 0.986436 Centerline is valid? [True, True] Translation: X:34.86, Y:2.44, Z:0.03 [[ 9.85615209e-01 -1.69004910e-01 0.00000000e+00 3.48645274e+01] [ 1.69004910e-01 9.85615209e-01 0.00000000e+00 2.44341470e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89760392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420371743000004 meters Centerline goodness : 0.986703 Centerline is valid? [True, True] Translation: X:34.88, Y:2.45, Z:0.03 [[ 9.83319292e-01 -1.81887796e-01 0.00000000e+00 3.48842107e+01] [ 1.81887796e-01 9.83319292e-01 0.00000000e+00 2.45330210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97024758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.450371743 meters Centerline goodness : 0.987200 Centerline is valid? [True, True] Translation: X:34.92, Y:2.46, Z:0.03 [[ 9.82335388e-01 -1.87128796e-01 0.00000000e+00 3.49166025e+01] [ 1.87128796e-01 9.82335388e-01 0.00000000e+00 2.45739380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89183598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480371743 meters Centerline goodness : 0.985832 Centerline is valid? [True, True] Translation: X:34.96, Y:2.46, Z:0.03 [[ 9.82884622e-01 -1.84222203e-01 0.00000000e+00 3.49584239e+01] [ 1.84222203e-01 9.82884622e-01 0.00000000e+00 2.45606572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85421773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.510371743 meters Centerline goodness : 0.986959 Centerline is valid? [True, True] Translation: X:34.98, Y:2.47, Z:0.03 [[ 9.81467120e-01 -1.91630612e-01 0.00000000e+00 3.49797102e+01] [ 1.91630612e-01 9.81467120e-01 0.00000000e+00 2.46734384e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93375650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540371743 meters Centerline goodness : 0.985779 Centerline is valid? [True, True] Translation: X:35.02, Y:2.47, Z:0.03 [[ 9.82384653e-01 -1.86869993e-01 0.00000000e+00 3.50227848e+01] [ 1.86869993e-01 9.82384653e-01 0.00000000e+00 2.46500118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87463934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.570371743 meters Centerline goodness : 0.986959 Centerline is valid? [True, True] Translation: X:35.06, Y:2.47, Z:0.03 [[ 9.81878212e-01 -1.89513000e-01 0.00000000e+00 3.50553857e+01] [ 1.89513000e-01 9.81878212e-01 0.00000000e+00 2.47183512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99394541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600371743000004 meters Centerline goodness : 0.985711 Centerline is valid? [True, True] Translation: X:35.09, Y:2.48, Z:0.03 [[ 9.81788964e-01 -1.89974815e-01 0.00000000e+00 3.50855649e+01] [ 1.89974815e-01 9.81788964e-01 0.00000000e+00 2.48010319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11575130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.630371743 meters Centerline goodness : 0.985711 Centerline is valid? [True, True] Translation: X:35.12, Y:2.48, Z:0.03 [[ 9.81736216e-01 -1.90247215e-01 0.00000000e+00 3.51169100e+01] [ 1.90247215e-01 9.81736216e-01 0.00000000e+00 2.48436838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11575130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660371743 meters Centerline goodness : 0.986311 Centerline is valid? [True, True] Translation: X:35.15, Y:2.49, Z:0.03 [[ 9.81788693e-01 -1.89976217e-01 0.00000000e+00 3.51494899e+01] [ 1.89976217e-01 9.81788693e-01 0.00000000e+00 2.49157726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16193603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.690371743 meters Centerline goodness : 0.986275 Centerline is valid? [True, True] Translation: X:35.18, Y:2.50, Z:0.03 [[ 9.82203902e-01 -1.87817717e-01 0.00000000e+00 3.51794534e+01] [ 1.87817717e-01 9.82203902e-01 0.00000000e+00 2.49867079e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13153469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720371743 meters Centerline goodness : 0.986129 Centerline is valid? [True, True] Translation: X:35.21, Y:2.51, Z:0.03 [[ 9.82389822e-01 -1.86842816e-01 0.00000000e+00 3.52111701e+01] [ 1.86842816e-01 9.82389822e-01 0.00000000e+00 2.50683581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10847470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.750371743 meters Centerline goodness : 0.987153 Centerline is valid? [True, True] Translation: X:35.24, Y:2.52, Z:0.03 [[ 9.82734921e-01 -1.85019119e-01 0.00000000e+00 3.52398454e+01] [ 1.85019119e-01 9.82734921e-01 0.00000000e+00 2.51896238e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05823589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780371743 meters Centerline goodness : 0.989121 Centerline is valid? [True, True] Translation: X:35.26, Y:2.53, Z:0.03 [[ 9.82562530e-01 -1.85932446e-01 0.00000000e+00 3.52604592e+01] [ 1.85932446e-01 9.82562530e-01 0.00000000e+00 2.53452738e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03629330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.810371743000005 meters Centerline goodness : 0.988421 Centerline is valid? [True, True] Translation: X:35.29, Y:2.54, Z:0.03 [[ 9.82883912e-01 -1.84225988e-01 0.00000000e+00 3.52924369e+01] [ 1.84225988e-01 9.82883912e-01 0.00000000e+00 2.54165146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08106119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840371743 meters Centerline goodness : 0.988156 Centerline is valid? [True, True] Translation: X:35.33, Y:2.54, Z:0.03 [[ 9.83859001e-01 -1.78945428e-01 0.00000000e+00 3.53326369e+01] [ 1.78945428e-01 9.83859001e-01 0.00000000e+00 2.54322019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07932342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.870371743 meters Centerline goodness : 0.987287 Centerline is valid? [True, True] Translation: X:35.37, Y:2.55, Z:0.03 [[ 9.84152988e-01 -1.77321447e-01 0.00000000e+00 3.53655878e+01] [ 1.77321447e-01 9.84152988e-01 0.00000000e+00 2.54993054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16005612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900371743 meters Centerline goodness : 0.987974 Centerline is valid? [True, True] Translation: X:35.40, Y:2.56, Z:0.03 [[ 9.83928159e-01 -1.78564771e-01 0.00000000e+00 3.53976030e+01] [ 1.78564771e-01 9.83928159e-01 0.00000000e+00 2.56067709e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21672341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.930371743 meters Centerline goodness : 0.988892 Centerline is valid? [True, True] Translation: X:35.43, Y:2.57, Z:0.03 [[ 9.83844247e-01 -1.79026529e-01 0.00000000e+00 3.54311963e+01] [ 1.79026529e-01 9.83844247e-01 0.00000000e+00 2.56755362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16824312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960371743 meters Centerline goodness : 0.988884 Centerline is valid? [True, True] Translation: X:35.46, Y:2.58, Z:0.03 [[ 9.83881644e-01 -1.78820888e-01 0.00000000e+00 3.54604756e+01] [ 1.78820888e-01 9.83881644e-01 0.00000000e+00 2.57697904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16803760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.990371743000004 meters Centerline goodness : 0.989664 Centerline is valid? [True, True] Translation: X:35.49, Y:2.58, Z:0.03 [[ 9.83994626e-01 -1.78198139e-01 0.00000000e+00 3.54925490e+01] [ 1.78198139e-01 9.83994626e-01 0.00000000e+00 2.58442860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15927520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020371743 meters Centerline goodness : 0.990424 Centerline is valid? [True, True] Translation: X:35.51, Y:2.60, Z:0.03 [[ 9.83066155e-01 -1.83251015e-01 0.00000000e+00 3.55114005e+01] [ 1.83251015e-01 9.83066155e-01 0.00000000e+00 2.60005074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40913112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.050371743 meters Centerline goodness : 0.991617 Centerline is valid? [True, True] Translation: X:35.54, Y:2.61, Z:0.04 [[ 9.83808286e-01 -1.79224039e-01 0.00000000e+00 3.55434243e+01] [ 1.79224039e-01 9.83808286e-01 0.00000000e+00 2.61137673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50790037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080371743 meters Centerline goodness : 0.991190 Centerline is valid? [True, True] Translation: X:35.59, Y:2.61, Z:0.03 [[ 9.85458740e-01 -1.69914896e-01 0.00000000e+00 3.55863515e+01] [ 1.69914896e-01 9.85458740e-01 0.00000000e+00 2.61069467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25367192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.110371743 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:35.60, Y:2.63, Z:0.04 [[ 9.84963424e-01 -1.72763000e-01 0.00000000e+00 3.56043624e+01] [ 1.72763000e-01 9.84963424e-01 0.00000000e+00 2.62851302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50585462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140371743 meters Centerline goodness : 0.991619 Centerline is valid? [True, True] Translation: X:35.65, Y:2.63, Z:0.03 [[ 9.86409858e-01 -1.64303356e-01 0.00000000e+00 3.56474114e+01] [ 1.64303356e-01 9.86409858e-01 0.00000000e+00 2.62691997e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24752201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.170371743000004 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:35.68, Y:2.63, Z:0.03 [[ 9.86527679e-01 -1.63594436e-01 0.00000000e+00 3.56778190e+01] [ 1.63594436e-01 9.86527679e-01 0.00000000e+00 2.63376780e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35116930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200371743 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:35.70, Y:2.65, Z:0.04 [[ 0.98587437 -0.1674865 0. 35.69780502] [ 0.1674865 0.98587437 0. 2.64979505] [ 0. 0. 1. 0.03748066] [ 0. 0. 0. 1. ]] SLAMing on 34.230371743 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:35.74, Y:2.65, Z:0.04 [[ 0.98696391 -0.16094175 0. 35.7387609 ] [ 0.16094175 0.98696391 0. 2.64980057] [ 0. 0. 1. 0.03651507] [ 0. 0. 0. 1. ]] SLAMing on 34.260371743 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:35.77, Y:2.66, Z:0.04 [[ 9.86976899e-01 -1.60862058e-01 0.00000000e+00 3.57706547e+01] [ 1.60862058e-01 9.86976899e-01 0.00000000e+00 2.65709409e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52121666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.290371743 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:35.79, Y:2.67, Z:0.04 [[ 0.9858222 -0.16779332 0. 35.79001884] [ 0.16779332 0.9858222 0. 2.66898452] [ 0. 0. 1. 0.03649737] [ 0. 0. 0. 1. ]] SLAMing on 34.320371743 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:35.82, Y:2.68, Z:0.04 [[ 9.85398100e-01 -1.70266219e-01 0.00000000e+00 3.58221394e+01] [ 1.70266219e-01 9.85398100e-01 0.00000000e+00 2.67525406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56455032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.350371743000004 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:35.87, Y:2.67, Z:0.03 [[ 9.86241620e-01 -1.65310216e-01 0.00000000e+00 3.58659599e+01] [ 1.65310216e-01 9.86241620e-01 0.00000000e+00 2.67346908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22060482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.380371743 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:35.90, Y:2.68, Z:0.03 [[ 9.85544505e-01 -1.69416730e-01 0.00000000e+00 3.58962398e+01] [ 1.69416730e-01 9.85544505e-01 0.00000000e+00 2.67979947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35738406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.410371743 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:35.92, Y:2.69, Z:0.03 [[ 9.84073940e-01 -1.77759614e-01 0.00000000e+00 3.59158947e+01] [ 1.77759614e-01 9.84073940e-01 0.00000000e+00 2.69191671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37565955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440371743 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:35.96, Y:2.69, Z:0.03 [[ 9.84449974e-01 -1.75665163e-01 0.00000000e+00 3.59596390e+01] [ 1.75665163e-01 9.84449974e-01 0.00000000e+00 2.69131774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01927117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.470371743 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:35.98, Y:2.70, Z:0.03 [[ 9.82807208e-01 -1.84634751e-01 0.00000000e+00 3.59786504e+01] [ 1.84634751e-01 9.82807208e-01 0.00000000e+00 2.70419690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26776381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500371743 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:36.02, Y:2.70, Z:0.03 [[ 9.83224506e-01 -1.82399482e-01 0.00000000e+00 3.60216166e+01] [ 1.82399482e-01 9.83224506e-01 0.00000000e+00 2.70329523e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91348619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.530371743 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:36.04, Y:2.72, Z:0.03 [[ 9.81678143e-01 -1.90546646e-01 0.00000000e+00 3.60395451e+01] [ 1.90546646e-01 9.81678143e-01 0.00000000e+00 2.71651674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22187128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560371743000005 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:36.07, Y:2.72, Z:0.03 [[ 9.81395828e-01 -1.91995387e-01 0.00000000e+00 3.60720338e+01] [ 1.91995387e-01 9.81395828e-01 0.00000000e+00 2.72245577e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21729281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.590371743 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:36.11, Y:2.72, Z:0.03 [[ 9.82219395e-01 -1.87736679e-01 0.00000000e+00 3.61149836e+01] [ 1.87736679e-01 9.82219395e-01 0.00000000e+00 2.72207637e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94462801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620371743 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:36.13, Y:2.74, Z:0.03 [[ 9.80626402e-01 -1.95887367e-01 0.00000000e+00 3.61329908e+01] [ 1.95887367e-01 9.80626402e-01 0.00000000e+00 2.73540582e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30484680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.650371743 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:36.16, Y:2.74, Z:0.03 [[ 9.80364108e-01 -1.97195882e-01 0.00000000e+00 3.61641025e+01] [ 1.97195882e-01 9.80364108e-01 0.00000000e+00 2.74362614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36558833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680371743 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:36.21, Y:2.74, Z:0.03 [[ 9.81474748e-01 -1.91591540e-01 0.00000000e+00 3.62050300e+01] [ 1.91591540e-01 9.81474748e-01 0.00000000e+00 2.74328383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16546270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.710371743 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:36.22, Y:2.76, Z:0.03 [[ 9.80254680e-01 -1.97739129e-01 0.00000000e+00 3.62247834e+01] [ 1.97739129e-01 9.80254680e-01 0.00000000e+00 2.75654468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38771089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740371743000004 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:36.27, Y:2.76, Z:0.03 [[ 9.81640221e-01 -1.90741913e-01 0.00000000e+00 3.62681340e+01] [ 1.90741913e-01 9.81640221e-01 0.00000000e+00 2.75793776e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93550380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.770371743 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:36.30, Y:2.77, Z:0.03 [[ 9.81439129e-01 -1.91773918e-01 0.00000000e+00 3.62986451e+01] [ 1.91773918e-01 9.81439129e-01 0.00000000e+00 2.76568914e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97572351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800371743 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:36.33, Y:2.78, Z:0.03 [[ 9.81343310e-01 -1.92263642e-01 0.00000000e+00 3.63307322e+01] [ 1.92263642e-01 9.81343310e-01 0.00000000e+00 2.77511885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98098269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.830371743 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:36.36, Y:2.78, Z:0.03 [[ 9.81252158e-01 -1.92728313e-01 0.00000000e+00 3.63606493e+01] [ 1.92728313e-01 9.81252158e-01 0.00000000e+00 2.78277792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03826722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860371743 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:36.39, Y:2.79, Z:0.03 [[ 9.81083716e-01 -1.93583939e-01 0.00000000e+00 3.63928192e+01] [ 1.93583939e-01 9.81083716e-01 0.00000000e+00 2.79349809e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16382508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.890371743 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:36.43, Y:2.80, Z:0.03 [[ 9.81415837e-01 -1.91893084e-01 0.00000000e+00 3.64258698e+01] [ 1.91893084e-01 9.81415837e-01 0.00000000e+00 2.79889690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02094496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920371743000004 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:36.45, Y:2.81, Z:0.03 [[ 9.80920742e-01 -1.94408068e-01 0.00000000e+00 3.64530473e+01] [ 1.94408068e-01 9.80920742e-01 0.00000000e+00 2.80991185e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14597178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.950371743 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:36.49, Y:2.82, Z:0.03 [[ 9.80897450e-01 -1.94525558e-01 0.00000000e+00 3.64864541e+01] [ 1.94525558e-01 9.80897450e-01 0.00000000e+00 2.81632798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16623892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980371743 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:36.50, Y:2.83, Z:0.04 [[ 9.79525013e-01 -2.01322498e-01 0.00000000e+00 3.65039966e+01] [ 2.01322498e-01 9.79525013e-01 0.00000000e+00 2.83086685e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59792563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.010371743 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:36.55, Y:2.83, Z:0.03 [[ 9.80951320e-01 -1.94253719e-01 0.00000000e+00 3.65471555e+01] [ 1.94253719e-01 9.80951320e-01 0.00000000e+00 2.83011031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28774013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040371743 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:36.56, Y:2.85, Z:0.04 [[ 0.98003623 -0.19881896 0. 36.56467504] [ 0.19881896 0.98003623 0. 2.84751998] [ 0. 0. 1. 0.03721947] [ 0. 0. 0. 1. ]] SLAMing on 35.070371743 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:36.61, Y:2.85, Z:0.03 [[ 9.81906385e-01 -1.89366975e-01 0.00000000e+00 3.66091339e+01] [ 1.89366975e-01 9.81906385e-01 0.00000000e+00 2.84677915e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29816812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100371743000004 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:36.64, Y:2.85, Z:0.03 [[ 9.83515243e-01 -1.80825241e-01 0.00000000e+00 3.66436899e+01] [ 1.80825241e-01 9.83515243e-01 0.00000000e+00 2.85376242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06420844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.130371743 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:36.67, Y:2.86, Z:0.03 [[ 9.83800255e-01 -1.79268116e-01 0.00000000e+00 3.66733383e+01] [ 1.79268116e-01 9.83800255e-01 0.00000000e+00 2.86167141e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04166923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160371743 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:36.69, Y:2.88, Z:0.04 [[ 9.82615095e-01 -1.85654451e-01 0.00000000e+00 3.66850501e+01] [ 1.85654451e-01 9.82615095e-01 0.00000000e+00 2.87862430e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66281358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.190371743 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:36.73, Y:2.88, Z:0.03 [[ 9.85954001e-01 -1.67017091e-01 0.00000000e+00 3.67316214e+01] [ 1.67017091e-01 9.85954001e-01 0.00000000e+00 2.87890049e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08689373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220371743 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:36.76, Y:2.89, Z:0.03 [[ 9.86762680e-01 -1.62170936e-01 0.00000000e+00 3.67583220e+01] [ 1.62170936e-01 9.86762680e-01 0.00000000e+00 2.88664504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09684769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.250371743 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:36.79, Y:2.90, Z:0.03 [[ 9.88316890e-01 -1.52413011e-01 0.00000000e+00 3.67894070e+01] [ 1.52413011e-01 9.88316890e-01 0.00000000e+00 2.89534855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21326540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280371743 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:36.80, Y:2.91, Z:0.04 [[ 0.98790886 -0.15503575 0. 36.80474098] [ 0.15503575 0.98790886 0. 2.91028624] [ 0. 0. 1. 0.03767497] [ 0. 0. 0. 1. ]] SLAMing on 35.310371743 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:36.85, Y:2.91, Z:0.03 [[ 9.90859944e-01 -1.34894665e-01 0.00000000e+00 3.68510082e+01] [ 1.34894665e-01 9.90859944e-01 0.00000000e+00 2.90682033e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37487008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340371743 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:36.88, Y:2.91, Z:0.03 [[ 9.91435528e-01 -1.30597068e-01 0.00000000e+00 3.68811392e+01] [ 1.30597068e-01 9.91435528e-01 0.00000000e+00 2.91131890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42771200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.370371743 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:36.91, Y:2.92, Z:0.04 [[ 9.91716995e-01 -1.28442214e-01 0.00000000e+00 3.69121839e+01] [ 1.28442214e-01 9.91716995e-01 0.00000000e+00 2.91635467e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53851191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400371743 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:36.95, Y:2.92, Z:0.03 [[ 9.92623019e-01 -1.21241666e-01 0.00000000e+00 3.69458001e+01] [ 1.21241666e-01 9.92623019e-01 0.00000000e+00 2.91581005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41802053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.430371743 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:36.96, Y:2.93, Z:0.04 [[ 0.99145857 -0.13042202 0. 36.95922996] [ 0.13042202 0.99145857 0. 2.92865996] [ 0. 0. 1. 0.03874497] [ 0. 0. 0. 1. ]] SLAMing on 35.460371743 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:36.99, Y:2.93, Z:0.04 [[ 9.91766129e-01 -1.28062271e-01 0.00000000e+00 3.69906723e+01] [ 1.28062271e-01 9.91766129e-01 0.00000000e+00 2.92686532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69326867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.490371743000004 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:37.02, Y:2.93, Z:0.04 [[ 9.91834647e-01 -1.27530516e-01 0.00000000e+00 3.70234255e+01] [ 1.27530516e-01 9.91834647e-01 0.00000000e+00 2.92773446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59752360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520371743 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:37.07, Y:2.91, Z:0.03 [[ 9.92923531e-01 -1.18755467e-01 0.00000000e+00 3.70712154e+01] [ 1.18755467e-01 9.92923531e-01 0.00000000e+00 2.91312964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95396109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.550371743 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:37.10, Y:2.92, Z:0.03 [[ 9.92868552e-01 -1.19214256e-01 0.00000000e+00 3.71023892e+01] [ 1.19214256e-01 9.92868552e-01 0.00000000e+00 2.91786745e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95396109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580371743 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:37.13, Y:2.92, Z:0.03 [[ 9.92594149e-01 -1.21477795e-01 0.00000000e+00 3.71323307e+01] [ 1.21477795e-01 9.92594149e-01 0.00000000e+00 2.91850879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98671398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.610371743 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:37.15, Y:2.93, Z:0.04 [[ 9.91293893e-01 -1.31667829e-01 0.00000000e+00 3.71498583e+01] [ 1.31667829e-01 9.91293893e-01 0.00000000e+00 2.92755355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55593261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640371743 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:37.18, Y:2.92, Z:0.04 [[ 9.91105983e-01 -1.33074902e-01 0.00000000e+00 3.71830134e+01] [ 1.33074902e-01 9.91105983e-01 0.00000000e+00 2.92121920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55194259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.670371743000004 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:37.22, Y:2.92, Z:0.04 [[ 9.91005784e-01 -1.33819046e-01 0.00000000e+00 3.72159680e+01] [ 1.33819046e-01 9.91005784e-01 0.00000000e+00 2.92038697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55043223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700371743 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:37.26, Y:2.91, Z:0.03 [[ 9.91812017e-01 -1.27706395e-01 0.00000000e+00 3.72627600e+01] [ 1.27706395e-01 9.91812017e-01 0.00000000e+00 2.90551905e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18443887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.730371743 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:37.28, Y:2.91, Z:0.04 [[ 9.90605094e-01 -1.36753600e-01 0.00000000e+00 3.72799939e+01] [ 1.36753600e-01 9.90605094e-01 0.00000000e+00 2.91345186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63100383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760371743 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:37.31, Y:2.91, Z:0.04 [[ 9.90250843e-01 -1.39295614e-01 0.00000000e+00 3.73147323e+01] [ 1.39295614e-01 9.90250843e-01 0.00000000e+00 2.90688333e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54002542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.790371743 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:37.36, Y:2.90, Z:0.03 [[ 9.91031115e-01 -1.33631319e-01 0.00000000e+00 3.73593626e+01] [ 1.33631319e-01 9.91031115e-01 0.00000000e+00 2.89771199e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25208158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820371743 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:37.38, Y:2.90, Z:0.03 [[ 9.89342707e-01 -1.45605656e-01 0.00000000e+00 3.73790365e+01] [ 1.45605656e-01 9.89342707e-01 0.00000000e+00 2.89935524e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44721359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.850371743000004 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:37.41, Y:2.90, Z:0.03 [[ 9.89026111e-01 -1.47740828e-01 0.00000000e+00 3.74130547e+01] [ 1.47740828e-01 9.89026111e-01 0.00000000e+00 2.89866554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45318579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.880371743 meters Centerline goodness : 0.991807 Centerline is valid? [True, True] Translation: X:37.45, Y:2.89, Z:0.03 [[ 9.88228801e-01 -1.52983124e-01 0.00000000e+00 3.74477659e+01] [ 1.52983124e-01 9.88228801e-01 0.00000000e+00 2.89312115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47410109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.910371743 meters Centerline goodness : 0.992060 Centerline is valid? [True, True] Translation: X:37.48, Y:2.89, Z:0.03 [[ 9.87854309e-01 -1.55382961e-01 0.00000000e+00 3.74798202e+01] [ 1.55382961e-01 9.87854309e-01 0.00000000e+00 2.89248160e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46681689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940371743 meters Centerline goodness : 0.991243 Centerline is valid? [True, True] Translation: X:37.51, Y:2.89, Z:0.03 [[ 9.87621553e-01 -1.56855567e-01 0.00000000e+00 3.75119906e+01] [ 1.56855567e-01 9.87621553e-01 0.00000000e+00 2.89182130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46402391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.970371743 meters Centerline goodness : 0.991074 Centerline is valid? [True, True] Translation: X:37.55, Y:2.89, Z:0.03 [[ 9.86918833e-01 -1.61217919e-01 0.00000000e+00 3.75457475e+01] [ 1.61217919e-01 9.86918833e-01 0.00000000e+00 2.88942757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49418035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000371743 meters Centerline goodness : 0.990072 Centerline is valid? [True, True] Translation: X:37.59, Y:2.88, Z:0.03 [[ 9.88179898e-01 -1.53298691e-01 0.00000000e+00 3.75942327e+01] [ 1.53298691e-01 9.88179898e-01 0.00000000e+00 2.87908512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18293247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.030371743 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:37.61, Y:2.89, Z:0.04 [[ 9.86141283e-01 -1.65907717e-01 0.00000000e+00 3.76077391e+01] [ 1.65907717e-01 9.86141283e-01 0.00000000e+00 2.88839028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56437862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.060371743 meters Centerline goodness : 0.989277 Centerline is valid? [True, True] Translation: X:37.64, Y:2.89, Z:0.04 [[ 9.86011856e-01 -1.66675195e-01 0.00000000e+00 3.76408548e+01] [ 1.66675195e-01 9.86011856e-01 0.00000000e+00 2.88961614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59876709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.090371743 meters Centerline goodness : 0.989041 Centerline is valid? [True, True] Translation: X:37.67, Y:2.89, Z:0.04 [[ 9.85658277e-01 -1.68753550e-01 0.00000000e+00 3.76738231e+01] [ 1.68753550e-01 9.85658277e-01 0.00000000e+00 2.88829833e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70982515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120371743 meters Centerline goodness : 0.988521 Centerline is valid? [True, True] Translation: X:37.71, Y:2.89, Z:0.04 [[ 0.98545386 -0.16994321 0. 37.70737692] [ 0.16994321 0.98545386 0. 2.8904938 ] [ 0. 0. 1. 0.03796246] [ 0. 0. 0. 1. ]] SLAMing on 36.150371743 meters Centerline goodness : 0.987921 Centerline is valid? [True, True] Translation: X:37.74, Y:2.89, Z:0.04 [[ 0.98526769 -0.17101923 0. 37.73927187] [ 0.17101923 0.98526769 0. 2.89271365] [ 0. 0. 1. 0.03870095] [ 0. 0. 0. 1. ]] SLAMing on 36.180371743 meters Centerline goodness : 0.988488 Centerline is valid? [True, True] Translation: X:37.77, Y:2.90, Z:0.04 [[ 0.98490772 -0.17308028 0. 37.77164708] [ 0.17308028 0.98490772 0. 2.89516183] [ 0. 0. 1. 0.03991567] [ 0. 0. 0. 1. ]] SLAMing on 36.210371743 meters Centerline goodness : 0.988735 Centerline is valid? [True, True] Translation: X:37.80, Y:2.90, Z:0.04 [[ 0.98480555 -0.17366067 0. 37.80406848] [ 0.17366067 0.98480555 0. 2.89901134] [ 0. 0. 1. 0.03947193] [ 0. 0. 0. 1. ]] SLAMing on 36.240371743000004 meters Centerline goodness : 0.987903 Centerline is valid? [True, True] Translation: X:37.84, Y:2.90, Z:0.04 [[ 0.98469155 -0.17430589 0. 37.83638449] [ 0.17430589 0.98469155 0. 2.90201922] [ 0. 0. 1. 0.03962239] [ 0. 0. 0. 1. ]] SLAMing on 36.270371743 meters Centerline goodness : 0.987642 Centerline is valid? [True, True] Translation: X:37.87, Y:2.91, Z:0.04 [[ 0.98462514 -0.17468066 0. 37.86883628] [ 0.17468066 0.98462514 0. 2.90599425] [ 0. 0. 1. 0.03917438] [ 0. 0. 0. 1. ]] SLAMing on 36.300371743 meters Centerline goodness : 0.988842 Centerline is valid? [True, True] Translation: X:37.90, Y:2.91, Z:0.04 [[ 0.98443037 -0.17577499 0. 37.90139856] [ 0.17577499 0.98443037 0. 2.9103003 ] [ 0. 0. 1. 0.03877249] [ 0. 0. 0. 1. ]] SLAMing on 36.330371743 meters Centerline goodness : 0.988742 Centerline is valid? [True, True] Translation: X:37.93, Y:2.91, Z:0.04 [[ 0.9843341 -0.17631328 0. 37.93277748] [ 0.17631328 0.9843341 0. 2.91499607] [ 0. 0. 1. 0.03979039] [ 0. 0. 0. 1. ]] SLAMing on 36.360371743 meters Centerline goodness : 0.988056 Centerline is valid? [True, True] Translation: X:37.97, Y:2.92, Z:0.04 [[ 0.9843064 -0.17646786 0. 37.96567561] [ 0.17646786 0.9843064 0. 2.92020627] [ 0. 0. 1. 0.03863554] [ 0. 0. 0. 1. ]] SLAMing on 36.390371743 meters Centerline goodness : 0.988290 Centerline is valid? [True, True] Translation: X:38.00, Y:2.93, Z:0.04 [[ 0.98419374 -0.17709513 0. 37.99706871] [ 0.17709513 0.98419374 0. 2.92606936] [ 0. 0. 1. 0.03851961] [ 0. 0. 0. 1. ]] SLAMing on 36.420371743000004 meters Centerline goodness : 0.987265 Centerline is valid? [True, True] Translation: X:38.03, Y:2.93, Z:0.04 [[ 0.98532222 -0.17070477 0. 38.03428543] [ 0.17070477 0.98532222 0. 2.92523375] [ 0. 0. 1. 0.03854872] [ 0. 0. 0. 1. ]] SLAMing on 36.450371743 meters Centerline goodness : 0.988966 Centerline is valid? [True, True] Translation: X:38.06, Y:2.94, Z:0.04 [[ 9.83662262e-01 -1.80023760e-01 0.00000000e+00 3.80587129e+01] [ 1.80023760e-01 9.83662262e-01 0.00000000e+00 2.93773749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63299937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480371743 meters Centerline goodness : 0.988072 Centerline is valid? [True, True] Translation: X:38.10, Y:2.94, Z:0.04 [[ 9.84116553e-01 -1.77523549e-01 0.00000000e+00 3.80981177e+01] [ 1.77523549e-01 9.84116553e-01 0.00000000e+00 2.93854663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67130752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.510371743 meters Centerline goodness : 0.988471 Centerline is valid? [True, True] Translation: X:38.13, Y:2.95, Z:0.04 [[ 9.83439176e-01 -1.81238479e-01 0.00000000e+00 3.81287048e+01] [ 1.81238479e-01 9.83439176e-01 0.00000000e+00 2.94671031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63829751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540371743 meters Centerline goodness : 0.989879 Centerline is valid? [True, True] Translation: X:38.15, Y:2.96, Z:0.04 [[ 9.82373263e-01 -1.86929858e-01 0.00000000e+00 3.81515040e+01] [ 1.86929858e-01 9.82373263e-01 0.00000000e+00 2.95747019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65734117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.570371743 meters Centerline goodness : 0.990041 Centerline is valid? [True, True] Translation: X:38.19, Y:2.96, Z:0.04 [[ 9.82651211e-01 -1.85463198e-01 0.00000000e+00 3.81913071e+01] [ 1.85463198e-01 9.82651211e-01 0.00000000e+00 2.96097592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70034343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600371743000004 meters Centerline goodness : 0.989514 Centerline is valid? [True, True] Translation: X:38.22, Y:2.97, Z:0.04 [[ 9.82171869e-01 -1.87985161e-01 0.00000000e+00 3.82218031e+01] [ 1.87985161e-01 9.82171869e-01 0.00000000e+00 2.96854633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63093335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.630371743 meters Centerline goodness : 0.990042 Centerline is valid? [True, True] Translation: X:38.25, Y:2.98, Z:0.04 [[ 9.82082058e-01 -1.88453789e-01 0.00000000e+00 3.82524437e+01] [ 1.88453789e-01 9.82082058e-01 0.00000000e+00 2.97509707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72957543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660371743 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:38.29, Y:2.98, Z:0.04 [[ 9.81947185e-01 -1.89155297e-01 0.00000000e+00 3.82870854e+01] [ 1.89155297e-01 9.81947185e-01 0.00000000e+00 2.98249386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76941917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.690371743 meters Centerline goodness : 0.990011 Centerline is valid? [True, True] Translation: X:38.32, Y:2.99, Z:0.04 [[ 9.81808038e-01 -1.89876214e-01 0.00000000e+00 3.83196467e+01] [ 1.89876214e-01 9.81808038e-01 0.00000000e+00 2.98930486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69059952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720371743 meters Centerline goodness : 0.991420 Centerline is valid? [True, True] Translation: X:38.35, Y:3.00, Z:0.04 [[ 9.81299260e-01 -1.92488346e-01 0.00000000e+00 3.83502485e+01] [ 1.92488346e-01 9.81299260e-01 0.00000000e+00 2.99776701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58858667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.750371743 meters Centerline goodness : 0.990409 Centerline is valid? [True, True] Translation: X:38.38, Y:3.00, Z:0.03 [[ 9.81116232e-01 -1.93419075e-01 0.00000000e+00 3.83820624e+01] [ 1.93419075e-01 9.81116232e-01 0.00000000e+00 3.00436727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48610836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780371743 meters Centerline goodness : 0.992025 Centerline is valid? [True, True] Translation: X:38.41, Y:3.01, Z:0.03 [[ 9.80734653e-01 -1.95344671e-01 0.00000000e+00 3.84097022e+01] [ 1.95344671e-01 9.80734653e-01 0.00000000e+00 3.01450402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29585815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.810371743 meters Centerline goodness : 0.991307 Centerline is valid? [True, True] Translation: X:38.45, Y:3.02, Z:0.03 [[ 9.81415629e-01 -1.91894143e-01 0.00000000e+00 3.84454544e+01] [ 1.91894143e-01 9.81415629e-01 0.00000000e+00 3.01921912e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03298028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840371743 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:38.47, Y:3.03, Z:0.03 [[ 9.81097622e-01 -1.93513450e-01 0.00000000e+00 3.84661576e+01] [ 1.93513450e-01 9.81097622e-01 0.00000000e+00 3.03366671e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99891838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.870371743 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:38.51, Y:3.03, Z:0.03 [[ 9.82764390e-01 -1.84862529e-01 0.00000000e+00 3.85070106e+01] [ 1.84862529e-01 9.82764390e-01 0.00000000e+00 3.03440463e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80922802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900371743 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:38.53, Y:3.05, Z:0.03 [[ 9.82792131e-01 -1.84714988e-01 0.00000000e+00 3.85268593e+01] [ 1.84714988e-01 9.82792131e-01 0.00000000e+00 3.05043004e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02220674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.930371743 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:38.57, Y:3.05, Z:0.03 [[ 9.84744519e-01 -1.74006413e-01 0.00000000e+00 3.85699522e+01] [ 1.74006413e-01 9.84744519e-01 0.00000000e+00 3.04962584e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70373605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960371743 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:38.60, Y:3.06, Z:0.03 [[ 9.85310134e-01 -1.70774531e-01 0.00000000e+00 3.86010679e+01] [ 1.70774531e-01 9.85310134e-01 0.00000000e+00 3.05574613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62790322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.990371743000004 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:38.63, Y:3.06, Z:0.03 [[ 9.86426430e-01 -1.64203834e-01 0.00000000e+00 3.86334947e+01] [ 1.64203834e-01 9.86426430e-01 0.00000000e+00 3.06316817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64690711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020371743 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:38.65, Y:3.08, Z:0.03 [[ 9.85557201e-01 -1.69342856e-01 0.00000000e+00 3.86492684e+01] [ 1.69342856e-01 9.85557201e-01 0.00000000e+00 3.07681645e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01320115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.050371743 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:38.69, Y:3.07, Z:0.03 [[ 9.87829178e-01 -1.55542645e-01 0.00000000e+00 3.86942115e+01] [ 1.55542645e-01 9.87829178e-01 0.00000000e+00 3.07359867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72448954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080371743 meters Centerline goodness : 0.992333 Centerline is valid? [True, True] Translation: X:38.71, Y:3.09, Z:0.03 [[ 9.86820970e-01 -1.61815863e-01 0.00000000e+00 3.87111686e+01] [ 1.61815863e-01 9.86820970e-01 0.00000000e+00 3.08648725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01915105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.110371743 meters Centerline goodness : 0.993276 Centerline is valid? [True, True] Translation: X:38.74, Y:3.09, Z:0.03 [[ 9.87138640e-01 -1.59866523e-01 0.00000000e+00 3.87437822e+01] [ 1.59866523e-01 9.87138640e-01 0.00000000e+00 3.09025052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99932915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140371743 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:38.78, Y:3.09, Z:0.03 [[ 9.87664788e-01 -1.56583099e-01 0.00000000e+00 3.87771457e+01] [ 1.56583099e-01 9.87664788e-01 0.00000000e+00 3.09153611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87293225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.170371743000004 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:38.81, Y:3.09, Z:0.03 [[ 9.87899159e-01 -1.55097557e-01 0.00000000e+00 3.88089564e+01] [ 1.55097557e-01 9.87899159e-01 0.00000000e+00 3.09373363e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70527911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200371743 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:38.84, Y:3.09, Z:0.02 [[ 9.88367763e-01 -1.52082758e-01 0.00000000e+00 3.88414164e+01] [ 1.52082758e-01 9.88367763e-01 0.00000000e+00 3.09312908e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47977393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.230371743 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:38.87, Y:3.09, Z:0.02 [[ 9.88655148e-01 -1.50203189e-01 0.00000000e+00 3.88747465e+01] [ 1.50203189e-01 9.88655148e-01 0.00000000e+00 3.09442717e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39288243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260371743 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:38.91, Y:3.09, Z:0.02 [[ 9.89155622e-01 -1.46871220e-01 0.00000000e+00 3.89085258e+01] [ 1.46871220e-01 9.89155622e-01 0.00000000e+00 3.09161609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31004668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.290371743 meters Centerline goodness : 0.991695 Centerline is valid? [True, True] Translation: X:38.94, Y:3.09, Z:0.02 [[ 9.89491426e-01 -1.44591553e-01 0.00000000e+00 3.89404539e+01] [ 1.44591553e-01 9.89491426e-01 0.00000000e+00 3.09206336e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26961525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320371743 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:38.97, Y:3.09, Z:0.02 [[ 9.90284980e-01 -1.39052718e-01 0.00000000e+00 3.89741401e+01] [ 1.39052718e-01 9.90284980e-01 0.00000000e+00 3.08789216e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16038642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.350371743000004 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:39.01, Y:3.09, Z:0.02 [[ 9.90684530e-01 -1.36176954e-01 0.00000000e+00 3.90080197e+01] [ 1.36176954e-01 9.90684530e-01 0.00000000e+00 3.08800518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11305769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.380371743 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:39.04, Y:3.08, Z:0.02 [[ 9.91407304e-01 -1.30811155e-01 0.00000000e+00 3.90413750e+01] [ 1.30811155e-01 9.91407304e-01 0.00000000e+00 3.08261429e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04253483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.410371743 meters Centerline goodness : 0.989013 Centerline is valid? [True, True] Translation: X:39.08, Y:3.08, Z:0.02 [[ 9.92265753e-01 -1.24131689e-01 0.00000000e+00 3.90808554e+01] [ 1.24131689e-01 9.92265753e-01 0.00000000e+00 3.07659839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77155126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440371743 meters Centerline goodness : 0.989013 Centerline is valid? [True, True] Translation: X:39.11, Y:3.08, Z:0.02 [[ 9.92262794e-01 -1.24155333e-01 0.00000000e+00 3.91130460e+01] [ 1.24155333e-01 9.92262794e-01 0.00000000e+00 3.08116615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77155126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.470371743 meters Centerline goodness : 0.989170 Centerline is valid? [True, True] Translation: X:39.14, Y:3.09, Z:0.02 [[ 9.91868222e-01 -1.27269124e-01 0.00000000e+00 3.91376456e+01] [ 1.27269124e-01 9.91868222e-01 0.00000000e+00 3.08534863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01413583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500371743 meters Centerline goodness : 0.988023 Centerline is valid? [True, True] Translation: X:39.17, Y:3.08, Z:0.02 [[ 9.91984125e-01 -1.26362554e-01 0.00000000e+00 3.91712476e+01] [ 1.26362554e-01 9.91984125e-01 0.00000000e+00 3.07765131e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89134271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.530371743 meters Centerline goodness : 0.987731 Centerline is valid? [True, True] Translation: X:39.21, Y:3.08, Z:0.02 [[ 9.91843072e-01 -1.27464980e-01 0.00000000e+00 3.92053405e+01] [ 1.27464980e-01 9.91843072e-01 0.00000000e+00 3.07572934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92150434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.560371743 meters Centerline goodness : 0.987174 Centerline is valid? [True, True] Translation: X:39.25, Y:3.07, Z:0.02 [[ 9.92410824e-01 -1.22966481e-01 0.00000000e+00 3.92481233e+01] [ 1.22966481e-01 9.92410824e-01 0.00000000e+00 3.06629389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82516625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.590371743 meters Centerline goodness : 0.987402 Centerline is valid? [True, True] Translation: X:39.27, Y:3.06, Z:0.02 [[ 9.90756226e-01 -1.35654344e-01 0.00000000e+00 3.92707749e+01] [ 1.35654344e-01 9.90756226e-01 0.00000000e+00 3.06448261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85735541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620371743 meters Centerline goodness : 0.986897 Centerline is valid? [True, True] Translation: X:39.31, Y:3.06, Z:0.02 [[ 9.90966850e-01 -1.34107056e-01 0.00000000e+00 3.93121438e+01] [ 1.34107056e-01 9.90966850e-01 0.00000000e+00 3.05635483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88865678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.650371743 meters Centerline goodness : 0.987343 Centerline is valid? [True, True] Translation: X:39.34, Y:3.05, Z:0.02 [[ 9.88954531e-01 -1.48219215e-01 0.00000000e+00 3.93356521e+01] [ 1.48219215e-01 9.88954531e-01 0.00000000e+00 3.05453853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05207059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680371743 meters Centerline goodness : 0.987944 Centerline is valid? [True, True] Translation: X:39.38, Y:3.05, Z:0.02 [[ 9.89019153e-01 -1.47787401e-01 0.00000000e+00 3.93767759e+01] [ 1.47787401e-01 9.89019153e-01 0.00000000e+00 3.04699417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04188236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.710371743 meters Centerline goodness : 0.988491 Centerline is valid? [True, True] Translation: X:39.40, Y:3.05, Z:0.02 [[ 9.87501748e-01 -1.57608051e-01 0.00000000e+00 3.93997028e+01] [ 1.57608051e-01 9.87501748e-01 0.00000000e+00 3.05076533e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10634900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740371743000004 meters Centerline goodness : 0.989794 Centerline is valid? [True, True] Translation: X:39.43, Y:3.04, Z:0.02 [[ 9.85958810e-01 -1.66988695e-01 0.00000000e+00 3.94333997e+01] [ 1.66988695e-01 9.85958810e-01 0.00000000e+00 3.04406037e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28704320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.770371743 meters Centerline goodness : 0.990012 Centerline is valid? [True, True] Translation: X:39.47, Y:3.04, Z:0.02 [[ 9.85319850e-01 -1.70718462e-01 0.00000000e+00 3.94670857e+01] [ 1.70718462e-01 9.85319850e-01 0.00000000e+00 3.04378120e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42475820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800371743 meters Centerline goodness : 0.990453 Centerline is valid? [True, True] Translation: X:39.50, Y:3.04, Z:0.03 [[ 9.84043897e-01 -1.77925853e-01 0.00000000e+00 3.95002888e+01] [ 1.77925853e-01 9.84043897e-01 0.00000000e+00 3.04075944e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59493074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.830371743 meters Centerline goodness : 0.991462 Centerline is valid? [True, True] Translation: X:39.53, Y:3.04, Z:0.03 [[ 9.82696753e-01 -1.85221739e-01 0.00000000e+00 3.95322766e+01] [ 1.85221739e-01 9.82696753e-01 0.00000000e+00 3.03942315e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65124636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860371743 meters Centerline goodness : 0.991297 Centerline is valid? [True, True] Translation: X:39.56, Y:3.04, Z:0.03 [[ 9.82136155e-01 -1.88171659e-01 0.00000000e+00 3.95648700e+01] [ 1.88171659e-01 9.82136155e-01 0.00000000e+00 3.04164294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68392172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.890371743 meters Centerline goodness : 0.991512 Centerline is valid? [True, True] Translation: X:39.60, Y:3.04, Z:0.03 [[ 9.81506202e-01 -1.91430340e-01 0.00000000e+00 3.95964992e+01] [ 1.91430340e-01 9.81506202e-01 0.00000000e+00 3.04464000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73673547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920371743000004 meters Centerline goodness : 0.991907 Centerline is valid? [True, True] Translation: X:39.63, Y:3.05, Z:0.03 [[ 9.80537834e-01 -1.96330220e-01 0.00000000e+00 3.96295289e+01] [ 1.96330220e-01 9.80537834e-01 0.00000000e+00 3.04778847e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80355335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.950371743 meters Centerline goodness : 0.991480 Centerline is valid? [True, True] Translation: X:39.66, Y:3.05, Z:0.03 [[ 9.80238959e-01 -1.97817045e-01 0.00000000e+00 3.96600307e+01] [ 1.97817045e-01 9.80238959e-01 0.00000000e+00 3.05189609e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79105655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980371743 meters Centerline goodness : 0.991076 Centerline is valid? [True, True] Translation: X:39.69, Y:3.06, Z:0.03 [[ 9.79686296e-01 -2.00536183e-01 0.00000000e+00 3.96916169e+01] [ 2.00536183e-01 9.79686296e-01 0.00000000e+00 3.05763136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94064169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.010371743 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:39.72, Y:3.06, Z:0.03 [[ 9.79456479e-01 -2.01655659e-01 0.00000000e+00 3.97236984e+01] [ 2.01655659e-01 9.79456479e-01 0.00000000e+00 3.06356195e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95697384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040371743 meters Centerline goodness : 0.991400 Centerline is valid? [True, True] Translation: X:39.75, Y:3.07, Z:0.03 [[ 9.79151700e-01 -2.03130371e-01 0.00000000e+00 3.97546392e+01] [ 2.03130371e-01 9.79151700e-01 0.00000000e+00 3.06986855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95477636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.070371743 meters Centerline goodness : 0.991293 Centerline is valid? [True, True] Translation: X:39.79, Y:3.08, Z:0.03 [[ 9.78406135e-01 -2.06691641e-01 0.00000000e+00 3.97858877e+01] [ 2.06691641e-01 9.78406135e-01 0.00000000e+00 3.07867796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94188803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100371743000004 meters Centerline goodness : 0.991531 Centerline is valid? [True, True] Translation: X:39.82, Y:3.09, Z:0.03 [[ 9.77988690e-01 -2.08657905e-01 0.00000000e+00 3.98170565e+01] [ 2.08657905e-01 9.77988690e-01 0.00000000e+00 3.08529552e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94219592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.130371743 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:39.86, Y:3.08, Z:0.02 [[ 9.79443221e-01 -2.01720044e-01 0.00000000e+00 3.98633229e+01] [ 2.01720044e-01 9.79443221e-01 0.00000000e+00 3.08315530e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44422581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160371743 meters Centerline goodness : 0.991115 Centerline is valid? [True, True] Translation: X:39.87, Y:3.10, Z:0.03 [[ 9.76630225e-01 -2.14926509e-01 0.00000000e+00 3.98748594e+01] [ 2.14926509e-01 9.76630225e-01 0.00000000e+00 3.10256508e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99201471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.190371743 meters Centerline goodness : 0.990934 Centerline is valid? [True, True] Translation: X:39.91, Y:3.11, Z:0.03 [[ 9.76436413e-01 -2.15805308e-01 0.00000000e+00 3.99065522e+01] [ 2.15805308e-01 9.76436413e-01 0.00000000e+00 3.11008194e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02124679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220371743 meters Centerline goodness : 0.990544 Centerline is valid? [True, True] Translation: X:39.94, Y:3.12, Z:0.03 [[ 9.76079833e-01 -2.17412420e-01 0.00000000e+00 3.99374725e+01] [ 2.17412420e-01 9.76079833e-01 0.00000000e+00 3.12081118e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98467096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.250371743 meters Centerline goodness : 0.990386 Centerline is valid? [True, True] Translation: X:39.97, Y:3.13, Z:0.03 [[ 9.76006487e-01 -2.17741446e-01 0.00000000e+00 3.99689557e+01] [ 2.17741446e-01 9.76006487e-01 0.00000000e+00 3.12886383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87435051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280371743 meters Centerline goodness : 0.990376 Centerline is valid? [True, True] Translation: X:40.00, Y:3.14, Z:0.03 [[ 9.76024121e-01 -2.17662386e-01 0.00000000e+00 3.99994733e+01] [ 2.17662386e-01 9.76024121e-01 0.00000000e+00 3.14178233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61157972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.310371743 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:40.03, Y:3.15, Z:0.03 [[ 9.76201379e-01 -2.16866014e-01 0.00000000e+00 4.00312520e+01] [ 2.16866014e-01 9.76201379e-01 0.00000000e+00 3.15028884e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53127888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340371743 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:40.06, Y:3.16, Z:0.03 [[ 9.76484240e-01 -2.15588797e-01 0.00000000e+00 4.00619933e+01] [ 2.15588797e-01 9.76484240e-01 0.00000000e+00 3.15824919e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50605267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.370371743 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:40.09, Y:3.17, Z:0.03 [[ 9.76972292e-01 -2.13366211e-01 0.00000000e+00 4.00931733e+01] [ 2.13366211e-01 9.76972292e-01 0.00000000e+00 3.17156612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56795125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400371743 meters Centerline goodness : 0.989902 Centerline is valid? [True, True] Translation: X:40.14, Y:3.17, Z:0.02 [[ 9.78695399e-01 -2.05317596e-01 0.00000000e+00 4.01357204e+01] [ 2.05317596e-01 9.78695399e-01 0.00000000e+00 3.17256658e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31537179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.430371743 meters Centerline goodness : 0.989829 Centerline is valid? [True, True] Translation: X:40.16, Y:3.19, Z:0.03 [[ 9.78797504e-01 -2.04830286e-01 0.00000000e+00 4.01632694e+01] [ 2.04830286e-01 9.78797504e-01 0.00000000e+00 3.18751980e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61095064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460371743 meters Centerline goodness : 0.989964 Centerline is valid? [True, True] Translation: X:40.20, Y:3.20, Z:0.03 [[ 9.78875105e-01 -2.04459114e-01 0.00000000e+00 4.01951576e+01] [ 2.04459114e-01 9.78875105e-01 0.00000000e+00 3.19662834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73192110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.490371743000004 meters Centerline goodness : 0.991202 Centerline is valid? [True, True] Translation: X:40.22, Y:3.21, Z:0.03 [[ 9.77899691e-01 -2.09074612e-01 0.00000000e+00 4.02167083e+01] [ 2.09074612e-01 9.77899691e-01 0.00000000e+00 3.21214240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86374156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520371743 meters Centerline goodness : 0.989197 Centerline is valid? [True, True] Translation: X:40.25, Y:3.23, Z:0.03 [[ 9.78226118e-01 -2.07541952e-01 0.00000000e+00 4.02476607e+01] [ 2.07541952e-01 9.78226118e-01 0.00000000e+00 3.22530235e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77665047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.550371743 meters Centerline goodness : 0.990047 Centerline is valid? [True, True] Translation: X:40.29, Y:3.23, Z:0.03 [[ 9.79522420e-01 -2.01335118e-01 0.00000000e+00 4.02903619e+01] [ 2.01335118e-01 9.79522420e-01 0.00000000e+00 3.22666698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59332376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580371743 meters Centerline goodness : 0.991531 Centerline is valid? [True, True] Translation: X:40.32, Y:3.24, Z:0.03 [[ 9.79474430e-01 -2.01568451e-01 0.00000000e+00 4.03203960e+01] [ 2.01568451e-01 9.79474430e-01 0.00000000e+00 3.23593366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63112612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.610371743 meters Centerline goodness : 0.990425 Centerline is valid? [True, True] Translation: X:40.35, Y:3.25, Z:0.03 [[ 9.79067307e-01 -2.03536748e-01 0.00000000e+00 4.03500201e+01] [ 2.03536748e-01 9.79067307e-01 0.00000000e+00 3.24769604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68631652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640371743 meters Centerline goodness : 0.989354 Centerline is valid? [True, True] Translation: X:40.38, Y:3.26, Z:0.03 [[ 9.78930693e-01 -2.04192795e-01 0.00000000e+00 4.03810145e+01] [ 2.04192795e-01 9.78930693e-01 0.00000000e+00 3.25514115e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64018656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.670371743000004 meters Centerline goodness : 0.989556 Centerline is valid? [True, True] Translation: X:40.41, Y:3.27, Z:0.02 [[ 9.78420678e-01 -2.06622789e-01 0.00000000e+00 4.04140927e+01] [ 2.06622789e-01 9.78420678e-01 0.00000000e+00 3.26509071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46742561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700371743 meters Centerline goodness : 0.989977 Centerline is valid? [True, True] Translation: X:40.43, Y:3.28, Z:0.03 [[ 9.76564817e-01 -2.15223506e-01 0.00000000e+00 4.04326419e+01] [ 2.15223506e-01 9.76564817e-01 0.00000000e+00 3.28040078e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66943256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.730371743 meters Centerline goodness : 0.989813 Centerline is valid? [True, True] Translation: X:40.48, Y:3.28, Z:0.02 [[ 9.77643954e-01 -2.10267210e-01 0.00000000e+00 4.04753054e+01] [ 2.10267210e-01 9.77643954e-01 0.00000000e+00 3.28323147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45793101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760371743 meters Centerline goodness : 0.991476 Centerline is valid? [True, True] Translation: X:40.49, Y:3.30, Z:0.03 [[ 9.76162915e-01 -2.17039082e-01 0.00000000e+00 4.04933344e+01] [ 2.17039082e-01 9.76162915e-01 0.00000000e+00 3.29951407e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81337960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.790371743 meters Centerline goodness : 0.991532 Centerline is valid? [True, True] Translation: X:40.52, Y:3.31, Z:0.03 [[ 9.76317093e-01 -2.16344478e-01 0.00000000e+00 4.05241131e+01] [ 2.16344478e-01 9.76317093e-01 0.00000000e+00 3.31202288e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96122523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820371743 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:40.57, Y:3.31, Z:0.03 [[ 9.77797727e-01 -2.09550961e-01 0.00000000e+00 4.05663008e+01] [ 2.09550961e-01 9.77797727e-01 0.00000000e+00 3.31277865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79956492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.850371743000004 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:40.59, Y:3.33, Z:0.03 [[ 9.77936438e-01 -2.08902662e-01 0.00000000e+00 4.05941456e+01] [ 2.08902662e-01 9.77936438e-01 0.00000000e+00 3.32507829e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90960216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.880371743 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:40.63, Y:3.33, Z:0.03 [[ 9.77963430e-01 -2.08776269e-01 0.00000000e+00 4.06266430e+01] [ 2.08776269e-01 9.77963430e-01 0.00000000e+00 3.33309030e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96915249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.910371743 meters Centerline goodness : 0.991957 Centerline is valid? [True, True] Translation: X:40.66, Y:3.34, Z:0.03 [[ 9.77806734e-01 -2.09508928e-01 0.00000000e+00 4.06580721e+01] [ 2.09508928e-01 9.77806734e-01 0.00000000e+00 3.34124449e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94883196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940371743 meters Centerline goodness : 0.992682 Centerline is valid? [True, True] Translation: X:40.69, Y:3.35, Z:0.03 [[ 9.77360868e-01 -2.11579141e-01 0.00000000e+00 4.06895893e+01] [ 2.11579141e-01 9.77360868e-01 0.00000000e+00 3.35189108e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96180357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.970371743 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:40.71, Y:3.37, Z:0.03 [[ 9.75640998e-01 -2.19373298e-01 0.00000000e+00 4.07093840e+01] [ 2.19373298e-01 9.75640998e-01 0.00000000e+00 3.36962797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05813909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000371743 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:40.75, Y:3.37, Z:0.03 [[ 9.76675577e-01 -2.14720324e-01 0.00000000e+00 4.07503831e+01] [ 2.14720324e-01 9.76675577e-01 0.00000000e+00 3.37030091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76297092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.030371743 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:40.78, Y:3.38, Z:0.03 [[ 9.76290198e-01 -2.16465817e-01 0.00000000e+00 4.07818187e+01] [ 2.16465817e-01 9.76290198e-01 0.00000000e+00 3.37887836e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76004155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.060371743 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:40.81, Y:3.39, Z:0.03 [[ 9.75766366e-01 -2.18814988e-01 0.00000000e+00 4.08137728e+01] [ 2.18814988e-01 9.75766366e-01 0.00000000e+00 3.38907236e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74078846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.090371743 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:40.84, Y:3.40, Z:0.03 [[ 9.75668940e-01 -2.19248988e-01 0.00000000e+00 4.08444676e+01] [ 2.19248988e-01 9.75668940e-01 0.00000000e+00 3.39637654e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70562512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120371743 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:40.88, Y:3.41, Z:0.03 [[ 9.75615780e-01 -2.19485423e-01 0.00000000e+00 4.08756539e+01] [ 2.19485423e-01 9.75615780e-01 0.00000000e+00 3.40675054e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75947975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.150371743 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:40.91, Y:3.41, Z:0.03 [[ 9.75717538e-01 -2.19032616e-01 0.00000000e+00 4.09081353e+01] [ 2.19032616e-01 9.75717538e-01 0.00000000e+00 3.41477281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73038379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180371743 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:40.93, Y:3.43, Z:0.03 [[ 9.74712934e-01 -2.23460726e-01 0.00000000e+00 4.09270535e+01] [ 2.23460726e-01 9.74712934e-01 0.00000000e+00 3.43399953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99676859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.210371743 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:40.97, Y:3.43, Z:0.03 [[ 9.76650476e-01 -2.14834464e-01 0.00000000e+00 4.09706890e+01] [ 2.14834464e-01 9.76650476e-01 0.00000000e+00 3.43424286e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53337904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240371743000004 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:41.00, Y:3.45, Z:0.03 [[ 9.76868200e-01 -2.13842277e-01 0.00000000e+00 4.10004719e+01] [ 2.13842277e-01 9.76868200e-01 0.00000000e+00 3.44703978e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54940480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.270371743 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:41.03, Y:3.45, Z:0.03 [[ 9.76900477e-01 -2.13694779e-01 0.00000000e+00 4.10318774e+01] [ 2.13694779e-01 9.76900477e-01 0.00000000e+00 3.45499779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50860204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300371743 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:41.06, Y:3.46, Z:0.03 [[ 9.76895721e-01 -2.13716520e-01 0.00000000e+00 4.10640966e+01] [ 2.13716520e-01 9.76895721e-01 0.00000000e+00 3.46257749e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53305741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.330371743 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:41.10, Y:3.47, Z:0.02 [[ 9.77497891e-01 -2.10945189e-01 0.00000000e+00 4.11008164e+01] [ 2.10945189e-01 9.77497891e-01 0.00000000e+00 3.46937957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40290366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360371743 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:41.13, Y:3.48, Z:0.03 [[ 9.76411515e-01 -2.15917932e-01 0.00000000e+00 4.11260549e+01] [ 2.15917932e-01 9.76411515e-01 0.00000000e+00 3.47943242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60943243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.390371743 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:41.16, Y:3.48, Z:0.03 [[ 9.76339491e-01 -2.16243377e-01 0.00000000e+00 4.11572648e+01] [ 2.16243377e-01 9.76339491e-01 0.00000000e+00 3.48422953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60943243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420371743000004 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:41.18, Y:3.49, Z:0.03 [[ 9.76163410e-01 -2.17036854e-01 0.00000000e+00 4.11819691e+01] [ 2.17036854e-01 9.76163410e-01 0.00000000e+00 3.49393744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61401912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.450371743 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:41.22, Y:3.50, Z:0.03 [[ 9.75385009e-01 -2.20508692e-01 0.00000000e+00 4.12172933e+01] [ 2.20508692e-01 9.75385009e-01 0.00000000e+00 3.50098358e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56842840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480371743 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:41.25, Y:3.51, Z:0.03 [[ 9.75033866e-01 -2.22056209e-01 0.00000000e+00 4.12496465e+01] [ 2.22056209e-01 9.75033866e-01 0.00000000e+00 3.50807592e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57170420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.510371743 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:41.28, Y:3.52, Z:0.03 [[ 9.74433551e-01 -2.24675890e-01 0.00000000e+00 4.12814050e+01] [ 2.24675890e-01 9.74433551e-01 0.00000000e+00 3.51682827e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51705165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540371743 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:41.31, Y:3.52, Z:0.02 [[ 9.74389074e-01 -2.24868699e-01 0.00000000e+00 4.13116635e+01] [ 2.24868699e-01 9.74389074e-01 0.00000000e+00 3.52368612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49868941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.570371743 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:41.34, Y:3.53, Z:0.03 [[ 9.74058465e-01 -2.26296501e-01 0.00000000e+00 4.13443291e+01] [ 2.26296501e-01 9.74058465e-01 0.00000000e+00 3.53304364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56817873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600371743000004 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:41.38, Y:3.54, Z:0.03 [[ 9.74149838e-01 -2.25902838e-01 0.00000000e+00 4.13764749e+01] [ 2.25902838e-01 9.74149838e-01 0.00000000e+00 3.53970018e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53073594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.630371743 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:41.41, Y:3.55, Z:0.03 [[ 9.74305163e-01 -2.25231990e-01 0.00000000e+00 4.14054777e+01] [ 2.25231990e-01 9.74305163e-01 0.00000000e+00 3.54940923e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57808420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660371743 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:41.44, Y:3.56, Z:0.03 [[ 9.74222839e-01 -2.25587810e-01 0.00000000e+00 4.14369539e+01] [ 2.25587810e-01 9.74222839e-01 0.00000000e+00 3.55586188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59946372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.690371743 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:41.47, Y:3.56, Z:0.03 [[ 9.74460951e-01 -2.24557019e-01 0.00000000e+00 4.14669054e+01] [ 2.24557019e-01 9.74460951e-01 0.00000000e+00 3.56440076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50615877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720371743 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:41.50, Y:3.57, Z:0.02 [[ 9.74294529e-01 -2.25277988e-01 0.00000000e+00 4.14984770e+01] [ 2.25277988e-01 9.74294529e-01 0.00000000e+00 3.57164271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49637394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.750371743 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:41.53, Y:3.58, Z:0.02 [[ 9.74652490e-01 -2.23724214e-01 0.00000000e+00 4.15293338e+01] [ 2.23724214e-01 9.74652490e-01 0.00000000e+00 3.57780490e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36677627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780371743 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:41.56, Y:3.59, Z:0.02 [[ 9.74444517e-01 -2.24628323e-01 0.00000000e+00 4.15606509e+01] [ 2.24628323e-01 9.74444517e-01 0.00000000e+00 3.58683607e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44493219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.810371743 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:41.59, Y:3.59, Z:0.02 [[ 9.74262536e-01 -2.25416304e-01 0.00000000e+00 4.15927660e+01] [ 2.25416304e-01 9.74262536e-01 0.00000000e+00 3.59377157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46447472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840371743 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:41.62, Y:3.60, Z:0.03 [[ 9.74035814e-01 -2.26393977e-01 0.00000000e+00 4.16233745e+01] [ 2.26393977e-01 9.74035814e-01 0.00000000e+00 3.60264208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52701918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.870371743 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:41.66, Y:3.61, Z:0.02 [[ 9.74099689e-01 -2.26118986e-01 0.00000000e+00 4.16560453e+01] [ 2.26118986e-01 9.74099689e-01 0.00000000e+00 3.60836572e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43998766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900371743 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:41.68, Y:3.62, Z:0.03 [[ 9.73739235e-01 -2.27666208e-01 0.00000000e+00 4.16842054e+01] [ 2.27666208e-01 9.73739235e-01 0.00000000e+00 3.61575985e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55131862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.930371743 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:41.72, Y:3.62, Z:0.03 [[ 9.73769069e-01 -2.27538570e-01 0.00000000e+00 4.17169066e+01] [ 2.27538570e-01 9.73769069e-01 0.00000000e+00 3.62265398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51547154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960371743 meters Centerline goodness : 0.995004 Centerline is valid? [True, True] Translation: X:41.75, Y:3.63, Z:0.03 [[ 9.73577633e-01 -2.28356284e-01 0.00000000e+00 4.17478620e+01] [ 2.28356284e-01 9.73577633e-01 0.00000000e+00 3.62912952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54494911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.990371743000004 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:41.78, Y:3.64, Z:0.03 [[ 9.73150014e-01 -2.30171783e-01 0.00000000e+00 4.17798889e+01] [ 2.30171783e-01 9.73150014e-01 0.00000000e+00 3.63644526e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54629122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020371743 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:41.81, Y:3.64, Z:0.03 [[ 9.72826384e-01 -2.31535800e-01 0.00000000e+00 4.18116005e+01] [ 2.31535800e-01 9.72826384e-01 0.00000000e+00 3.64292505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55509026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.050371743 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:41.84, Y:3.65, Z:0.03 [[ 9.72638160e-01 -2.32325223e-01 0.00000000e+00 4.18426627e+01] [ 2.32325223e-01 9.72638160e-01 0.00000000e+00 3.64876779e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52105100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080371743 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:41.87, Y:3.66, Z:0.02 [[ 9.72631513e-01 -2.32353049e-01 0.00000000e+00 4.18735679e+01] [ 2.32353049e-01 9.72631513e-01 0.00000000e+00 3.65548130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43346520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.110371743 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:41.91, Y:3.66, Z:0.02 [[ 9.72642340e-01 -2.32307725e-01 0.00000000e+00 4.19061885e+01] [ 2.32307725e-01 9.72642340e-01 0.00000000e+00 3.66206318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38748606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140371743 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:41.94, Y:3.67, Z:0.03 [[ 9.72617165e-01 -2.32413103e-01 0.00000000e+00 4.19377486e+01] [ 2.32413103e-01 9.72617165e-01 0.00000000e+00 3.66870434e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50887637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.170371743000004 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:41.97, Y:3.68, Z:0.02 [[ 9.73157299e-01 -2.30140983e-01 0.00000000e+00 4.19690366e+01] [ 2.30140983e-01 9.73157299e-01 0.00000000e+00 3.67613102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33144942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200371743 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:42.00, Y:3.68, Z:0.02 [[ 9.73296446e-01 -2.29551799e-01 0.00000000e+00 4.20022229e+01] [ 2.29551799e-01 9.73296446e-01 0.00000000e+00 3.68303904e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36168658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.230371743 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:42.03, Y:3.69, Z:0.03 [[ 9.73607987e-01 -2.28226836e-01 0.00000000e+00 4.20329169e+01] [ 2.28226836e-01 9.73607987e-01 0.00000000e+00 3.69106712e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59441755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260371743 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:42.06, Y:3.70, Z:0.03 [[ 9.73819284e-01 -2.27323561e-01 0.00000000e+00 4.20638069e+01] [ 2.27323561e-01 9.73819284e-01 0.00000000e+00 3.69619525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55187659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.290371743 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:42.10, Y:3.70, Z:0.03 [[ 9.74474009e-01 -2.24500347e-01 0.00000000e+00 4.20965700e+01] [ 2.24500347e-01 9.74474009e-01 0.00000000e+00 3.70130297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52235609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320371743 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:42.13, Y:3.71, Z:0.03 [[ 9.74918026e-01 -2.22564243e-01 0.00000000e+00 4.21267860e+01] [ 2.22564243e-01 9.74918026e-01 0.00000000e+00 3.70704157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52399146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.350371743000004 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:42.16, Y:3.71, Z:0.03 [[ 9.75499933e-01 -2.19999727e-01 0.00000000e+00 4.21574870e+01] [ 2.19999727e-01 9.75499933e-01 0.00000000e+00 3.71434361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54942161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.380371743 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:42.19, Y:3.72, Z:0.03 [[ 9.75795941e-01 -2.18683063e-01 0.00000000e+00 4.21893291e+01] [ 2.18683063e-01 9.75795941e-01 0.00000000e+00 3.72030474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56527661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.410371743 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:42.21, Y:3.73, Z:0.03 [[ 9.74826711e-01 -2.22963863e-01 0.00000000e+00 4.22072934e+01] [ 2.22963863e-01 9.74826711e-01 0.00000000e+00 3.73283347e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77132052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440371743 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:42.24, Y:3.74, Z:0.03 [[ 9.75730311e-01 -2.18975707e-01 0.00000000e+00 4.22382853e+01] [ 2.18975707e-01 9.75730311e-01 0.00000000e+00 3.73786296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63544493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.470371743 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:42.28, Y:3.74, Z:0.02 [[ 9.78013834e-01 -2.08540020e-01 0.00000000e+00 4.22816660e+01] [ 2.08540020e-01 9.78013834e-01 0.00000000e+00 3.73572279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24841139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500371743 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:42.31, Y:3.74, Z:0.02 [[ 9.78350862e-01 -2.06953111e-01 0.00000000e+00 4.23118323e+01] [ 2.06953111e-01 9.78350862e-01 0.00000000e+00 3.74170903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24910036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.530371743 meters Centerline goodness : 0.993130 Centerline is valid? [True, True] Translation: X:42.34, Y:3.75, Z:0.02 [[ 9.78859000e-01 -2.04536202e-01 0.00000000e+00 4.23421649e+01] [ 2.04536202e-01 9.78859000e-01 0.00000000e+00 3.74682443e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15799205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.560371743 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:42.38, Y:3.75, Z:0.02 [[ 9.80069693e-01 -1.98653963e-01 0.00000000e+00 4.23752461e+01] [ 1.98653963e-01 9.80069693e-01 0.00000000e+00 3.75170507e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01359008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.590371743 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:42.41, Y:3.76, Z:0.02 [[ 9.80710620e-01 -1.95465293e-01 0.00000000e+00 4.24076656e+01] [ 1.95465293e-01 9.80710620e-01 0.00000000e+00 3.75643683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97693886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620371743 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:42.44, Y:3.76, Z:0.02 [[ 9.82040311e-01 -1.88671216e-01 0.00000000e+00 4.24397906e+01] [ 1.88671216e-01 9.82040311e-01 0.00000000e+00 3.76118766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00034534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.650371743 meters Centerline goodness : 0.993796 Centerline is valid? [True, True] Translation: X:42.47, Y:3.77, Z:0.02 [[ 9.82743441e-01 -1.84973862e-01 0.00000000e+00 4.24701926e+01] [ 1.84973862e-01 9.82743441e-01 0.00000000e+00 3.76626704e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02505264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680371743 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:42.50, Y:3.77, Z:0.02 [[ 9.83248837e-01 -1.82268274e-01 0.00000000e+00 4.25005077e+01] [ 1.82268274e-01 9.83248837e-01 0.00000000e+00 3.77145976e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11628999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.710371743 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:42.53, Y:3.78, Z:0.02 [[ 9.83932551e-01 -1.78540571e-01 0.00000000e+00 4.25329113e+01] [ 1.78540571e-01 9.83932551e-01 0.00000000e+00 3.77549402e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24206690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740371743000004 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:42.55, Y:3.79, Z:0.03 [[ 9.82453024e-01 -1.86510204e-01 0.00000000e+00 4.25477162e+01] [ 1.86510204e-01 9.82453024e-01 0.00000000e+00 3.78905900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82312944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.770371743 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:42.58, Y:3.79, Z:0.03 [[ 9.82540468e-01 -1.86048993e-01 0.00000000e+00 4.25813256e+01] [ 1.86048993e-01 9.82540468e-01 0.00000000e+00 3.79165218e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82392405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800371743 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:42.61, Y:3.80, Z:0.03 [[ 9.82361974e-01 -1.86989174e-01 0.00000000e+00 4.26134924e+01] [ 1.86989174e-01 9.82361974e-01 0.00000000e+00 3.79519364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75268225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.830371743 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:42.65, Y:3.80, Z:0.03 [[ 9.81513048e-01 -1.91395237e-01 0.00000000e+00 4.26462010e+01] [ 1.91395237e-01 9.81513048e-01 0.00000000e+00 3.79714027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64950616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860371743 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:42.68, Y:3.80, Z:0.02 [[ 9.80871273e-01 -1.94657507e-01 0.00000000e+00 4.26773574e+01] [ 1.94657507e-01 9.80871273e-01 0.00000000e+00 3.80001777e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45335370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.890371743 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:42.72, Y:3.79, Z:0.02 [[ 9.81067079e-01 -1.93668240e-01 0.00000000e+00 4.27242200e+01] [ 1.93668240e-01 9.81067079e-01 0.00000000e+00 3.79216621e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71721371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920371743000004 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:42.75, Y:3.80, Z:0.02 [[ 9.80169292e-01 -1.98161949e-01 0.00000000e+00 4.27543128e+01] [ 1.98161949e-01 9.80169292e-01 0.00000000e+00 3.79574067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59947210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.950371743 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:42.79, Y:3.80, Z:0.02 [[ 9.78621662e-01 -2.05668767e-01 0.00000000e+00 4.27852942e+01] [ 2.05668767e-01 9.78621662e-01 0.00000000e+00 3.79830251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63235090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980371743 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:42.82, Y:3.80, Z:0.02 [[ 9.77889127e-01 -2.09124019e-01 0.00000000e+00 4.28177197e+01] [ 2.09124019e-01 9.77889127e-01 0.00000000e+00 3.80303178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84824136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.010371743 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:42.85, Y:3.81, Z:0.02 [[ 9.77388828e-01 -2.11449945e-01 0.00000000e+00 4.28485095e+01] [ 2.11449945e-01 9.77388828e-01 0.00000000e+00 3.80798708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02661274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040371743 meters Centerline goodness : 0.994212 Centerline is valid? [True, True] Translation: X:42.88, Y:3.81, Z:0.02 [[ 9.76606076e-01 -2.15036213e-01 0.00000000e+00 4.28795236e+01] [ 2.15036213e-01 9.76606076e-01 0.00000000e+00 3.81273633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30228382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.070371743 meters Centerline goodness : 0.993914 Centerline is valid? [True, True] Translation: X:42.91, Y:3.82, Z:0.02 [[ 9.76121185e-01 -2.17226685e-01 0.00000000e+00 4.29094962e+01] [ 2.17226685e-01 9.76121185e-01 0.00000000e+00 3.81825021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37680091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100371743000004 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:42.94, Y:3.82, Z:0.02 [[ 9.75212943e-01 -2.21268423e-01 0.00000000e+00 4.29406202e+01] [ 2.21268423e-01 9.75212943e-01 0.00000000e+00 3.82320513e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49113601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.130371743 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:42.97, Y:3.83, Z:0.02 [[ 9.74979924e-01 -2.22292933e-01 0.00000000e+00 4.29712965e+01] [ 2.22292933e-01 9.74979924e-01 0.00000000e+00 3.82797362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41849844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160371743 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:43.00, Y:3.83, Z:0.02 [[ 9.74000844e-01 -2.26544381e-01 0.00000000e+00 4.30031976e+01] [ 2.26544381e-01 9.74000844e-01 0.00000000e+00 3.83295067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35837476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.190371743 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:43.03, Y:3.84, Z:0.02 [[ 9.73379086e-01 -2.29201125e-01 0.00000000e+00 4.30338454e+01] [ 2.29201125e-01 9.73379086e-01 0.00000000e+00 3.83881161e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32678332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220371743 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:43.07, Y:3.84, Z:0.02 [[ 9.72581172e-01 -2.32563678e-01 0.00000000e+00 4.30658946e+01] [ 2.32563678e-01 9.72581172e-01 0.00000000e+00 3.84423899e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13968895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.250371743 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:43.10, Y:3.85, Z:0.02 [[ 9.72328020e-01 -2.33619823e-01 0.00000000e+00 4.30988363e+01] [ 2.33619823e-01 9.72328020e-01 0.00000000e+00 3.84945164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05922425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280371743 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:43.13, Y:3.85, Z:0.02 [[ 9.72240837e-01 -2.33982383e-01 0.00000000e+00 4.31309070e+01] [ 2.33982383e-01 9.72240837e-01 0.00000000e+00 3.85489612e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05922425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.310371743 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:43.16, Y:3.86, Z:0.02 [[ 9.71696444e-01 -2.36232979e-01 0.00000000e+00 4.31624119e+01] [ 2.36232979e-01 9.71696444e-01 0.00000000e+00 3.86180834e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00187407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340371743 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:43.20, Y:3.87, Z:0.02 [[ 9.72045033e-01 -2.34794491e-01 0.00000000e+00 4.31953766e+01] [ 2.34794491e-01 9.72045033e-01 0.00000000e+00 3.86729556e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74396989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.370371743 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:43.23, Y:3.87, Z:0.02 [[ 9.71685165e-01 -2.36279367e-01 0.00000000e+00 4.32251123e+01] [ 2.36279367e-01 9.71685165e-01 0.00000000e+00 3.87454569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87955508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400371743 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:43.26, Y:3.88, Z:0.02 [[ 9.71605757e-01 -2.36605693e-01 0.00000000e+00 4.32551705e+01] [ 2.36605693e-01 9.71605757e-01 0.00000000e+00 3.88313060e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02923864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.430371743 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:43.29, Y:3.89, Z:0.02 [[ 9.71613071e-01 -2.36575652e-01 0.00000000e+00 4.32863328e+01] [ 2.36575652e-01 9.71613071e-01 0.00000000e+00 3.89065328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13509452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460371743 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:43.32, Y:3.90, Z:0.02 [[ 9.71808440e-01 -2.35771830e-01 0.00000000e+00 4.33172103e+01] [ 2.35771830e-01 9.71808440e-01 0.00000000e+00 3.89778386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19664435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.490371743000004 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:43.35, Y:3.91, Z:0.02 [[ 9.72255276e-01 -2.33922376e-01 0.00000000e+00 4.33468409e+01] [ 2.33922376e-01 9.72255276e-01 0.00000000e+00 3.90640774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31552323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520371743 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:43.38, Y:3.91, Z:0.02 [[ 9.72611496e-01 -2.32436824e-01 0.00000000e+00 4.33774684e+01] [ 2.32436824e-01 9.72611496e-01 0.00000000e+00 3.91307211e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30148880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.550371743 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:43.41, Y:3.92, Z:0.02 [[ 9.73192504e-01 -2.29992064e-01 0.00000000e+00 4.34104923e+01] [ 2.29992064e-01 9.73192504e-01 0.00000000e+00 3.92141457e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31139036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580371743 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:43.44, Y:3.93, Z:0.02 [[ 9.73365545e-01 -2.29258623e-01 0.00000000e+00 4.34402311e+01] [ 2.29258623e-01 9.73365545e-01 0.00000000e+00 3.92839453e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36556308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.610371743 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:43.47, Y:3.94, Z:0.02 [[ 9.73775546e-01 -2.27510850e-01 0.00000000e+00 4.34705805e+01] [ 2.27510850e-01 9.73775546e-01 0.00000000e+00 3.93568389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25627148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640371743 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:43.50, Y:3.94, Z:0.02 [[ 9.73781510e-01 -2.27485320e-01 0.00000000e+00 4.35032495e+01] [ 2.27485320e-01 9.73781510e-01 0.00000000e+00 3.94156708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26552225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.670371743000004 meters Centerline goodness : 0.993092 Centerline is valid? [True, True] Translation: X:43.53, Y:3.95, Z:0.02 [[ 9.73610762e-01 -2.28214995e-01 0.00000000e+00 4.35332557e+01] [ 2.28214995e-01 9.73610762e-01 0.00000000e+00 3.94824750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33603047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700371743 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:43.57, Y:3.95, Z:0.02 [[ 9.73564547e-01 -2.28412068e-01 0.00000000e+00 4.35666498e+01] [ 2.28412068e-01 9.73564547e-01 0.00000000e+00 3.95492028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31338033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.730371743 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:43.59, Y:3.97, Z:0.03 [[ 9.72238428e-01 -2.33992390e-01 0.00000000e+00 4.35868136e+01] [ 2.33992390e-01 9.72238428e-01 0.00000000e+00 3.96734110e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52713792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760371743 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:43.63, Y:3.97, Z:0.02 [[ 9.73466962e-01 -2.28827607e-01 0.00000000e+00 4.36274230e+01] [ 2.28827607e-01 9.73466962e-01 0.00000000e+00 3.96784210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28034797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.790371743 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:43.66, Y:3.97, Z:0.02 [[ 9.73559175e-01 -2.28434962e-01 0.00000000e+00 4.36596098e+01] [ 2.28434962e-01 9.73559175e-01 0.00000000e+00 3.97386934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13311108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820371743 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:43.69, Y:3.98, Z:0.02 [[ 9.73641652e-01 -2.28083172e-01 0.00000000e+00 4.36920498e+01] [ 2.28083172e-01 9.73641652e-01 0.00000000e+00 3.98105420e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02434850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.850371743000004 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:43.72, Y:3.99, Z:0.02 [[ 9.73798943e-01 -2.27410683e-01 0.00000000e+00 4.37233819e+01] [ 2.27410683e-01 9.73798943e-01 0.00000000e+00 3.98973014e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05808840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.880371743 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:43.76, Y:4.00, Z:0.02 [[ 9.73963769e-01 -2.26703722e-01 0.00000000e+00 4.37550675e+01] [ 2.26703722e-01 9.73963769e-01 0.00000000e+00 3.99628922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02586293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.910371743 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:43.79, Y:4.00, Z:0.02 [[ 9.74075072e-01 -2.26225007e-01 0.00000000e+00 4.37854431e+01] [ 2.26225007e-01 9.74075072e-01 0.00000000e+00 4.00347300e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15713424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940371743 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:43.82, Y:4.01, Z:0.02 [[ 9.74585781e-01 -2.24014634e-01 0.00000000e+00 4.38164833e+01] [ 2.24014634e-01 9.74585781e-01 0.00000000e+00 4.01132870e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15725044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.970371743 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:43.85, Y:4.02, Z:0.02 [[ 9.74577860e-01 -2.24049089e-01 0.00000000e+00 4.38485670e+01] [ 2.24049089e-01 9.74577860e-01 0.00000000e+00 4.01777445e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24598157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000371743 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:43.88, Y:4.02, Z:0.02 [[ 9.74481415e-01 -2.24468198e-01 0.00000000e+00 4.38808264e+01] [ 2.24468198e-01 9.74481415e-01 0.00000000e+00 4.02377156e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28875162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.030371743 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:43.91, Y:4.03, Z:0.02 [[ 9.74348567e-01 -2.25044150e-01 0.00000000e+00 4.39127957e+01] [ 2.25044150e-01 9.74348567e-01 0.00000000e+00 4.02978222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21617842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.060371743 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:43.94, Y:4.04, Z:0.02 [[ 9.73786512e-01 -2.27463907e-01 0.00000000e+00 4.39426478e+01] [ 2.27463907e-01 9.73786512e-01 0.00000000e+00 4.03604677e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14631992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.090371743 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:43.97, Y:4.04, Z:0.02 [[ 9.73527353e-01 -2.28570543e-01 0.00000000e+00 4.39747898e+01] [ 2.28570543e-01 9.73527353e-01 0.00000000e+00 4.04138172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05202991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120371743 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:44.01, Y:4.05, Z:0.02 [[ 9.73251238e-01 -2.29743397e-01 0.00000000e+00 4.40071509e+01] [ 2.29743397e-01 9.73251238e-01 0.00000000e+00 4.04708386e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92911373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.150371743 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:44.04, Y:4.05, Z:0.02 [[ 9.72831186e-01 -2.31515623e-01 0.00000000e+00 4.40373685e+01] [ 2.31515623e-01 9.72831186e-01 0.00000000e+00 4.05463544e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86937117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180371743 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:44.07, Y:4.06, Z:0.02 [[ 9.72919248e-01 -2.31145271e-01 0.00000000e+00 4.40700780e+01] [ 2.31145271e-01 9.72919248e-01 0.00000000e+00 4.06025231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74746917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.210371743 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:44.10, Y:4.07, Z:0.02 [[ 9.73127863e-01 -2.30265415e-01 0.00000000e+00 4.41018361e+01] [ 2.30265415e-01 9.73127863e-01 0.00000000e+00 4.06747348e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78534476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.240371743 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:44.13, Y:4.07, Z:0.02 [[ 9.73164927e-01 -2.30108722e-01 0.00000000e+00 4.41335697e+01] [ 2.30108722e-01 9.73164927e-01 0.00000000e+00 4.07381903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84162575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.270371743 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:44.16, Y:4.08, Z:0.02 [[ 9.73368787e-01 -2.29244859e-01 0.00000000e+00 4.41637949e+01] [ 2.29244859e-01 9.73368787e-01 0.00000000e+00 4.07965580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84970159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300371743 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:44.19, Y:4.09, Z:0.02 [[ 9.73438140e-01 -2.28950186e-01 0.00000000e+00 4.41946306e+01] [ 2.28950186e-01 9.73438140e-01 0.00000000e+00 4.08600662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96132296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.330371743 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:44.23, Y:4.09, Z:0.02 [[ 9.73582199e-01 -2.28336817e-01 0.00000000e+00 4.42265623e+01] [ 2.28336817e-01 9.73582199e-01 0.00000000e+00 4.09159820e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94999847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360371743 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:44.26, Y:4.10, Z:0.02 [[ 9.73468269e-01 -2.28822045e-01 0.00000000e+00 4.42565481e+01] [ 2.28822045e-01 9.73468269e-01 0.00000000e+00 4.09724860e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98032738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.390371743 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:44.28, Y:4.10, Z:0.02 [[ 9.73802020e-01 -2.27397506e-01 0.00000000e+00 4.42845763e+01] [ 2.27397506e-01 9.73802020e-01 0.00000000e+00 4.10246294e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79201227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420371743000004 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:44.32, Y:4.11, Z:0.02 [[ 9.73347251e-01 -2.29336277e-01 0.00000000e+00 4.43213259e+01] [ 2.29336277e-01 9.73347251e-01 0.00000000e+00 4.10705102e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84565968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.450371743 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:44.35, Y:4.11, Z:0.02 [[ 9.73335358e-01 -2.29386751e-01 0.00000000e+00 4.43518368e+01] [ 2.29386751e-01 9.73335358e-01 0.00000000e+00 4.11249251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74791249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480371743 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:44.38, Y:4.12, Z:0.02 [[ 9.73521835e-01 -2.28594046e-01 0.00000000e+00 4.43849231e+01] [ 2.28594046e-01 9.73521835e-01 0.00000000e+00 4.11640065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58582102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.510371743 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:44.42, Y:4.12, Z:0.02 [[ 9.73388140e-01 -2.29162670e-01 0.00000000e+00 4.44166378e+01] [ 2.29162670e-01 9.73388140e-01 0.00000000e+00 4.12231700e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66981876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540371743 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:44.45, Y:4.13, Z:0.02 [[ 9.73454792e-01 -2.28879372e-01 0.00000000e+00 4.44484699e+01] [ 2.28879372e-01 9.73454792e-01 0.00000000e+00 4.12809411e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67212172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.570371743 meters Centerline goodness : 0.993988 Centerline is valid? [True, True] Translation: X:44.48, Y:4.13, Z:0.02 [[ 9.73646152e-01 -2.28063962e-01 0.00000000e+00 4.44787722e+01] [ 2.28063962e-01 9.73646152e-01 0.00000000e+00 4.13416233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68051313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600371743000004 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:44.51, Y:4.14, Z:0.02 [[ 9.74103954e-01 -2.26100612e-01 0.00000000e+00 4.45102917e+01] [ 2.26100612e-01 9.74103954e-01 0.00000000e+00 4.14118888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77633062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.630371743 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:44.54, Y:4.15, Z:0.02 [[ 9.74575522e-01 -2.24059258e-01 0.00000000e+00 4.45425324e+01] [ 2.24059258e-01 9.74575522e-01 0.00000000e+00 4.14657117e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76448639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660371743 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:44.57, Y:4.15, Z:0.02 [[ 9.75520088e-01 -2.19910342e-01 0.00000000e+00 4.45735548e+01] [ 2.19910342e-01 9.75520088e-01 0.00000000e+00 4.15294450e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93230548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.690371743 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:44.61, Y:4.16, Z:0.02 [[ 9.75717676e-01 -2.19032000e-01 0.00000000e+00 4.46060897e+01] [ 2.19032000e-01 9.75717676e-01 0.00000000e+00 4.15884817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05563790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720371743 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:44.64, Y:4.16, Z:0.02 [[ 9.76240423e-01 -2.16690187e-01 0.00000000e+00 4.46357075e+01] [ 2.16690187e-01 9.76240423e-01 0.00000000e+00 4.16487540e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07187695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.750371743 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:44.67, Y:4.17, Z:0.02 [[ 9.76833402e-01 -2.14001180e-01 0.00000000e+00 4.46688390e+01] [ 2.14001180e-01 9.76833402e-01 0.00000000e+00 4.17053143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10439426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780371743 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:44.70, Y:4.18, Z:0.02 [[ 9.76924347e-01 -2.13585626e-01 0.00000000e+00 4.47000313e+01] [ 2.13585626e-01 9.76924347e-01 0.00000000e+00 4.17650714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14084222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.810371743 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:44.73, Y:4.18, Z:0.02 [[ 9.76907920e-01 -2.13660747e-01 0.00000000e+00 4.47309942e+01] [ 2.13660747e-01 9.76907920e-01 0.00000000e+00 4.18215239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11554264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:44.76, Y:4.19, Z:0.02 [[ 9.76939244e-01 -2.13517477e-01 0.00000000e+00 4.47627941e+01] [ 2.13517477e-01 9.76939244e-01 0.00000000e+00 4.18781750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05684598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.870371743 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:44.79, Y:4.19, Z:0.02 [[ 9.76885642e-01 -2.13762585e-01 0.00000000e+00 4.47927321e+01] [ 2.13762585e-01 9.76885642e-01 0.00000000e+00 4.19380920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12736980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900371743 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:44.83, Y:4.20, Z:0.02 [[ 9.76873652e-01 -2.13817370e-01 0.00000000e+00 4.48255423e+01] [ 2.13817370e-01 9.76873652e-01 0.00000000e+00 4.19918086e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02510732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.930371743 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:44.86, Y:4.20, Z:0.02 [[ 9.76756675e-01 -2.14351110e-01 0.00000000e+00 4.48576982e+01] [ 2.14351110e-01 9.76756675e-01 0.00000000e+00 4.20402836e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97249108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960371743 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:44.89, Y:4.21, Z:0.02 [[ 9.76444907e-01 -2.15766872e-01 0.00000000e+00 4.48893381e+01] [ 2.15766872e-01 9.76444907e-01 0.00000000e+00 4.20971323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09730596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.990371743 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:44.92, Y:4.21, Z:0.02 [[ 9.75952042e-01 -2.17985347e-01 0.00000000e+00 4.49203253e+01] [ 2.17985347e-01 9.75952042e-01 0.00000000e+00 4.21308622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03432586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020371743 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:44.95, Y:4.22, Z:0.02 [[ 9.75390273e-01 -2.20485407e-01 0.00000000e+00 4.49500645e+01] [ 2.20485407e-01 9.75390273e-01 0.00000000e+00 4.21879409e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21619358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.050371743 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:44.98, Y:4.22, Z:0.02 [[ 9.74792996e-01 -2.23111216e-01 0.00000000e+00 4.49825050e+01] [ 2.23111216e-01 9.74792996e-01 0.00000000e+00 4.22438918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36336934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080371743 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:45.02, Y:4.23, Z:0.02 [[ 9.74666080e-01 -2.23664999e-01 0.00000000e+00 4.50162789e+01] [ 2.23664999e-01 9.74666080e-01 0.00000000e+00 4.22879239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22438861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.110371743 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:45.05, Y:4.24, Z:0.03 [[ 9.74193027e-01 -2.25716515e-01 0.00000000e+00 4.50473518e+01] [ 2.25716515e-01 9.74193027e-01 0.00000000e+00 4.23536641e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50262716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140371743 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:45.08, Y:4.24, Z:0.02 [[ 9.74181094e-01 -2.25768012e-01 0.00000000e+00 4.50787275e+01] [ 2.25768012e-01 9.74181094e-01 0.00000000e+00 4.24014514e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41265101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.170371743000004 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:45.11, Y:4.25, Z:0.03 [[ 9.73769540e-01 -2.27536552e-01 0.00000000e+00 4.51104527e+01] [ 2.27536552e-01 9.73769540e-01 0.00000000e+00 4.24535981e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52975237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200371743 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:45.14, Y:4.25, Z:0.03 [[ 9.73736394e-01 -2.27678360e-01 0.00000000e+00 4.51433711e+01] [ 2.27678360e-01 9.73736394e-01 0.00000000e+00 4.25129902e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52975237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.230371743 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:45.18, Y:4.26, Z:0.02 [[ 9.73639091e-01 -2.28094105e-01 0.00000000e+00 4.51756769e+01] [ 2.28094105e-01 9.73639091e-01 0.00000000e+00 4.25618653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41810873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260371743 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:45.21, Y:4.26, Z:0.03 [[ 9.73314646e-01 -2.29474619e-01 0.00000000e+00 4.52072000e+01] [ 2.29474619e-01 9.73314646e-01 0.00000000e+00 4.26220643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56526888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.290371743 meters Centerline goodness : 0.993622 Centerline is valid? [True, True] Translation: X:45.24, Y:4.27, Z:0.03 [[ 9.72893449e-01 -2.31253838e-01 0.00000000e+00 4.52389723e+01] [ 2.31253838e-01 9.72893449e-01 0.00000000e+00 4.26735853e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54031721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320371743 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:45.27, Y:4.27, Z:0.03 [[ 9.72673750e-01 -2.32176174e-01 0.00000000e+00 4.52691431e+01] [ 2.32176174e-01 9.72673750e-01 0.00000000e+00 4.27279254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60468093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.350371743000004 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:45.30, Y:4.28, Z:0.02 [[ 9.72710254e-01 -2.32023191e-01 0.00000000e+00 4.53010161e+01] [ 2.32023191e-01 9.72710254e-01 0.00000000e+00 4.27685271e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36990144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.380371743 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:45.33, Y:4.28, Z:0.02 [[ 9.72637869e-01 -2.32326443e-01 0.00000000e+00 4.53319270e+01] [ 2.32326443e-01 9.72637869e-01 0.00000000e+00 4.28238565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45320132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.410371743 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:45.37, Y:4.29, Z:0.02 [[ 9.72912920e-01 -2.31171906e-01 0.00000000e+00 4.53653228e+01] [ 2.31171906e-01 9.72912920e-01 0.00000000e+00 4.28750939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27182336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440371743 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:45.39, Y:4.29, Z:0.02 [[ 9.72825742e-01 -2.31538496e-01 0.00000000e+00 4.53938339e+01] [ 2.31538496e-01 9.72825742e-01 0.00000000e+00 4.29411940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38043924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.470371743 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:45.43, Y:4.30, Z:0.02 [[ 9.72961492e-01 -2.30967392e-01 0.00000000e+00 4.54264364e+01] [ 2.30967392e-01 9.72961492e-01 0.00000000e+00 4.30049045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49908548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500371743 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:45.46, Y:4.31, Z:0.03 [[ 9.73792573e-01 -2.27437958e-01 0.00000000e+00 4.54576444e+01] [ 2.27437958e-01 9.73792573e-01 0.00000000e+00 4.30613590e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54103612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.530371743 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:45.49, Y:4.31, Z:0.02 [[ 9.74662369e-01 -2.23681171e-01 0.00000000e+00 4.54886524e+01] [ 2.23681171e-01 9.74662369e-01 0.00000000e+00 4.31111273e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39011093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.560371743 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:45.52, Y:4.32, Z:0.02 [[ 9.74796746e-01 -2.23094833e-01 0.00000000e+00 4.55219429e+01] [ 2.23094833e-01 9.74796746e-01 0.00000000e+00 4.31741867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41137595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.590371743 meters Centerline goodness : 0.993111 Centerline is valid? [True, True] Translation: X:45.55, Y:4.32, Z:0.02 [[ 9.75574095e-01 -2.19670628e-01 0.00000000e+00 4.55523975e+01] [ 2.19670628e-01 9.75574095e-01 0.00000000e+00 4.32244074e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32832632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620371743 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:45.59, Y:4.33, Z:0.02 [[ 9.75151470e-01 -2.21539183e-01 0.00000000e+00 4.55881048e+01] [ 2.21539183e-01 9.75151470e-01 0.00000000e+00 4.32919305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18884414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.650371743 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:45.62, Y:4.34, Z:0.02 [[ 9.75057545e-01 -2.21952211e-01 0.00000000e+00 4.56182866e+01] [ 2.21952211e-01 9.75057545e-01 0.00000000e+00 4.33531148e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20393681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680371743 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:45.65, Y:4.34, Z:0.02 [[ 9.74939487e-01 -2.22470215e-01 0.00000000e+00 4.56510510e+01] [ 2.22470215e-01 9.74939487e-01 0.00000000e+00 4.34066823e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11691060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.710371743 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:45.68, Y:4.35, Z:0.02 [[ 9.74551979e-01 -2.24161637e-01 0.00000000e+00 4.56824314e+01] [ 2.24161637e-01 9.74551979e-01 0.00000000e+00 4.34623426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10329122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.740371743 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:45.71, Y:4.35, Z:0.02 [[ 9.74472418e-01 -2.24507252e-01 0.00000000e+00 4.57129482e+01] [ 2.24507252e-01 9.74472418e-01 0.00000000e+00 4.35171082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12939016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.770371743 meters Centerline goodness : 0.993555 Centerline is valid? [True, True] Translation: X:45.75, Y:4.36, Z:0.02 [[ 9.74325701e-01 -2.25143128e-01 0.00000000e+00 4.57463064e+01] [ 2.25143128e-01 9.74325701e-01 0.00000000e+00 4.35744692e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09676339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800371743 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:45.78, Y:4.36, Z:0.02 [[ 9.73803782e-01 -2.27389959e-01 0.00000000e+00 4.57771233e+01] [ 2.27389959e-01 9.73803782e-01 0.00000000e+00 4.36406237e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21221233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.830371743 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:45.81, Y:4.37, Z:0.02 [[ 9.73379295e-01 -2.29200234e-01 0.00000000e+00 4.58078824e+01] [ 2.29200234e-01 9.73379295e-01 0.00000000e+00 4.37119369e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21297019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860371743 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:45.84, Y:4.38, Z:0.02 [[ 9.72984561e-01 -2.30870191e-01 0.00000000e+00 4.58397021e+01] [ 2.30870191e-01 9.72984561e-01 0.00000000e+00 4.37621281e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19156437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.890371743 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:45.87, Y:4.38, Z:0.02 [[ 9.72142070e-01 -2.34392395e-01 0.00000000e+00 4.58697178e+01] [ 2.34392395e-01 9.72142070e-01 0.00000000e+00 4.38321988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06732121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920371743000004 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:45.90, Y:4.39, Z:0.02 [[ 9.71913506e-01 -2.35338346e-01 0.00000000e+00 4.59019329e+01] [ 2.35338346e-01 9.71913506e-01 0.00000000e+00 4.38907504e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10466642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.950371743 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:45.93, Y:4.40, Z:0.02 [[ 9.71646301e-01 -2.36439137e-01 0.00000000e+00 4.59335276e+01] [ 2.36439137e-01 9.71646301e-01 0.00000000e+00 4.39539063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12667807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980371743 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:45.97, Y:4.40, Z:0.02 [[ 9.71784409e-01 -2.35870861e-01 0.00000000e+00 4.59680580e+01] [ 2.35870861e-01 9.71784409e-01 0.00000000e+00 4.40135769e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10430005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.010371743 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:46.00, Y:4.41, Z:0.02 [[ 9.71255012e-01 -2.38041386e-01 0.00000000e+00 4.59972190e+01] [ 2.38041386e-01 9.71255012e-01 0.00000000e+00 4.40934964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22616865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040371743 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:46.03, Y:4.42, Z:0.02 [[ 9.71396325e-01 -2.37464058e-01 0.00000000e+00 4.60296402e+01] [ 2.37464058e-01 9.71396325e-01 0.00000000e+00 4.41519949e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16678881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.070371743 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:46.06, Y:4.42, Z:0.02 [[ 9.70797005e-01 -2.39902426e-01 0.00000000e+00 4.60602130e+01] [ 2.39902426e-01 9.70797005e-01 0.00000000e+00 4.42210486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31185371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100371743000004 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:46.09, Y:4.43, Z:0.02 [[ 9.70653709e-01 -2.40481552e-01 0.00000000e+00 4.60909246e+01] [ 2.40481552e-01 9.70653709e-01 0.00000000e+00 4.42835143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27522948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.130371743 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:46.12, Y:4.43, Z:0.02 [[ 9.70441063e-01 -2.41338233e-01 0.00000000e+00 4.61201712e+01] [ 2.41338233e-01 9.70441063e-01 0.00000000e+00 4.43498505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13640812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160371743 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:46.15, Y:4.44, Z:0.02 [[ 9.70107982e-01 -2.42673658e-01 0.00000000e+00 4.61502725e+01] [ 2.42673658e-01 9.70107982e-01 0.00000000e+00 4.44200770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09748416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.190371743 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:46.18, Y:4.45, Z:0.02 [[ 9.70405561e-01 -2.41480948e-01 0.00000000e+00 4.61837796e+01] [ 2.41480948e-01 9.70405561e-01 0.00000000e+00 4.44810767e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02250173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220371743 meters Centerline goodness : 0.993723 Centerline is valid? [True, True] Translation: X:46.21, Y:4.45, Z:0.02 [[ 9.70512577e-01 -2.41050490e-01 0.00000000e+00 4.62140851e+01] [ 2.41050490e-01 9.70512577e-01 0.00000000e+00 4.45395401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88104035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.250371743 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:46.25, Y:4.46, Z:0.02 [[ 9.70248838e-01 -2.42109876e-01 0.00000000e+00 4.62456144e+01] [ 2.42109876e-01 9.70248838e-01 0.00000000e+00 4.46050735e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90168650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280371743 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:46.28, Y:4.46, Z:0.02 [[ 9.70637060e-01 -2.40548743e-01 0.00000000e+00 4.62790557e+01] [ 2.40548743e-01 9.70637060e-01 0.00000000e+00 4.46497697e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10073103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.310371743 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:46.31, Y:4.47, Z:0.02 [[ 9.70287695e-01 -2.41954106e-01 0.00000000e+00 4.63064364e+01] [ 2.41954106e-01 9.70287695e-01 0.00000000e+00 4.47213948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95536293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340371743 meters Centerline goodness : 0.993370 Centerline is valid? [True, True] Translation: X:46.34, Y:4.48, Z:0.02 [[ 9.70668702e-01 -2.40421027e-01 0.00000000e+00 4.63401480e+01] [ 2.40421027e-01 9.70668702e-01 0.00000000e+00 4.47745595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07652322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.370371743 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:46.37, Y:4.48, Z:0.02 [[ 9.70727769e-01 -2.40182426e-01 0.00000000e+00 4.63722109e+01] [ 2.40182426e-01 9.70727769e-01 0.00000000e+00 4.48324640e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15407895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400371743 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:46.40, Y:4.49, Z:0.02 [[ 9.70914688e-01 -2.39425707e-01 0.00000000e+00 4.64032152e+01] [ 2.39425707e-01 9.70914688e-01 0.00000000e+00 4.48858373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15638128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.430371743 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:46.44, Y:4.49, Z:0.02 [[ 9.70964676e-01 -2.39222903e-01 0.00000000e+00 4.64368300e+01] [ 2.39222903e-01 9.70964676e-01 0.00000000e+00 4.49341985e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24779777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460371743 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:46.47, Y:4.50, Z:0.02 [[ 9.70773322e-01 -2.39998244e-01 0.00000000e+00 4.64690512e+01] [ 2.39998244e-01 9.70773322e-01 0.00000000e+00 4.49865412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11716478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.490371743 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:46.50, Y:4.50, Z:0.02 [[ 9.70905125e-01 -2.39464484e-01 0.00000000e+00 4.65037484e+01] [ 2.39464484e-01 9.70905125e-01 0.00000000e+00 4.50123083e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75441468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520371743 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:46.54, Y:4.51, Z:0.02 [[ 9.70959387e-01 -2.39244371e-01 0.00000000e+00 4.65352370e+01] [ 2.39244371e-01 9.70959387e-01 0.00000000e+00 4.50582945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64257257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.550371743 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:46.57, Y:4.51, Z:0.02 [[ 9.70590073e-01 -2.40738261e-01 0.00000000e+00 4.65668121e+01] [ 2.40738261e-01 9.70590073e-01 0.00000000e+00 4.51148672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69543579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580371743 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:46.60, Y:4.52, Z:0.02 [[ 9.70240900e-01 -2.42141684e-01 0.00000000e+00 4.65987791e+01] [ 2.42141684e-01 9.70240900e-01 0.00000000e+00 4.51580341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60037184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.610371743 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:46.63, Y:4.52, Z:0.01 [[ 9.70238754e-01 -2.42150285e-01 0.00000000e+00 4.66297161e+01] [ 2.42150285e-01 9.70238754e-01 0.00000000e+00 4.52057182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49580741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640371743 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:46.66, Y:4.53, Z:0.02 [[ 9.69450795e-01 -2.45285867e-01 0.00000000e+00 4.66610948e+01] [ 2.45285867e-01 9.69450795e-01 0.00000000e+00 4.52568837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56169962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.670371743000004 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:46.69, Y:4.53, Z:0.01 [[ 9.69184786e-01 -2.46334835e-01 0.00000000e+00 4.66910209e+01] [ 2.46334835e-01 9.69184786e-01 0.00000000e+00 4.53105342e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46617205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700371743 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:46.72, Y:4.54, Z:0.01 [[ 9.69020016e-01 -2.46982205e-01 0.00000000e+00 4.67237293e+01] [ 2.46982205e-01 9.69020016e-01 0.00000000e+00 4.53615835e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43882048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.730371743 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:46.76, Y:4.54, Z:0.01 [[ 9.69375117e-01 -2.45584776e-01 0.00000000e+00 4.67551061e+01] [ 2.45584776e-01 9.69375117e-01 0.00000000e+00 4.54071742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37794664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760371743 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:46.79, Y:4.55, Z:0.01 [[ 9.69435224e-01 -2.45347398e-01 0.00000000e+00 4.67867368e+01] [ 2.45347398e-01 9.69435224e-01 0.00000000e+00 4.54698810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41891490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.790371743 meters Centerline goodness : 0.992856 Centerline is valid? [True, True] Translation: X:46.82, Y:4.55, Z:0.02 [[ 9.70270712e-01 -2.42022201e-01 0.00000000e+00 4.68163971e+01] [ 2.42022201e-01 9.70270712e-01 0.00000000e+00 4.55237190e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03740477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820371743 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:46.85, Y:4.56, Z:0.01 [[ 9.70344776e-01 -2.41725085e-01 0.00000000e+00 4.68481559e+01] [ 2.41725085e-01 9.70344776e-01 0.00000000e+00 4.55880359e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49695059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.850371743000004 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:46.88, Y:4.57, Z:0.01 [[ 9.71106398e-01 -2.38646943e-01 0.00000000e+00 4.68804497e+01] [ 2.38646943e-01 9.71106398e-01 0.00000000e+00 4.56534957e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46136181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.880371743 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:46.91, Y:4.57, Z:0.01 [[ 9.71384652e-01 -2.37511804e-01 0.00000000e+00 4.69085730e+01] [ 2.37511804e-01 9.71384652e-01 0.00000000e+00 4.57228062e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44774322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.910371743 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:46.94, Y:4.58, Z:0.02 [[ 9.72098723e-01 -2.34572106e-01 0.00000000e+00 4.69385138e+01] [ 2.34572106e-01 9.72098723e-01 0.00000000e+00 4.57798805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89903376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940371743 meters Centerline goodness : 0.993204 Centerline is valid? [True, True] Translation: X:46.97, Y:4.59, Z:0.01 [[ 9.72521089e-01 -2.32814801e-01 0.00000000e+00 4.69715473e+01] [ 2.32814801e-01 9.72521089e-01 0.00000000e+00 4.58515811e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22918842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.970371743 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:47.00, Y:4.59, Z:0.01 [[ 9.72650926e-01 -2.32271771e-01 0.00000000e+00 4.70025805e+01] [ 2.32271771e-01 9.72650926e-01 0.00000000e+00 4.59210830e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22965308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000371743 meters Centerline goodness : 0.993312 Centerline is valid? [True, True] Translation: X:47.03, Y:4.60, Z:0.01 [[ 9.72632019e-01 -2.32350934e-01 0.00000000e+00 4.70328355e+01] [ 2.32350934e-01 9.72632019e-01 0.00000000e+00 4.59927015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26842592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.030371743 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:47.07, Y:4.61, Z:0.01 [[ 9.73078896e-01 -2.30472257e-01 0.00000000e+00 4.70653594e+01] [ 2.30472257e-01 9.73078896e-01 0.00000000e+00 4.60532597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21376571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.060371743 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:47.10, Y:4.61, Z:0.01 [[ 9.72980527e-01 -2.30887189e-01 0.00000000e+00 4.70972415e+01] [ 2.30887189e-01 9.72980527e-01 0.00000000e+00 4.61159611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21376571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.090371743 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:47.13, Y:4.62, Z:0.01 [[ 9.73133732e-01 -2.30240614e-01 0.00000000e+00 4.71299930e+01] [ 2.30240614e-01 9.73133732e-01 0.00000000e+00 4.61777479e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17272092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120371743 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:47.16, Y:4.62, Z:0.01 [[ 9.73614503e-01 -2.28199035e-01 0.00000000e+00 4.71599940e+01] [ 2.28199035e-01 9.73614503e-01 0.00000000e+00 4.62427096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15579753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.150371743 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:47.19, Y:4.63, Z:0.01 [[ 9.73683470e-01 -2.27904584e-01 0.00000000e+00 4.71915386e+01] [ 2.27904584e-01 9.73683470e-01 0.00000000e+00 4.63143887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23630813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180371743 meters Centerline goodness : 0.992949 Centerline is valid? [True, True] Translation: X:47.22, Y:4.64, Z:0.01 [[ 9.74107624e-01 -2.26084801e-01 0.00000000e+00 4.72229492e+01] [ 2.26084801e-01 9.74107624e-01 0.00000000e+00 4.63767485e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12270803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.210371743 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:47.26, Y:4.64, Z:0.01 [[ 9.74652570e-01 -2.23723865e-01 0.00000000e+00 4.72556411e+01] [ 2.23723865e-01 9.74652570e-01 0.00000000e+00 4.64248964e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.25307391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.240371743 meters Centerline goodness : 0.993057 Centerline is valid? [True, True] Translation: X:47.29, Y:4.65, Z:0.01 [[ 9.74854728e-01 -2.22841333e-01 0.00000000e+00 4.72868382e+01] [ 2.22841333e-01 9.74854728e-01 0.00000000e+00 4.64912015e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19644893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.270371743 meters Centerline goodness : 0.992752 Centerline is valid? [True, True] Translation: X:47.32, Y:4.66, Z:0.01 [[ 9.75354450e-01 -2.20643824e-01 0.00000000e+00 4.73177177e+01] [ 2.20643824e-01 9.75354450e-01 0.00000000e+00 4.65545758e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85857826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300371743 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:47.35, Y:4.66, Z:0.01 [[ 9.75863965e-01 -2.18379309e-01 0.00000000e+00 4.73488811e+01] [ 2.18379309e-01 9.75863965e-01 0.00000000e+00 4.66240366e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03986540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.330371743 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:47.38, Y:4.67, Z:0.01 [[ 9.76346660e-01 -2.16211008e-01 0.00000000e+00 4.73801976e+01] [ 2.16211008e-01 9.76346660e-01 0.00000000e+00 4.66806209e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75251007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360371743 meters Centerline goodness : 0.993211 Centerline is valid? [True, True] Translation: X:47.41, Y:4.67, Z:0.01 [[ 9.76901811e-01 -2.13688680e-01 0.00000000e+00 4.74131152e+01] [ 2.13688680e-01 9.76901811e-01 0.00000000e+00 4.67310377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52649350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.390371743 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:47.44, Y:4.68, Z:0.01 [[ 9.77157531e-01 -2.12516259e-01 0.00000000e+00 4.74428827e+01] [ 2.12516259e-01 9.77157531e-01 0.00000000e+00 4.67864737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.81931699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420371743000004 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:47.48, Y:4.68, Z:0.01 [[ 9.77168556e-01 -2.12465556e-01 0.00000000e+00 4.74752205e+01] [ 2.12465556e-01 9.77168556e-01 0.00000000e+00 4.68486242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.95180266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.450371743 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:47.51, Y:4.69, Z:0.01 [[ 9.77289601e-01 -2.11908085e-01 0.00000000e+00 4.75064039e+01] [ 2.11908085e-01 9.77289601e-01 0.00000000e+00 4.69039722e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97387947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480371743 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:47.54, Y:4.70, Z:0.01 [[ 9.77451905e-01 -2.11158173e-01 0.00000000e+00 4.75405033e+01] [ 2.11158173e-01 9.77451905e-01 0.00000000e+00 4.69533175e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34798518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.510371743 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:47.57, Y:4.70, Z:0.00 [[ 9.77298555e-01 -2.11866785e-01 0.00000000e+00 4.75695229e+01] [ 2.11866785e-01 9.77298555e-01 0.00000000e+00 4.70061549e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07696175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540371743 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:47.60, Y:4.70, Z:0.00 [[ 9.76970673e-01 -2.13373626e-01 0.00000000e+00 4.76040259e+01] [ 2.13373626e-01 9.76970673e-01 0.00000000e+00 4.70329318e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43000267e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.570371743 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:47.64, Y:4.71, Z:0.00 [[ 9.76582569e-01 -2.15142941e-01 0.00000000e+00 4.76361001e+01] [ 2.15142941e-01 9.76582569e-01 0.00000000e+00 4.70800067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27174042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600371743000004 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:47.65, Y:4.72, Z:0.01 [[ 9.73415641e-01 -2.29045825e-01 0.00000000e+00 4.76488147e+01] [ 2.29045825e-01 9.73415641e-01 0.00000000e+00 4.72155123e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27779755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.630371743 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:47.70, Y:4.72, Z:0.00 [[ 9.74957571e-01 -2.22390949e-01 0.00000000e+00 4.76959365e+01] [ 2.22390949e-01 9.74957571e-01 0.00000000e+00 4.71737698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32142455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660371743 meters Centerline goodness : 0.993565 Centerline is valid? [True, True] Translation: X:47.73, Y:4.72, Z:0.01 [[ 9.73634329e-01 -2.28114429e-01 0.00000000e+00 4.77273431e+01] [ 2.28114429e-01 9.73634329e-01 0.00000000e+00 4.72167505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36125660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.690371743 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:47.76, Y:4.73, Z:0.01 [[ 9.72768634e-01 -2.31778311e-01 0.00000000e+00 4.77589810e+01] [ 2.31778311e-01 9.72768634e-01 0.00000000e+00 4.72715084e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98630166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720371743 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:47.79, Y:4.73, Z:0.00 [[ 9.72382815e-01 -2.33391646e-01 0.00000000e+00 4.77923549e+01] [ 2.33391646e-01 9.72382815e-01 0.00000000e+00 4.73113969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99231337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.750371743 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:47.82, Y:4.74, Z:0.01 [[ 9.70560715e-01 -2.40856592e-01 0.00000000e+00 4.78211075e+01] [ 2.40856592e-01 9.70560715e-01 0.00000000e+00 4.73625404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93895585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780371743 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:47.85, Y:4.74, Z:0.01 [[ 9.70153982e-01 -2.42489693e-01 0.00000000e+00 4.78525380e+01] [ 2.42489693e-01 9.70153982e-01 0.00000000e+00 4.74150734e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11259373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.810371743 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:47.89, Y:4.75, Z:0.01 [[ 9.69142288e-01 -2.46501980e-01 0.00000000e+00 4.78850600e+01] [ 2.46501980e-01 9.69142288e-01 0.00000000e+00 4.74522954e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11970961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840371743 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:47.91, Y:4.75, Z:0.01 [[ 9.68556530e-01 -2.48793584e-01 0.00000000e+00 4.79143872e+01] [ 2.48793584e-01 9.68556530e-01 0.00000000e+00 4.75119763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10824730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.870371743 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:47.95, Y:4.76, Z:0.00 [[ 9.67425105e-01 -2.53157394e-01 0.00000000e+00 4.79463106e+01] [ 2.53157394e-01 9.67425105e-01 0.00000000e+00 4.75648100e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94181477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900371743 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:47.98, Y:4.76, Z:0.01 [[ 9.66645670e-01 -2.56117451e-01 0.00000000e+00 4.79785062e+01] [ 2.56117451e-01 9.66645670e-01 0.00000000e+00 4.76268231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13157389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.930371743 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:48.01, Y:4.77, Z:0.01 [[ 9.66258735e-01 -2.57573402e-01 0.00000000e+00 4.80086108e+01] [ 2.57573402e-01 9.66258735e-01 0.00000000e+00 4.76780653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17788819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960371743 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:48.04, Y:4.77, Z:0.01 [[ 9.64830414e-01 -2.62873110e-01 0.00000000e+00 4.80392238e+01] [ 2.62873110e-01 9.64830414e-01 0.00000000e+00 4.77348824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74974069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.990371743 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:48.07, Y:4.78, Z:0.01 [[ 9.64386720e-01 -2.64496229e-01 0.00000000e+00 4.80729292e+01] [ 2.64496229e-01 9.64386720e-01 0.00000000e+00 4.77942378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62825176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020371743 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:48.10, Y:4.79, Z:0.01 [[ 9.63609353e-01 -2.67314449e-01 0.00000000e+00 4.81017182e+01] [ 2.67314449e-01 9.63609353e-01 0.00000000e+00 4.78545210e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91695342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.050371743 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:48.13, Y:4.79, Z:0.01 [[ 9.63481076e-01 -2.67776430e-01 0.00000000e+00 4.81337595e+01] [ 2.67776430e-01 9.63481076e-01 0.00000000e+00 4.79109617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66436362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080371743 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:48.17, Y:4.80, Z:0.01 [[ 9.63157493e-01 -2.68937993e-01 0.00000000e+00 4.81657499e+01] [ 2.68937993e-01 9.63157493e-01 0.00000000e+00 4.79809988e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.45845554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.110371743 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:48.20, Y:4.81, Z:0.01 [[ 9.63266926e-01 -2.68545769e-01 0.00000000e+00 4.81951922e+01] [ 2.68545769e-01 9.63266926e-01 0.00000000e+00 4.80501208e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75220364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140371743 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:48.23, Y:4.81, Z:0.01 [[ 9.63683952e-01 -2.67045392e-01 0.00000000e+00 4.82276549e+01] [ 2.67045392e-01 9.63683952e-01 0.00000000e+00 4.81212486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41555055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.170371743000004 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:48.25, Y:4.82, Z:0.01 [[ 9.64823146e-01 -2.62899784e-01 0.00000000e+00 4.82548305e+01] [ 2.62899784e-01 9.64823146e-01 0.00000000e+00 4.81876279e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18801499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200371743 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:48.29, Y:4.83, Z:0.01 [[ 9.64692083e-01 -2.63380305e-01 0.00000000e+00 4.82912971e+01] [ 2.63380305e-01 9.64692083e-01 0.00000000e+00 4.82601955e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05987430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.230371743 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:48.32, Y:4.83, Z:0.01 [[ 9.64793759e-01 -2.63007610e-01 0.00000000e+00 4.83230150e+01] [ 2.63007610e-01 9.64793759e-01 0.00000000e+00 4.83289329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89223924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260371743 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:48.35, Y:4.84, Z:0.01 [[ 9.64978508e-01 -2.62328951e-01 0.00000000e+00 4.83529262e+01] [ 2.62328951e-01 9.64978508e-01 0.00000000e+00 4.83986898e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74107910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.290371743 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:48.39, Y:4.85, Z:0.01 [[ 9.65946719e-01 -2.58741059e-01 0.00000000e+00 4.83855098e+01] [ 2.58741059e-01 9.65946719e-01 0.00000000e+00 4.84643617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96287359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320371743 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:48.41, Y:4.85, Z:0.01 [[ 9.66826361e-01 -2.55434508e-01 0.00000000e+00 4.84128463e+01] [ 2.55434508e-01 9.66826361e-01 0.00000000e+00 4.85355752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13706619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.350371743000004 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:48.45, Y:4.86, Z:0.01 [[ 9.66898267e-01 -2.55162185e-01 0.00000000e+00 4.84490679e+01] [ 2.55162185e-01 9.66898267e-01 0.00000000e+00 4.86104932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53759967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.380371743 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:48.48, Y:4.87, Z:0.01 [[ 9.68362108e-01 -2.49549250e-01 0.00000000e+00 4.84773159e+01] [ 2.49549250e-01 9.68362108e-01 0.00000000e+00 4.86955574e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13245441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.410371743 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:48.51, Y:4.88, Z:0.01 [[ 9.69174153e-01 -2.46376667e-01 0.00000000e+00 4.85089115e+01] [ 2.46376667e-01 9.69174153e-01 0.00000000e+00 4.87621322e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04764944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440371743 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:48.54, Y:4.88, Z:0.01 [[ 9.71189861e-01 -2.38307057e-01 0.00000000e+00 4.85398850e+01] [ 2.38307057e-01 9.71189861e-01 0.00000000e+00 4.88364595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64869172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.470371743 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:48.57, Y:4.89, Z:0.01 [[ 9.71945174e-01 -2.35207524e-01 0.00000000e+00 4.85715812e+01] [ 2.35207524e-01 9.71945174e-01 0.00000000e+00 4.89052557e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74892756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500371743 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:48.60, Y:4.90, Z:0.01 [[ 9.72712749e-01 -2.32012732e-01 0.00000000e+00 4.86001411e+01] [ 2.32012732e-01 9.72712749e-01 0.00000000e+00 4.89801946e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92784345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.530371743 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:48.62, Y:4.91, Z:0.02 [[ 9.72595589e-01 -2.32503378e-01 0.00000000e+00 4.86158288e+01] [ 2.32503378e-01 9.72595589e-01 0.00000000e+00 4.91380893e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50403842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.560371743 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:48.66, Y:4.91, Z:0.01 [[ 9.75452964e-01 -2.20207889e-01 0.00000000e+00 4.86615258e+01] [ 2.20207889e-01 9.75452964e-01 0.00000000e+00 4.91172468e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05996432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.590371743 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:48.67, Y:4.93, Z:0.02 [[ 9.74012393e-01 -2.26494719e-01 0.00000000e+00 4.86749879e+01] [ 2.26494719e-01 9.74012393e-01 0.00000000e+00 4.92722625e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69730817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620371743 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:48.72, Y:4.92, Z:0.01 [[ 9.77214289e-01 -2.12255116e-01 0.00000000e+00 4.87234368e+01] [ 2.12255116e-01 9.77214289e-01 0.00000000e+00 4.92341588e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05082797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.650371743 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:48.76, Y:4.93, Z:0.01 [[ 9.77764508e-01 -2.09705906e-01 0.00000000e+00 4.87552545e+01] [ 2.09705906e-01 9.77764508e-01 0.00000000e+00 4.92861611e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74409366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680371743 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:48.79, Y:4.93, Z:0.01 [[ 9.77947326e-01 -2.08851687e-01 0.00000000e+00 4.87890765e+01] [ 2.08851687e-01 9.77947326e-01 0.00000000e+00 4.93425222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00245058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.710371743 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:48.80, Y:4.95, Z:0.02 [[ 9.75369060e-01 -2.20579229e-01 0.00000000e+00 4.87972394e+01] [ 2.20579229e-01 9.75369060e-01 0.00000000e+00 4.95062987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72434443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.740371743 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:48.85, Y:4.94, Z:0.01 [[ 9.77884109e-01 -2.09147482e-01 0.00000000e+00 4.88477826e+01] [ 2.09147482e-01 9.77884109e-01 0.00000000e+00 4.94435586e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.54610015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.770371743 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:48.88, Y:4.95, Z:0.01 [[ 9.77121368e-01 -2.12682469e-01 0.00000000e+00 4.88766447e+01] [ 2.12682469e-01 9.77121368e-01 0.00000000e+00 4.94832570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71786239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800371743 meters Centerline goodness : 0.993191 Centerline is valid? [True, True] Translation: X:48.91, Y:4.95, Z:0.01 [[ 9.76011061e-01 -2.17720942e-01 0.00000000e+00 4.89066332e+01] [ 2.17720942e-01 9.76011061e-01 0.00000000e+00 4.95453991e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.94653830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.830371743 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:48.94, Y:4.96, Z:0.01 [[ 9.75363549e-01 -2.20603597e-01 0.00000000e+00 4.89372400e+01] [ 2.20603597e-01 9.75363549e-01 0.00000000e+00 4.95963754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00767095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860371743 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:48.95, Y:4.97, Z:0.02 [[ 9.72511555e-01 -2.32854624e-01 0.00000000e+00 4.89509410e+01] [ 2.32854624e-01 9.72511555e-01 0.00000000e+00 4.97344454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61966157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.890371743 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:49.00, Y:4.97, Z:0.01 [[ 9.73498310e-01 -2.28694209e-01 0.00000000e+00 4.89996336e+01] [ 2.28694209e-01 9.73498310e-01 0.00000000e+00 4.96618932e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00780692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920371743000004 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:49.03, Y:4.97, Z:0.01 [[ 9.72988241e-01 -2.30854680e-01 0.00000000e+00 4.90336414e+01] [ 2.30854680e-01 9.72988241e-01 0.00000000e+00 4.97059199e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.54709331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.950371743 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:49.06, Y:4.98, Z:0.01 [[ 9.71452389e-01 -2.37234601e-01 0.00000000e+00 4.90567839e+01] [ 2.37234601e-01 9.71452389e-01 0.00000000e+00 4.97741856e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22400156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980371743 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:49.09, Y:4.98, Z:0.01 [[ 9.71395338e-01 -2.37468096e-01 0.00000000e+00 4.90884632e+01] [ 2.37468096e-01 9.71395338e-01 0.00000000e+00 4.98433939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22400156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.010371743 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:49.12, Y:4.99, Z:0.01 [[ 9.69701239e-01 -2.44293896e-01 0.00000000e+00 4.91201066e+01] [ 2.44293896e-01 9.69701239e-01 0.00000000e+00 4.98828119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44308933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040371743 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:49.15, Y:4.99, Z:0.01 [[ 9.69261856e-01 -2.46031408e-01 0.00000000e+00 4.91541983e+01] [ 2.46031408e-01 9.69261856e-01 0.00000000e+00 4.99272234e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30004198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.070371743 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:49.19, Y:5.00, Z:0.01 [[ 9.68047312e-01 -2.50767624e-01 0.00000000e+00 4.91856531e+01] [ 2.50767624e-01 9.68047312e-01 0.00000000e+00 4.99572822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24950670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100371743000004 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:49.22, Y:5.00, Z:0.01 [[ 9.67308244e-01 -2.53603550e-01 0.00000000e+00 4.92182654e+01] [ 2.53603550e-01 9.67308244e-01 0.00000000e+00 5.00081029e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23639514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.130371743 meters Centerline goodness : 0.995281 Centerline is valid? [True, True] Translation: X:49.25, Y:5.01, Z:0.01 [[ 9.66701696e-01 -2.55905901e-01 0.00000000e+00 4.92477981e+01] [ 2.55905901e-01 9.66701696e-01 0.00000000e+00 5.00587511e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19197955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160371743 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:49.28, Y:5.01, Z:0.01 [[ 9.66039842e-01 -2.58393159e-01 0.00000000e+00 4.92775144e+01] [ 2.58393159e-01 9.66039842e-01 0.00000000e+00 5.01158392e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15441495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.190371743 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:49.31, Y:5.02, Z:0.01 [[ 9.65033286e-01 -2.62127369e-01 0.00000000e+00 4.93101432e+01] [ 2.62127369e-01 9.65033286e-01 0.00000000e+00 5.01563229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08236814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220371743 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:49.34, Y:5.02, Z:0.01 [[ 9.64674440e-01 -2.63444918e-01 0.00000000e+00 4.93404432e+01] [ 2.63444918e-01 9.64674440e-01 0.00000000e+00 5.02201525e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04245602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.250371743 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:49.37, Y:5.03, Z:0.01 [[ 9.64224309e-01 -2.65087687e-01 0.00000000e+00 4.93734844e+01] [ 2.65087687e-01 9.64224309e-01 0.00000000e+00 5.02714316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27517226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280371743 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:49.40, Y:5.03, Z:0.01 [[ 9.64108797e-01 -2.65507492e-01 0.00000000e+00 4.94044531e+01] [ 2.65507492e-01 9.64108797e-01 0.00000000e+00 5.03343518e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15323552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.310371743 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:49.43, Y:5.04, Z:0.01 [[ 9.63909658e-01 -2.66229545e-01 0.00000000e+00 4.94342919e+01] [ 2.66229545e-01 9.63909658e-01 0.00000000e+00 5.04090316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13609060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340371743 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:49.45, Y:5.05, Z:0.01 [[ 9.62531560e-01 -2.71169681e-01 0.00000000e+00 4.94517898e+01] [ 2.71169681e-01 9.62531560e-01 0.00000000e+00 5.05499128e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45981906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.370371743 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:49.50, Y:5.05, Z:0.01 [[ 9.64937413e-01 -2.62480074e-01 0.00000000e+00 4.94958320e+01] [ 2.62480074e-01 9.64937413e-01 0.00000000e+00 5.05450045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18973147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400371743 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:49.53, Y:5.06, Z:0.01 [[ 9.66535132e-01 -2.56534283e-01 0.00000000e+00 4.95292441e+01] [ 2.56534283e-01 9.66535132e-01 0.00000000e+00 5.05938498e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11760580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.430371743 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:49.56, Y:5.06, Z:0.01 [[ 9.67945091e-01 -2.51161902e-01 0.00000000e+00 4.95624030e+01] [ 2.51161902e-01 9.67945091e-01 0.00000000e+00 5.06413044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78261863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460371743 meters Centerline goodness : 0.994235 Centerline is valid? [True, True] Translation: X:49.59, Y:5.07, Z:0.01 [[ 9.67417654e-01 -2.53185868e-01 0.00000000e+00 4.95922309e+01] [ 2.53185868e-01 9.67417654e-01 0.00000000e+00 5.07334261e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34497778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.490371743 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:49.62, Y:5.08, Z:0.01 [[ 9.67941164e-01 -2.51177033e-01 0.00000000e+00 4.96242177e+01] [ 2.51177033e-01 9.67941164e-01 0.00000000e+00 5.08004196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42253765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520371743 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:49.66, Y:5.09, Z:0.01 [[ 9.69634260e-01 -2.44559607e-01 0.00000000e+00 4.96553567e+01] [ 2.44559607e-01 9.69634260e-01 0.00000000e+00 5.08574568e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40212551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.550371743 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:49.69, Y:5.09, Z:0.01 [[ 9.70156248e-01 -2.42480627e-01 0.00000000e+00 4.96869694e+01] [ 2.42480627e-01 9.70156248e-01 0.00000000e+00 5.09224501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48016451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580371743 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:49.72, Y:5.10, Z:0.01 [[ 9.70425174e-01 -2.41402116e-01 0.00000000e+00 4.97155247e+01] [ 2.41402116e-01 9.70425174e-01 0.00000000e+00 5.10088842e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46409261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.610371743 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:49.73, Y:5.12, Z:0.02 [[ 9.68117321e-01 -2.50497210e-01 0.00000000e+00 4.97273734e+01] [ 2.50497210e-01 9.68117321e-01 0.00000000e+00 5.11791439e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06019686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640371743 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:49.78, Y:5.11, Z:0.01 [[ 9.70832277e-01 -2.39759650e-01 0.00000000e+00 4.97753987e+01] [ 2.39759650e-01 9.70832277e-01 0.00000000e+00 5.11461690e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18865808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.670371743000004 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:49.79, Y:5.13, Z:0.02 [[ 9.68834064e-01 -2.47710630e-01 0.00000000e+00 4.97881969e+01] [ 2.47710630e-01 9.68834064e-01 0.00000000e+00 5.13006215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91847601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700371743 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:49.83, Y:5.13, Z:0.01 [[ 9.71347336e-01 -2.37664371e-01 0.00000000e+00 4.98344131e+01] [ 2.37664371e-01 9.71347336e-01 0.00000000e+00 5.12674380e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10464757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.730371743 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:49.87, Y:5.13, Z:0.01 [[ 9.71504717e-01 -2.37020220e-01 0.00000000e+00 4.98664085e+01] [ 2.37020220e-01 9.71504717e-01 0.00000000e+00 5.13284736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11816825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760371743 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:49.90, Y:5.14, Z:0.01 [[ 9.71053055e-01 -2.38863902e-01 0.00000000e+00 4.98980624e+01] [ 2.38863902e-01 9.71053055e-01 0.00000000e+00 5.14058596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38976995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.790371743 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:49.91, Y:5.16, Z:0.02 [[ 9.68555272e-01 -2.48798483e-01 0.00000000e+00 4.99102269e+01] [ 2.48798483e-01 9.68555272e-01 0.00000000e+00 5.15500813e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20528440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820371743 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:49.94, Y:5.16, Z:0.02 [[ 9.68625962e-01 -2.48523129e-01 0.00000000e+00 4.99427673e+01] [ 2.48523129e-01 9.68625962e-01 0.00000000e+00 5.16097356e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32668157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.850371743000004 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:49.99, Y:5.16, Z:0.02 [[ 9.70620665e-01 -2.40614889e-01 0.00000000e+00 4.99910154e+01] [ 2.40614889e-01 9.70620665e-01 0.00000000e+00 5.15651615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82051682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.880371743 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:50.00, Y:5.17, Z:0.02 [[ 9.67582444e-01 -2.52555367e-01 0.00000000e+00 5.00031590e+01] [ 2.52555367e-01 9.67582444e-01 0.00000000e+00 5.17078127e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45861931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.910371743 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:50.05, Y:5.17, Z:0.02 [[ 9.69598778e-01 -2.44700246e-01 0.00000000e+00 5.00521530e+01] [ 2.44700246e-01 9.69598778e-01 0.00000000e+00 5.16723119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69110610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940371743 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:50.06, Y:5.18, Z:0.02 [[ 9.65484595e-01 -2.60460162e-01 0.00000000e+00 5.00645574e+01] [ 2.60460162e-01 9.65484595e-01 0.00000000e+00 5.17989707e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10802480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.970371743 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:50.10, Y:5.19, Z:0.02 [[ 9.64706194e-01 -2.63328614e-01 0.00000000e+00 5.00965351e+01] [ 2.63328614e-01 9.64706194e-01 0.00000000e+00 5.18506821e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03733096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000371743 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:50.13, Y:5.19, Z:0.02 [[ 9.63883379e-01 -2.66324675e-01 0.00000000e+00 5.01270938e+01] [ 2.66324675e-01 9.63883379e-01 0.00000000e+00 5.19010476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84521220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.030371743 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:50.16, Y:5.19, Z:0.02 [[ 9.62399839e-01 -2.71636797e-01 0.00000000e+00 5.01587014e+01] [ 2.71636797e-01 9.62399839e-01 0.00000000e+00 5.19378682e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73451489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.060371743 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:50.19, Y:5.20, Z:0.02 [[ 9.61820598e-01 -2.73680721e-01 0.00000000e+00 5.01916492e+01] [ 2.73680721e-01 9.61820598e-01 0.00000000e+00 5.20013274e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95962004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.090371743 meters Centerline goodness : 0.995013 Centerline is valid? [True, True] Translation: X:50.22, Y:5.21, Z:0.02 [[ 9.61266396e-01 -2.75620964e-01 0.00000000e+00 5.02234550e+01] [ 2.75620964e-01 9.61266396e-01 0.00000000e+00 5.20667111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01428354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120371743 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:50.25, Y:5.21, Z:0.02 [[ 9.60591989e-01 -2.77962282e-01 0.00000000e+00 5.02541585e+01] [ 2.77962282e-01 9.60591989e-01 0.00000000e+00 5.21237806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15594007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.150371743 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:50.29, Y:5.22, Z:0.02 [[ 9.60470989e-01 -2.78380098e-01 0.00000000e+00 5.02855646e+01] [ 2.78380098e-01 9.60470989e-01 0.00000000e+00 5.21866087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26245917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180371743 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:50.32, Y:5.22, Z:0.02 [[ 9.60307810e-01 -2.78942487e-01 0.00000000e+00 5.03185451e+01] [ 2.78942487e-01 9.60307810e-01 0.00000000e+00 5.22471633e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37136875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.210371743 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:50.35, Y:5.23, Z:0.02 [[ 9.60304399e-01 -2.78954227e-01 0.00000000e+00 5.03510417e+01] [ 2.78954227e-01 9.60304399e-01 0.00000000e+00 5.23179341e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36010036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.240371743 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:50.40, Y:5.23, Z:0.02 [[ 9.62700970e-01 -2.70567630e-01 0.00000000e+00 5.03971467e+01] [ 2.70567630e-01 9.62700970e-01 0.00000000e+00 5.23119346e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82216413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.270371743 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:50.43, Y:5.24, Z:0.02 [[ 9.62723919e-01 -2.70485962e-01 0.00000000e+00 5.04292834e+01] [ 2.70485962e-01 9.62723919e-01 0.00000000e+00 5.23880797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69184245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300371743 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:50.46, Y:5.25, Z:0.02 [[ 9.62673347e-01 -2.70665896e-01 0.00000000e+00 5.04570320e+01] [ 2.70665896e-01 9.62673347e-01 0.00000000e+00 5.24657591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67221357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.330371743 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:50.49, Y:5.25, Z:0.02 [[ 9.62555597e-01 -2.71084345e-01 0.00000000e+00 5.04892161e+01] [ 2.71084345e-01 9.62555597e-01 0.00000000e+00 5.25344146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60404742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360371743 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:50.52, Y:5.26, Z:0.02 [[ 9.62683289e-01 -2.70630531e-01 0.00000000e+00 5.05219275e+01] [ 2.70630531e-01 9.62683289e-01 0.00000000e+00 5.26032796e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54572062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.390371743 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:50.55, Y:5.27, Z:0.01 [[ 9.62836806e-01 -2.70083849e-01 0.00000000e+00 5.05525860e+01] [ 2.70083849e-01 9.62836806e-01 0.00000000e+00 5.26721231e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42001155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420371743000004 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:50.58, Y:5.28, Z:0.02 [[ 9.62250841e-01 -2.72164141e-01 0.00000000e+00 5.05817659e+01] [ 2.72164141e-01 9.62250841e-01 0.00000000e+00 5.27802999e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66853314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.450371743 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:50.61, Y:5.29, Z:0.02 [[ 9.62697832e-01 -2.70578794e-01 0.00000000e+00 5.06114648e+01] [ 2.70578794e-01 9.62697832e-01 0.00000000e+00 5.28592812e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62904535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480371743 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:50.64, Y:5.29, Z:0.02 [[ 9.62991168e-01 -2.69532949e-01 0.00000000e+00 5.06439187e+01] [ 2.69532949e-01 9.62991168e-01 0.00000000e+00 5.29339755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60601167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.510371743 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:50.66, Y:5.31, Z:0.02 [[ 9.60994106e-01 -2.76568848e-01 0.00000000e+00 5.06575312e+01] [ 2.76568848e-01 9.60994106e-01 0.00000000e+00 5.30929082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14452447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540371743 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:50.69, Y:5.32, Z:0.02 [[ 9.62272650e-01 -2.72087021e-01 0.00000000e+00 5.06885430e+01] [ 2.72087021e-01 9.62272650e-01 0.00000000e+00 5.31831352e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17108194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.570371743 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:50.72, Y:5.33, Z:0.02 [[ 9.62953337e-01 -2.69668074e-01 0.00000000e+00 5.07206119e+01] [ 2.69668074e-01 9.62953337e-01 0.00000000e+00 5.32682189e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35010984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600371743000004 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:50.75, Y:5.34, Z:0.02 [[ 9.64046109e-01 -2.65735017e-01 0.00000000e+00 5.07508864e+01] [ 2.65735017e-01 9.64046109e-01 0.00000000e+00 5.33602532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40537891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.630371743 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:50.80, Y:5.34, Z:0.02 [[ 9.66968518e-01 -2.54895834e-01 0.00000000e+00 5.07965554e+01] [ 2.54895834e-01 9.66968518e-01 0.00000000e+00 5.33506412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76921056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660371743 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:50.83, Y:5.34, Z:0.02 [[ 9.67013448e-01 -2.54725325e-01 0.00000000e+00 5.08258716e+01] [ 2.54725325e-01 9.67013448e-01 0.00000000e+00 5.34479462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83204006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.690371743 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:50.84, Y:5.36, Z:0.02 [[ 9.64715495e-01 -2.63294537e-01 0.00000000e+00 5.08407023e+01] [ 2.63294537e-01 9.64715495e-01 0.00000000e+00 5.36001306e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42082447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720371743 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:50.87, Y:5.37, Z:0.02 [[ 9.64667915e-01 -2.63468811e-01 0.00000000e+00 5.08715736e+01] [ 2.63468811e-01 9.64667915e-01 0.00000000e+00 5.36739126e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37035642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.750371743 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:50.91, Y:5.37, Z:0.02 [[ 9.66216403e-01 -2.57732154e-01 0.00000000e+00 5.09137974e+01] [ 2.57732154e-01 9.66216403e-01 0.00000000e+00 5.36857339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97969076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780371743 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:50.95, Y:5.38, Z:0.02 [[ 9.66134608e-01 -2.58038598e-01 0.00000000e+00 5.09451624e+01] [ 2.58038598e-01 9.66134608e-01 0.00000000e+00 5.37545491e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88917878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.810371743 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:50.96, Y:5.39, Z:0.02 [[ 9.63205619e-01 -2.68765578e-01 0.00000000e+00 5.09614126e+01] [ 2.68765578e-01 9.63205619e-01 0.00000000e+00 5.38946708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38730743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840371743 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:50.99, Y:5.40, Z:0.02 [[ 9.62910470e-01 -2.69821103e-01 0.00000000e+00 5.09930624e+01] [ 2.69821103e-01 9.62910470e-01 0.00000000e+00 5.39596401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33321413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.870371743 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:51.03, Y:5.40, Z:0.02 [[ 9.62988449e-01 -2.69542662e-01 0.00000000e+00 5.10258419e+01] [ 2.69542662e-01 9.62988449e-01 0.00000000e+00 5.40342440e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33321413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900371743 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:51.06, Y:5.41, Z:0.02 [[ 9.61882514e-01 -2.73463031e-01 0.00000000e+00 5.10569175e+01] [ 2.73463031e-01 9.61882514e-01 0.00000000e+00 5.41130597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28158134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.930371743 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:51.10, Y:5.41, Z:0.02 [[ 9.63196810e-01 -2.68797144e-01 0.00000000e+00 5.10994044e+01] [ 2.68797144e-01 9.63196810e-01 0.00000000e+00 5.41252409e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97309567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960371743 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:51.13, Y:5.42, Z:0.02 [[ 9.62680717e-01 -2.70639681e-01 0.00000000e+00 5.11310974e+01] [ 2.70639681e-01 9.62680717e-01 0.00000000e+00 5.42010643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00729479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.990371743 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:51.15, Y:5.43, Z:0.02 [[ 9.60290325e-01 -2.79002674e-01 0.00000000e+00 5.11482662e+01] [ 2.79002674e-01 9.60290325e-01 0.00000000e+00 5.43385412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42441413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020371743 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:51.18, Y:5.44, Z:0.02 [[ 9.60248236e-01 -2.79147499e-01 0.00000000e+00 5.11807033e+01] [ 2.79147499e-01 9.60248236e-01 0.00000000e+00 5.44191021e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46322343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.050371743 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:51.21, Y:5.45, Z:0.02 [[ 9.60422791e-01 -2.78546337e-01 0.00000000e+00 5.12124451e+01] [ 2.78546337e-01 9.60422791e-01 0.00000000e+00 5.45015629e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46027701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080371743 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:51.24, Y:5.46, Z:0.02 [[ 9.60788451e-01 -2.77282441e-01 0.00000000e+00 5.12443261e+01] [ 2.77282441e-01 9.60788451e-01 0.00000000e+00 5.45681570e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41422044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.110371743 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:51.28, Y:5.47, Z:0.02 [[ 9.60859556e-01 -2.77035943e-01 0.00000000e+00 5.12762418e+01] [ 2.77035943e-01 9.60859556e-01 0.00000000e+00 5.46502760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44396557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140371743 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:51.31, Y:5.47, Z:0.02 [[ 9.61366882e-01 -2.75270262e-01 0.00000000e+00 5.13075096e+01] [ 2.75270262e-01 9.61366882e-01 0.00000000e+00 5.47323503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43881703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.170371743000004 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:51.34, Y:5.48, Z:0.02 [[ 9.61636078e-01 -2.74328369e-01 0.00000000e+00 5.13398781e+01] [ 2.74328369e-01 9.61636078e-01 0.00000000e+00 5.48158326e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49745884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200371743 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:51.38, Y:5.48, Z:0.02 [[ 9.63725836e-01 -2.66894197e-01 0.00000000e+00 5.13808334e+01] [ 2.66894197e-01 9.63725836e-01 0.00000000e+00 5.48427246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20722968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.230371743 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:51.40, Y:5.50, Z:0.02 [[ 9.62579932e-01 -2.70997925e-01 0.00000000e+00 5.14005950e+01] [ 2.70997925e-01 9.62579932e-01 0.00000000e+00 5.49770229e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44054979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260371743 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:51.43, Y:5.50, Z:0.02 [[ 9.63091263e-01 -2.69175070e-01 0.00000000e+00 5.14308793e+01] [ 2.69175070e-01 9.63091263e-01 0.00000000e+00 5.50489867e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42846125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.290371743 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:51.47, Y:5.51, Z:0.02 [[ 9.64873458e-01 -2.62715073e-01 0.00000000e+00 5.14735603e+01] [ 2.62715073e-01 9.64873458e-01 0.00000000e+00 5.50593299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11917565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320371743 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:51.49, Y:5.52, Z:0.02 [[ 9.63946576e-01 -2.66095846e-01 0.00000000e+00 5.14919244e+01] [ 2.66095846e-01 9.63946576e-01 0.00000000e+00 5.51911984e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48042932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.350371743000004 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:51.52, Y:5.53, Z:0.03 [[ 9.64471439e-01 -2.64187139e-01 0.00000000e+00 5.15240491e+01] [ 2.64187139e-01 9.64471439e-01 0.00000000e+00 5.52688800e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57489820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.380371743 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:51.57, Y:5.53, Z:0.02 [[ 9.67004679e-01 -2.54758613e-01 0.00000000e+00 5.15677393e+01] [ 2.54758613e-01 9.67004679e-01 0.00000000e+00 5.52932970e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33610394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.410371743 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:51.59, Y:5.54, Z:0.03 [[ 9.65567457e-01 -2.60152811e-01 0.00000000e+00 5.15858080e+01] [ 2.60152811e-01 9.65567457e-01 0.00000000e+00 5.54294427e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73210573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440371743 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:51.63, Y:5.54, Z:0.02 [[ 9.67712883e-01 -2.52055104e-01 0.00000000e+00 5.16304798e+01] [ 2.52055104e-01 9.67712883e-01 0.00000000e+00 5.54348745e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27188458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.470371743 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:51.66, Y:5.55, Z:0.02 [[ 9.67801017e-01 -2.51716491e-01 0.00000000e+00 5.16606949e+01] [ 2.51716491e-01 9.67801017e-01 0.00000000e+00 5.55021390e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24351238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500371743 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:51.68, Y:5.56, Z:0.03 [[ 9.65773175e-01 -2.59388076e-01 0.00000000e+00 5.16768616e+01] [ 2.59388076e-01 9.65773175e-01 0.00000000e+00 5.56394737e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69716051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.530371743 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:51.72, Y:5.56, Z:0.02 [[ 9.67724944e-01 -2.52008794e-01 0.00000000e+00 5.17227948e+01] [ 2.52008794e-01 9.67724944e-01 0.00000000e+00 5.56261785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12467917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.560371743 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:51.75, Y:5.57, Z:0.02 [[ 9.66983645e-01 -2.54838441e-01 0.00000000e+00 5.17509684e+01] [ 2.54838441e-01 9.66983645e-01 0.00000000e+00 5.57017922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29461656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.590371743 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:51.78, Y:5.58, Z:0.02 [[ 9.66650505e-01 -2.56099201e-01 0.00000000e+00 5.17829863e+01] [ 2.56099201e-01 9.66650505e-01 0.00000000e+00 5.57674406e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35144639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620371743 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:51.82, Y:5.58, Z:0.02 [[ 9.66179458e-01 -2.57870617e-01 0.00000000e+00 5.18151215e+01] [ 2.57870617e-01 9.66179458e-01 0.00000000e+00 5.58351400e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42702228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.650371743 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:51.84, Y:5.59, Z:0.02 [[ 9.65606571e-01 -2.60007595e-01 0.00000000e+00 5.18445344e+01] [ 2.60007595e-01 9.65606571e-01 0.00000000e+00 5.58875724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46840020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680371743 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:51.88, Y:5.60, Z:0.03 [[ 9.64852244e-01 -2.62792975e-01 0.00000000e+00 5.18763920e+01] [ 2.62792975e-01 9.64852244e-01 0.00000000e+00 5.59547757e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53206178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.710371743 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:51.91, Y:5.60, Z:0.02 [[ 9.63836660e-01 -2.66493700e-01 0.00000000e+00 5.19061495e+01] [ 2.66493700e-01 9.63836660e-01 0.00000000e+00 5.60112312e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47800957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.740371743 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:51.94, Y:5.61, Z:0.02 [[ 9.63035328e-01 -2.69375122e-01 0.00000000e+00 5.19387193e+01] [ 2.69375122e-01 9.63035328e-01 0.00000000e+00 5.60759659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44867957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.770371743 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:51.97, Y:5.61, Z:0.02 [[ 9.62302867e-01 -2.71980133e-01 0.00000000e+00 5.19697904e+01] [ 2.71980133e-01 9.62302867e-01 0.00000000e+00 5.61425604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43848402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800371743 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:51.99, Y:5.63, Z:0.03 [[ 9.59349901e-01 -2.82219361e-01 0.00000000e+00 5.19877547e+01] [ 2.82219361e-01 9.59349901e-01 0.00000000e+00 5.62559327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73057750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.830371743 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:52.03, Y:5.63, Z:0.02 [[ 9.60474759e-01 -2.78367092e-01 0.00000000e+00 5.20302570e+01] [ 2.78367092e-01 9.60474759e-01 0.00000000e+00 5.62644551e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39240856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860371743 meters Centerline goodness : 0.995767 Centerline is valid? [True, True] Translation: X:52.05, Y:5.64, Z:0.03 [[ 9.58287170e-01 -2.85807101e-01 0.00000000e+00 5.20494731e+01] [ 2.85807101e-01 9.58287170e-01 0.00000000e+00 5.63864301e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61851271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.890371743 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:52.09, Y:5.64, Z:0.02 [[ 9.59687600e-01 -2.81068871e-01 0.00000000e+00 5.20926706e+01] [ 2.81068871e-01 9.59687600e-01 0.00000000e+00 5.63977069e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31067883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920371743000004 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:52.11, Y:5.65, Z:0.03 [[ 9.57525843e-01 -2.88347465e-01 0.00000000e+00 5.21117523e+01] [ 2.88347465e-01 9.57525843e-01 0.00000000e+00 5.65209614e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54842039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.950371743 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:52.14, Y:5.66, Z:0.03 [[ 9.57636729e-01 -2.87978983e-01 0.00000000e+00 5.21437766e+01] [ 2.87978983e-01 9.57636729e-01 0.00000000e+00 5.65930603e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53977621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980371743 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:52.19, Y:5.66, Z:0.02 [[ 9.59429128e-01 -2.81949902e-01 0.00000000e+00 5.21858099e+01] [ 2.81949902e-01 9.59429128e-01 0.00000000e+00 5.66104027e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23986354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.010371743 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:52.22, Y:5.67, Z:0.02 [[ 9.59732147e-01 -2.80916725e-01 0.00000000e+00 5.22159982e+01] [ 2.80916725e-01 9.59732147e-01 0.00000000e+00 5.66970880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38273447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040371743 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:52.25, Y:5.68, Z:0.02 [[ 9.60671215e-01 -2.77688345e-01 0.00000000e+00 5.22477640e+01] [ 2.77688345e-01 9.60671215e-01 0.00000000e+00 5.67693113e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28056487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.070371743 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:52.28, Y:5.69, Z:0.02 [[ 9.61474605e-01 -2.74893769e-01 0.00000000e+00 5.22776689e+01] [ 2.74893769e-01 9.61474605e-01 0.00000000e+00 5.68750817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36051453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100371743000004 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:52.31, Y:5.70, Z:0.02 [[ 9.62202866e-01 -2.72333702e-01 0.00000000e+00 5.23078873e+01] [ 2.72333702e-01 9.62202866e-01 0.00000000e+00 5.69581404e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29076044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.130371743 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:52.33, Y:5.71, Z:0.03 [[ 9.61236683e-01 -2.75724572e-01 0.00000000e+00 5.23269212e+01] [ 2.75724572e-01 9.61236683e-01 0.00000000e+00 5.71010383e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65420005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160371743 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:52.36, Y:5.72, Z:0.03 [[ 9.62124804e-01 -2.72609357e-01 0.00000000e+00 5.23584996e+01] [ 2.72609357e-01 9.62124804e-01 0.00000000e+00 5.71968213e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72500156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.190371743 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:52.39, Y:5.73, Z:0.03 [[ 9.62522893e-01 -2.71200442e-01 0.00000000e+00 5.23899588e+01] [ 2.71200442e-01 9.62522893e-01 0.00000000e+00 5.72766862e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68462044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220371743 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:52.42, Y:5.74, Z:0.03 [[ 9.62742223e-01 -2.70420804e-01 0.00000000e+00 5.24212069e+01] [ 2.70420804e-01 9.62742223e-01 0.00000000e+00 5.73602883e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67537234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.250371743 meters Centerline goodness : 0.995641 Centerline is valid? [True, True] Translation: X:52.45, Y:5.74, Z:0.03 [[ 9.62988641e-01 -2.69541976e-01 0.00000000e+00 5.24534289e+01] [ 2.69541976e-01 9.62988641e-01 0.00000000e+00 5.74401635e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70281457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280371743 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:52.50, Y:5.75, Z:0.02 [[ 9.65059852e-01 -2.62029546e-01 0.00000000e+00 5.24966800e+01] [ 2.62029546e-01 9.65059852e-01 0.00000000e+00 5.74586939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17130612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.310371743 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:52.53, Y:5.75, Z:0.02 [[ 9.65286897e-01 -2.61191898e-01 0.00000000e+00 5.25274378e+01] [ 2.61191898e-01 9.65286897e-01 0.00000000e+00 5.75348076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03613824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340371743 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:52.56, Y:5.76, Z:0.02 [[ 9.64811861e-01 -2.62941197e-01 0.00000000e+00 5.25585020e+01] [ 2.62941197e-01 9.64811861e-01 0.00000000e+00 5.76264838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12414810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.370371743 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:52.59, Y:5.77, Z:0.02 [[ 9.64593491e-01 -2.63741155e-01 0.00000000e+00 5.25901894e+01] [ 2.63741155e-01 9.64593491e-01 0.00000000e+00 5.77096321e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08429753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400371743 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:52.61, Y:5.79, Z:0.03 [[ 9.62247565e-01 -2.72175722e-01 0.00000000e+00 5.26058664e+01] [ 2.72175722e-01 9.62247565e-01 0.00000000e+00 5.78572304e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50420416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.430371743 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:52.64, Y:5.79, Z:0.03 [[ 9.62000558e-01 -2.73047480e-01 0.00000000e+00 5.26377560e+01] [ 2.73047480e-01 9.62000558e-01 0.00000000e+00 5.79310940e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51848000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460371743 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:52.68, Y:5.79, Z:0.02 [[ 9.63377492e-01 -2.68148855e-01 0.00000000e+00 5.26804231e+01] [ 2.68148855e-01 9.63377492e-01 0.00000000e+00 5.79417143e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10693025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.490371743 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:52.70, Y:5.81, Z:0.03 [[ 9.60824259e-01 -2.77158336e-01 0.00000000e+00 5.26973559e+01] [ 2.77158336e-01 9.60824259e-01 0.00000000e+00 5.80924676e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62329354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520371743 meters Centerline goodness : 0.996104 Centerline is valid? [True, True] Translation: X:52.73, Y:5.82, Z:0.03 [[ 9.60686064e-01 -2.77636970e-01 0.00000000e+00 5.27285814e+01] [ 2.77636970e-01 9.60686064e-01 0.00000000e+00 5.81746836e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52805573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.550371743 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:52.77, Y:5.82, Z:0.02 [[ 9.62661809e-01 -2.70706928e-01 0.00000000e+00 5.27732383e+01] [ 2.70706928e-01 9.62661809e-01 0.00000000e+00 5.81910291e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19841335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580371743 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:52.80, Y:5.83, Z:0.02 [[ 9.62027640e-01 -2.72952045e-01 0.00000000e+00 5.28019402e+01] [ 2.72952045e-01 9.62027640e-01 0.00000000e+00 5.82792917e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31183675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.610371743 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:52.82, Y:5.84, Z:0.03 [[ 9.59569299e-01 -2.81472485e-01 0.00000000e+00 5.28185227e+01] [ 2.81472485e-01 9.59569299e-01 0.00000000e+00 5.84290968e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79608726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640371743 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:52.85, Y:5.85, Z:0.03 [[ 9.58972535e-01 -2.83498989e-01 0.00000000e+00 5.28509280e+01] [ 2.83498989e-01 9.58972535e-01 0.00000000e+00 5.85120628e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74348076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.670371743 meters Centerline goodness : 0.996015 Centerline is valid? [True, True] Translation: X:52.90, Y:5.85, Z:0.02 [[ 9.60931852e-01 -2.76785070e-01 0.00000000e+00 5.28955997e+01] [ 2.76785070e-01 9.60931852e-01 0.00000000e+00 5.85128920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10792704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700371743 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:52.93, Y:5.86, Z:0.02 [[ 9.60654960e-01 -2.77744573e-01 0.00000000e+00 5.29253662e+01] [ 2.77744573e-01 9.60654960e-01 0.00000000e+00 5.85940173e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03194315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.730371743 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:52.96, Y:5.87, Z:0.02 [[ 9.60237848e-01 -2.79183228e-01 0.00000000e+00 5.29564116e+01] [ 2.79183228e-01 9.60237848e-01 0.00000000e+00 5.86814474e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94214385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760371743 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:52.99, Y:5.88, Z:0.02 [[ 9.59327945e-01 -2.82293984e-01 0.00000000e+00 5.29862622e+01] [ 2.82293984e-01 9.59327945e-01 0.00000000e+00 5.87858289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08445410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.790371743 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:53.00, Y:5.89, Z:0.03 [[ 9.57265843e-01 -2.89209449e-01 0.00000000e+00 5.30038141e+01] [ 2.89209449e-01 9.57265843e-01 0.00000000e+00 5.89330629e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51354260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820371743 meters Centerline goodness : 0.995701 Centerline is valid? [True, True] Translation: X:53.04, Y:5.90, Z:0.03 [[ 9.57346710e-01 -2.88941649e-01 0.00000000e+00 5.30365756e+01] [ 2.88941649e-01 9.57346710e-01 0.00000000e+00 5.90086662e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51354260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.850371743000004 meters Centerline goodness : 0.995695 Centerline is valid? [True, True] Translation: X:53.08, Y:5.90, Z:0.02 [[ 9.59016112e-01 -2.83351544e-01 0.00000000e+00 5.30783135e+01] [ 2.83351544e-01 9.59016112e-01 0.00000000e+00 5.90330488e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16414462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.880371743 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:53.10, Y:5.92, Z:0.03 [[ 9.57537824e-01 -2.88307675e-01 0.00000000e+00 5.30968422e+01] [ 2.88307675e-01 9.57537824e-01 0.00000000e+00 5.91914197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77132076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.910371743 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:53.13, Y:5.93, Z:0.03 [[ 9.57837452e-01 -2.87310660e-01 0.00000000e+00 5.31287971e+01] [ 2.87310660e-01 9.57837452e-01 0.00000000e+00 5.92794775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79562741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940371743 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:53.16, Y:5.94, Z:0.03 [[ 9.58143909e-01 -2.86287007e-01 0.00000000e+00 5.31600578e+01] [ 2.86287007e-01 9.58143909e-01 0.00000000e+00 5.93642059e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66889162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.970371743 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:53.20, Y:5.94, Z:0.02 [[ 9.60081310e-01 -2.79721071e-01 0.00000000e+00 5.32002787e+01] [ 2.79721071e-01 9.60081310e-01 0.00000000e+00 5.94118147e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36842758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000371743 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:53.23, Y:5.95, Z:0.02 [[ 9.60355334e-01 -2.78778824e-01 0.00000000e+00 5.32322186e+01] [ 2.78778824e-01 9.60355334e-01 0.00000000e+00 5.95018417e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42135068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.030371743 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:53.26, Y:5.96, Z:0.02 [[ 9.61273248e-01 -2.75597067e-01 0.00000000e+00 5.32634675e+01] [ 2.75597067e-01 9.61273248e-01 0.00000000e+00 5.96115785e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42187157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.060371743 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:53.29, Y:5.97, Z:0.02 [[ 9.61644894e-01 -2.74297462e-01 0.00000000e+00 5.32946194e+01] [ 2.74297462e-01 9.61644894e-01 0.00000000e+00 5.97086888e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46462603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.090371743 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:53.33, Y:5.98, Z:0.02 [[ 9.62322825e-01 -2.71909508e-01 0.00000000e+00 5.33261423e+01] [ 2.71909508e-01 9.62322825e-01 0.00000000e+00 5.97970725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35764312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120371743 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:53.36, Y:5.99, Z:0.02 [[ 9.62673677e-01 -2.70664723e-01 0.00000000e+00 5.33566944e+01] [ 2.70664723e-01 9.62673677e-01 0.00000000e+00 5.98898214e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41621243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.150371743 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:53.39, Y:6.00, Z:0.02 [[ 9.63507791e-01 -2.67680290e-01 0.00000000e+00 5.33880907e+01] [ 2.67680290e-01 9.63507791e-01 0.00000000e+00 5.99932694e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35942483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180371743 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:53.42, Y:6.01, Z:0.02 [[ 9.64008175e-01 -2.65872598e-01 0.00000000e+00 5.34179262e+01] [ 2.65872598e-01 9.64008175e-01 0.00000000e+00 6.00799617e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33124485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.210371743 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:53.45, Y:6.02, Z:0.02 [[ 9.64828015e-01 -2.62881917e-01 0.00000000e+00 5.34494296e+01] [ 2.62881917e-01 9.64828015e-01 0.00000000e+00 6.01813804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46791247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.240371743 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:53.48, Y:6.03, Z:0.02 [[ 9.65331426e-01 -2.61027273e-01 0.00000000e+00 5.34824541e+01] [ 2.61027273e-01 9.65331426e-01 0.00000000e+00 6.02648868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41433892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.270371743 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:53.51, Y:6.03, Z:0.02 [[ 9.66164078e-01 -2.57928235e-01 0.00000000e+00 5.35130637e+01] [ 2.57928235e-01 9.66164078e-01 0.00000000e+00 6.03495152e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33933685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300371743 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:53.54, Y:6.04, Z:0.02 [[ 9.66184762e-01 -2.57850745e-01 0.00000000e+00 5.35437920e+01] [ 2.57850745e-01 9.66184762e-01 0.00000000e+00 6.04380334e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38327305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.330371743 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:53.58, Y:6.05, Z:0.02 [[ 9.66500711e-01 -2.56663933e-01 0.00000000e+00 5.35752459e+01] [ 2.56663933e-01 9.66500711e-01 0.00000000e+00 6.05166245e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28706744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360371743 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:53.61, Y:6.06, Z:0.02 [[ 9.66254662e-01 -2.57588680e-01 0.00000000e+00 5.36053394e+01] [ 2.57588680e-01 9.66254662e-01 0.00000000e+00 6.06149879e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47301278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.390371743 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:53.64, Y:6.07, Z:0.02 [[ 9.66326969e-01 -2.57317291e-01 0.00000000e+00 5.36378811e+01] [ 2.57317291e-01 9.66326969e-01 0.00000000e+00 6.06920763e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44871041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.420371743 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:53.66, Y:6.08, Z:0.03 [[ 9.64396443e-01 -2.64460775e-01 0.00000000e+00 5.36552456e+01] [ 2.64460775e-01 9.64396443e-01 0.00000000e+00 6.08305770e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89206417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.450371743 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:53.70, Y:6.08, Z:0.02 [[ 9.66040613e-01 -2.58390274e-01 0.00000000e+00 5.36976050e+01] [ 2.58390274e-01 9.66040613e-01 0.00000000e+00 6.08442057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42011949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480371743 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:53.73, Y:6.09, Z:0.02 [[ 9.65736017e-01 -2.59526385e-01 0.00000000e+00 5.37296324e+01] [ 2.59526385e-01 9.65736017e-01 0.00000000e+00 6.09079953e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22745322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.510371743 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:53.75, Y:6.10, Z:0.03 [[ 9.63423448e-01 -2.67983693e-01 0.00000000e+00 5.37460540e+01] [ 2.67983693e-01 9.63423448e-01 0.00000000e+00 6.10439810e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68361422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540371743 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:53.79, Y:6.10, Z:0.02 [[ 9.64720891e-01 -2.63274765e-01 0.00000000e+00 5.37895496e+01] [ 2.63274765e-01 9.64720891e-01 0.00000000e+00 6.10427537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22173702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.570371743 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:53.82, Y:6.11, Z:0.02 [[ 9.64349999e-01 -2.64630080e-01 0.00000000e+00 5.38215989e+01] [ 2.64630080e-01 9.64349999e-01 0.00000000e+00 6.11167157e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23895495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600371743000004 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:53.85, Y:6.12, Z:0.02 [[ 9.64062182e-01 -2.65676701e-01 0.00000000e+00 5.38529297e+01] [ 2.65676701e-01 9.64062182e-01 0.00000000e+00 6.11861299e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26159893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.630371743 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:53.89, Y:6.12, Z:0.02 [[ 9.63552095e-01 -2.67520767e-01 0.00000000e+00 5.38850487e+01] [ 2.67520767e-01 9.63552095e-01 0.00000000e+00 6.12409793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20900005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660371743 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:53.91, Y:6.13, Z:0.02 [[ 9.62854458e-01 -2.70020912e-01 0.00000000e+00 5.39146220e+01] [ 2.70020912e-01 9.62854458e-01 0.00000000e+00 6.13120643e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29915923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.690371743 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:53.93, Y:6.14, Z:0.03 [[ 9.60207479e-01 -2.79287660e-01 0.00000000e+00 5.39302735e+01] [ 2.79287660e-01 9.60207479e-01 0.00000000e+00 6.14493599e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91480923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720371743 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:53.97, Y:6.14, Z:0.02 [[ 9.61833647e-01 -2.73634859e-01 0.00000000e+00 5.39746354e+01] [ 2.73634859e-01 9.61833647e-01 0.00000000e+00 6.14383283e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40751388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.750371743 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:54.00, Y:6.15, Z:0.02 [[ 9.60961984e-01 -2.76680440e-01 0.00000000e+00 5.40035870e+01] [ 2.76680440e-01 9.60961984e-01 0.00000000e+00 6.14903698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44468501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780371743 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:54.04, Y:6.16, Z:0.03 [[ 9.60314950e-01 -2.78917904e-01 0.00000000e+00 5.40353481e+01] [ 2.78917904e-01 9.60314950e-01 0.00000000e+00 6.15648990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53464384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.810371743 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:54.07, Y:6.16, Z:0.02 [[ 9.60926394e-01 -2.76804021e-01 0.00000000e+00 5.40696143e+01] [ 2.76804021e-01 9.60926394e-01 0.00000000e+00 6.16185381e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42326861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840371743 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:54.09, Y:6.17, Z:0.02 [[ 9.61058260e-01 -2.76345836e-01 0.00000000e+00 5.40916986e+01] [ 2.76345836e-01 9.61058260e-01 0.00000000e+00 6.16964053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48550361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.870371743 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:54.13, Y:6.18, Z:0.02 [[ 9.61171051e-01 -2.75953275e-01 0.00000000e+00 5.41299776e+01] [ 2.75953275e-01 9.61171051e-01 0.00000000e+00 6.17633319e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37211732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900371743 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:54.16, Y:6.18, Z:0.02 [[ 9.60708059e-01 -2.77560848e-01 0.00000000e+00 5.41570502e+01] [ 2.77560848e-01 9.60708059e-01 0.00000000e+00 6.18487806e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45628755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.930371743 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:54.19, Y:6.19, Z:0.02 [[ 9.61609216e-01 -2.74422513e-01 0.00000000e+00 5.41888195e+01] [ 2.74422513e-01 9.61609216e-01 0.00000000e+00 6.19167436e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28158359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960371743 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:54.22, Y:6.20, Z:0.02 [[ 9.61876756e-01 -2.73483282e-01 0.00000000e+00 5.42203576e+01] [ 2.73483282e-01 9.61876756e-01 0.00000000e+00 6.19966447e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26044749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.990371743 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:54.25, Y:6.21, Z:0.02 [[ 9.62645174e-01 -2.70766079e-01 0.00000000e+00 5.42521259e+01] [ 2.70766079e-01 9.62645174e-01 0.00000000e+00 6.20832926e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28282308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020371743 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:54.28, Y:6.22, Z:0.02 [[ 9.63112797e-01 -2.69098012e-01 0.00000000e+00 5.42841254e+01] [ 2.69098012e-01 9.63112797e-01 0.00000000e+00 6.21695814e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26030818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.050371743 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:54.31, Y:6.23, Z:0.02 [[ 9.63736668e-01 -2.66855083e-01 0.00000000e+00 5.43144373e+01] [ 2.66855083e-01 9.63736668e-01 0.00000000e+00 6.22542907e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22116553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080371743 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:54.35, Y:6.23, Z:0.02 [[ 9.64394674e-01 -2.64467226e-01 0.00000000e+00 5.43465392e+01] [ 2.64467226e-01 9.64394674e-01 0.00000000e+00 6.23362207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19758144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.110371743 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:54.38, Y:6.24, Z:0.02 [[ 9.65594379e-01 -2.60052870e-01 0.00000000e+00 5.43759175e+01] [ 2.60052870e-01 9.65594379e-01 0.00000000e+00 6.24216591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23842807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140371743 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:54.41, Y:6.25, Z:0.02 [[ 9.66116464e-01 -2.58106523e-01 0.00000000e+00 5.44069275e+01] [ 2.58106523e-01 9.66116464e-01 0.00000000e+00 6.25025675e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28351594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.170371743 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:54.44, Y:6.26, Z:0.02 [[ 9.66647367e-01 -2.56111046e-01 0.00000000e+00 5.44366988e+01] [ 2.56111046e-01 9.66647367e-01 0.00000000e+00 6.25757246e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27033352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200371743 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:54.47, Y:6.26, Z:0.02 [[ 9.67125396e-01 -2.54299957e-01 0.00000000e+00 5.44684557e+01] [ 2.54299957e-01 9.67125396e-01 0.00000000e+00 6.26483580e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37904542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.230371743 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:54.50, Y:6.27, Z:0.03 [[ 9.66695542e-01 -2.55929148e-01 0.00000000e+00 5.44983072e+01] [ 2.55929148e-01 9.66695542e-01 0.00000000e+00 6.27335842e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57044901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260371743 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:54.52, Y:6.29, Z:0.03 [[ 9.64788996e-01 -2.63025082e-01 0.00000000e+00 5.45165004e+01] [ 2.63025082e-01 9.64788996e-01 0.00000000e+00 6.28678163e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08911608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.290371743 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:54.55, Y:6.29, Z:0.03 [[ 9.64707804e-01 -2.63322717e-01 0.00000000e+00 5.45476511e+01] [ 2.63322717e-01 9.64707804e-01 0.00000000e+00 6.29350670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04104999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320371743 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:54.58, Y:6.30, Z:0.03 [[ 9.64146185e-01 -2.65371690e-01 0.00000000e+00 5.45808941e+01] [ 2.65371690e-01 9.64146185e-01 0.00000000e+00 6.29881728e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01208401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.350371743000004 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:54.61, Y:6.31, Z:0.03 [[ 9.63674217e-01 -2.67080520e-01 0.00000000e+00 5.46119578e+01] [ 2.67080520e-01 9.63674217e-01 0.00000000e+00 6.30532875e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92367688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.380371743 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:54.66, Y:6.30, Z:0.02 [[ 9.65407663e-01 -2.60745172e-01 0.00000000e+00 5.46612403e+01] [ 2.60745172e-01 9.65407663e-01 0.00000000e+00 6.30155759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17372453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.410371743 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:54.67, Y:6.32, Z:0.03 [[ 9.61764078e-01 -2.73879278e-01 0.00000000e+00 5.46716386e+01] [ 2.73879278e-01 9.61764078e-01 0.00000000e+00 6.31688754e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84562814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440371743 meters Centerline goodness : 0.994250 Centerline is valid? [True, True] Translation: X:54.72, Y:6.32, Z:0.02 [[ 9.63326972e-01 -2.68330292e-01 0.00000000e+00 5.47169196e+01] [ 2.68330292e-01 9.63326972e-01 0.00000000e+00 6.31603631e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30814271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.470371743 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:54.73, Y:6.33, Z:0.03 [[ 9.59998474e-01 -2.80005232e-01 0.00000000e+00 5.47329765e+01] [ 2.80005232e-01 9.59998474e-01 0.00000000e+00 6.32849035e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92701336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500371743 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:54.78, Y:6.33, Z:0.02 [[ 9.61693475e-01 -2.74127089e-01 0.00000000e+00 5.47771705e+01] [ 2.74127089e-01 9.61693475e-01 0.00000000e+00 6.32773918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36710240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.530371743 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:54.81, Y:6.34, Z:0.02 [[ 9.61033466e-01 -2.76432047e-01 0.00000000e+00 5.48085763e+01] [ 2.76432047e-01 9.61033466e-01 0.00000000e+00 6.33510629e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46406516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.560371743 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:54.84, Y:6.34, Z:0.03 [[ 9.60526568e-01 -2.78188267e-01 0.00000000e+00 5.48369615e+01] [ 2.78188267e-01 9.60526568e-01 0.00000000e+00 6.34208874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54195340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.590371743 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:54.86, Y:6.36, Z:0.03 [[ 9.58757559e-01 -2.84225163e-01 0.00000000e+00 5.48563609e+01] [ 2.84225163e-01 9.58757559e-01 0.00000000e+00 6.35600483e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06247251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620371743 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:54.90, Y:6.36, Z:0.03 [[ 9.60575745e-01 -2.78018413e-01 0.00000000e+00 5.48991576e+01] [ 2.78018413e-01 9.60575745e-01 0.00000000e+00 6.35647817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57770188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.650371743 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:54.92, Y:6.37, Z:0.03 [[ 9.59242785e-01 -2.82583227e-01 0.00000000e+00 5.49191689e+01] [ 2.82583227e-01 9.59242785e-01 0.00000000e+00 6.36984063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12817188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680371743 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:54.95, Y:6.38, Z:0.03 [[ 9.59753966e-01 -2.80842172e-01 0.00000000e+00 5.49506591e+01] [ 2.80842172e-01 9.59753966e-01 0.00000000e+00 6.37716736e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11656927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.710371743 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:54.98, Y:6.39, Z:0.03 [[ 9.59833731e-01 -2.80569438e-01 0.00000000e+00 5.49833385e+01] [ 2.80569438e-01 9.59833731e-01 0.00000000e+00 6.38509798e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11656927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.740371743 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:55.01, Y:6.39, Z:0.03 [[ 9.60844536e-01 -2.77088033e-01 0.00000000e+00 5.50141811e+01] [ 2.77088033e-01 9.60844536e-01 0.00000000e+00 6.39242797e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08873873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.770371743 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:55.05, Y:6.40, Z:0.03 [[ 9.61432629e-01 -2.75040542e-01 0.00000000e+00 5.50462475e+01] [ 2.75040542e-01 9.61432629e-01 0.00000000e+00 6.40039345e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06183282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800371743 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:55.08, Y:6.41, Z:0.03 [[ 9.62050637e-01 -2.72870979e-01 0.00000000e+00 5.50787017e+01] [ 2.72870979e-01 9.62050637e-01 0.00000000e+00 6.40813419e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07609009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.830371743 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:55.12, Y:6.41, Z:0.02 [[ 9.65189523e-01 -2.61551495e-01 0.00000000e+00 5.51241716e+01] [ 2.61551495e-01 9.65189523e-01 0.00000000e+00 6.40813673e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29927482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860371743 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:55.16, Y:6.42, Z:0.02 [[ 9.65489250e-01 -2.60442907e-01 0.00000000e+00 5.51553801e+01] [ 2.60442907e-01 9.65489250e-01 0.00000000e+00 6.41616132e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24280723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.890371743 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:55.18, Y:6.42, Z:0.02 [[ 9.65853814e-01 -2.59087650e-01 0.00000000e+00 5.51844929e+01] [ 2.59087650e-01 9.65853814e-01 0.00000000e+00 6.42388521e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17081043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.920371743 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:55.22, Y:6.43, Z:0.02 [[ 9.66085214e-01 -2.58223467e-01 0.00000000e+00 5.52166714e+01] [ 2.58223467e-01 9.66085214e-01 0.00000000e+00 6.43109323e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23132495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.950371743 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:55.25, Y:6.44, Z:0.02 [[ 9.66929608e-01 -2.55043394e-01 0.00000000e+00 5.52456735e+01] [ 2.55043394e-01 9.66929608e-01 0.00000000e+00 6.43935475e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33198043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980371743 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:55.26, Y:6.45, Z:0.03 [[ 9.65541641e-01 -2.60248611e-01 0.00000000e+00 5.52620469e+01] [ 2.60248611e-01 9.65541641e-01 0.00000000e+00 6.45319939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85529514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.010371743 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:55.30, Y:6.45, Z:0.02 [[ 9.67765281e-01 -2.51853850e-01 0.00000000e+00 5.53049978e+01] [ 2.51853850e-01 9.67765281e-01 0.00000000e+00 6.45467196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49611082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040371743 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:55.32, Y:6.47, Z:0.03 [[ 9.67026061e-01 -2.54677438e-01 0.00000000e+00 5.53229327e+01] [ 2.54677438e-01 9.67026061e-01 0.00000000e+00 6.46695178e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04543663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.070371743 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:55.36, Y:6.47, Z:0.03 [[ 9.67372503e-01 -2.53358323e-01 0.00000000e+00 5.53557365e+01] [ 2.53358323e-01 9.67372503e-01 0.00000000e+00 6.47381256e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11668758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100371743000004 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:55.39, Y:6.48, Z:0.03 [[ 9.67536967e-01 -2.52729533e-01 0.00000000e+00 5.53872953e+01] [ 2.52729533e-01 9.67536967e-01 0.00000000e+00 6.48020698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09322532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.130371743 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:55.43, Y:6.48, Z:0.03 [[ 9.69453545e-01 -2.45274996e-01 0.00000000e+00 5.54332272e+01] [ 2.45274996e-01 9.69453545e-01 0.00000000e+00 6.47780636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56205306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160371743 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:55.46, Y:6.48, Z:0.03 [[ 9.69083154e-01 -2.46734353e-01 0.00000000e+00 5.54648544e+01] [ 2.46734353e-01 9.69083154e-01 0.00000000e+00 6.48452205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57803059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.190371743 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:55.48, Y:6.50, Z:0.03 [[ 9.66375062e-01 -2.57136616e-01 0.00000000e+00 5.54810430e+01] [ 2.57136616e-01 9.66375062e-01 0.00000000e+00 6.49574921e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95026648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220371743 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:55.53, Y:6.49, Z:0.02 [[ 9.68135703e-01 -2.50426158e-01 0.00000000e+00 5.55265192e+01] [ 2.50426158e-01 9.68135703e-01 0.00000000e+00 6.49359971e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35804568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.250371743 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:55.56, Y:6.50, Z:0.02 [[ 9.67397427e-01 -2.53263141e-01 0.00000000e+00 5.55581992e+01] [ 2.53263141e-01 9.67397427e-01 0.00000000e+00 6.49998494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37117711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280371743 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:55.59, Y:6.51, Z:0.02 [[ 9.66622459e-01 -2.56205037e-01 0.00000000e+00 5.55907926e+01] [ 2.56205037e-01 9.66622459e-01 0.00000000e+00 6.50572714e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41743132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.310371743 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:55.61, Y:6.52, Z:0.03 [[ 9.62844742e-01 -2.70055556e-01 0.00000000e+00 5.56065690e+01] [ 2.70055556e-01 9.62844742e-01 0.00000000e+00 6.51644954e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92505704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340371743 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:55.65, Y:6.52, Z:0.03 [[ 9.64111259e-01 -2.65498549e-01 0.00000000e+00 5.56522352e+01] [ 2.65498549e-01 9.64111259e-01 0.00000000e+00 6.51583149e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56319953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.370371743 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:55.68, Y:6.52, Z:0.03 [[ 9.63169998e-01 -2.68893205e-01 0.00000000e+00 5.56837040e+01] [ 2.68893205e-01 9.63169998e-01 0.00000000e+00 6.52201422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64842211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400371743 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:55.72, Y:6.52, Z:0.02 [[ 9.62493847e-01 -2.71303510e-01 0.00000000e+00 5.57194071e+01] [ 2.71303510e-01 9.62493847e-01 0.00000000e+00 6.52443403e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49523077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.430371743 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:55.73, Y:6.54, Z:0.03 [[ 9.59092084e-01 -2.83094287e-01 0.00000000e+00 5.57314048e+01] [ 2.83094287e-01 9.59092084e-01 0.00000000e+00 6.53804881e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99987457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460371743 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:55.76, Y:6.54, Z:0.03 [[ 9.57879867e-01 -2.87169220e-01 0.00000000e+00 5.57630595e+01] [ 2.87169220e-01 9.57879867e-01 0.00000000e+00 6.54206995e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99135079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.490371743 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:55.80, Y:6.55, Z:0.03 [[ 9.57153330e-01 -2.89581600e-01 0.00000000e+00 5.57958776e+01] [ 2.89581600e-01 9.57153330e-01 0.00000000e+00 6.54859125e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06206136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520371743 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:55.83, Y:6.55, Z:0.03 [[ 9.56575548e-01 -2.91484512e-01 0.00000000e+00 5.58272035e+01] [ 2.91484512e-01 9.56575548e-01 0.00000000e+00 6.55475720e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06050828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.550371743 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:55.87, Y:6.55, Z:0.03 [[ 9.57255285e-01 -2.89244394e-01 0.00000000e+00 5.58719795e+01] [ 2.89244394e-01 9.57255285e-01 0.00000000e+00 6.55434839e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72427502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580371743 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:55.90, Y:6.56, Z:0.03 [[ 9.56559999e-01 -2.91535535e-01 0.00000000e+00 5.59023679e+01] [ 2.91535535e-01 9.56559999e-01 0.00000000e+00 6.56168094e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69660986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.610371743 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:55.93, Y:6.57, Z:0.03 [[ 9.56028923e-01 -2.93272396e-01 0.00000000e+00 5.59343340e+01] [ 2.93272396e-01 9.56028923e-01 0.00000000e+00 6.56856456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57167286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640371743 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:55.95, Y:6.58, Z:0.03 [[ 9.53411800e-01 -3.01671909e-01 0.00000000e+00 5.59507593e+01] [ 3.01671909e-01 9.53411800e-01 0.00000000e+00 6.58123715e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66733134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.670371743 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:56.00, Y:6.58, Z:0.02 [[ 9.55699720e-01 -2.94343413e-01 0.00000000e+00 5.59960881e+01] [ 2.94343413e-01 9.55699720e-01 0.00000000e+00 6.58258876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23402404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700371743 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:56.03, Y:6.59, Z:0.02 [[ 9.56041153e-01 -2.93232524e-01 0.00000000e+00 5.60286643e+01] [ 2.93232524e-01 9.56041153e-01 0.00000000e+00 6.59000793e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10861846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.730371743 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:56.04, Y:6.61, Z:0.03 [[ 9.53370151e-01 -3.01803505e-01 0.00000000e+00 5.60413794e+01] [ 3.01803505e-01 9.53370151e-01 0.00000000e+00 6.60612361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57387883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760371743 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:56.09, Y:6.61, Z:0.02 [[ 9.56001130e-01 -2.93362982e-01 0.00000000e+00 5.60859561e+01] [ 2.93362982e-01 9.56001130e-01 0.00000000e+00 6.60924374e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20485345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.790371743 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:56.12, Y:6.62, Z:0.02 [[ 9.56222673e-01 -2.92640051e-01 0.00000000e+00 5.61187341e+01] [ 2.92640051e-01 9.56222673e-01 0.00000000e+00 6.61819437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17152743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820371743 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:56.13, Y:6.64, Z:0.03 [[ 9.53779790e-01 -3.00506427e-01 0.00000000e+00 5.61309189e+01] [ 3.00506427e-01 9.53779790e-01 0.00000000e+00 6.63637472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69354799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.850371743000004 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:56.18, Y:6.64, Z:0.02 [[ 9.56437545e-01 -2.91937019e-01 0.00000000e+00 5.61754022e+01] [ 2.91937019e-01 9.56437545e-01 0.00000000e+00 6.63849226e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34722919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.880371743 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:56.19, Y:6.66, Z:0.03 [[ 9.54172411e-01 -2.99257430e-01 0.00000000e+00 5.61900814e+01] [ 2.99257430e-01 9.54172411e-01 0.00000000e+00 6.65520792e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77838651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.910371743 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:56.24, Y:6.66, Z:0.02 [[ 9.57827924e-01 -2.87342421e-01 0.00000000e+00 5.62389383e+01] [ 2.87342421e-01 9.57827924e-01 0.00000000e+00 6.65710198e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14783573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940371743 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:56.27, Y:6.67, Z:0.02 [[ 9.57067644e-01 -2.89864668e-01 0.00000000e+00 5.62655819e+01] [ 2.89864668e-01 9.57067644e-01 0.00000000e+00 6.66861186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23902570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.970371743 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:56.28, Y:6.69, Z:0.03 [[ 9.54469395e-01 -2.98308856e-01 0.00000000e+00 5.62785057e+01] [ 2.98308856e-01 9.54469395e-01 0.00000000e+00 6.68645297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69382162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000371743 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:56.31, Y:6.70, Z:0.03 [[ 9.54786167e-01 -2.97293415e-01 0.00000000e+00 5.63093417e+01] [ 2.97293415e-01 9.54786167e-01 0.00000000e+00 6.69837389e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62472479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.030371743 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:56.34, Y:6.71, Z:0.03 [[ 9.55083840e-01 -2.96335719e-01 0.00000000e+00 5.63403847e+01] [ 2.96335719e-01 9.55083840e-01 0.00000000e+00 6.70809900e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57567521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.060371743 meters Centerline goodness : 0.994178 Centerline is valid? [True, True] Translation: X:56.39, Y:6.71, Z:0.02 [[ 9.57792209e-01 -2.87461447e-01 0.00000000e+00 5.63861489e+01] [ 2.87461447e-01 9.57792209e-01 0.00000000e+00 6.70903920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04121350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.090371743 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:56.40, Y:6.73, Z:0.03 [[ 9.55303721e-01 -2.95626115e-01 0.00000000e+00 5.63996601e+01] [ 2.95626115e-01 9.55303721e-01 0.00000000e+00 6.72727805e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55327430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120371743 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:56.43, Y:6.74, Z:0.03 [[ 9.55578530e-01 -2.94736617e-01 0.00000000e+00 5.64304068e+01] [ 2.94736617e-01 9.55578530e-01 0.00000000e+00 6.73861349e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54898982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.150371743 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:56.46, Y:6.75, Z:0.03 [[ 9.55849705e-01 -2.93855988e-01 0.00000000e+00 5.64616861e+01] [ 2.93855988e-01 9.55849705e-01 0.00000000e+00 6.74811952e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57513828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180371743 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:56.49, Y:6.76, Z:0.03 [[ 9.56204717e-01 -2.92698716e-01 0.00000000e+00 5.64930548e+01] [ 2.92698716e-01 9.56204717e-01 0.00000000e+00 6.75955031e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62900105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.210371743 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:56.54, Y:6.76, Z:0.02 [[ 9.58681638e-01 -2.84481138e-01 0.00000000e+00 5.65381293e+01] [ 2.84481138e-01 9.58681638e-01 0.00000000e+00 6.76159310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21472020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.240371743 meters Centerline goodness : 0.993162 Centerline is valid? [True, True] Translation: X:56.57, Y:6.77, Z:0.02 [[ 9.59117362e-01 -2.83008633e-01 0.00000000e+00 5.65683203e+01] [ 2.83008633e-01 9.59117362e-01 0.00000000e+00 6.77092242e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18085464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.270371743 meters Centerline goodness : 0.993031 Centerline is valid? [True, True] Translation: X:56.60, Y:6.78, Z:0.02 [[ 9.59366025e-01 -2.82164544e-01 0.00000000e+00 5.66002534e+01] [ 2.82164544e-01 9.59366025e-01 0.00000000e+00 6.78176432e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17108404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300371743 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:56.63, Y:6.79, Z:0.02 [[ 9.59849190e-01 -2.80516545e-01 0.00000000e+00 5.66309357e+01] [ 2.80516545e-01 9.59849190e-01 0.00000000e+00 6.79003076e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12155648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.330371743 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:56.66, Y:6.80, Z:0.02 [[ 9.59957677e-01 -2.80145068e-01 0.00000000e+00 5.66599824e+01] [ 2.80145068e-01 9.59957677e-01 0.00000000e+00 6.79936422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15883800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360371743 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:56.67, Y:6.82, Z:0.03 [[ 9.57980145e-01 -2.86834520e-01 0.00000000e+00 5.66739505e+01] [ 2.86834520e-01 9.57980145e-01 0.00000000e+00 6.81760377e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59087081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.390371743 meters Centerline goodness : 0.993092 Centerline is valid? [True, True] Translation: X:56.70, Y:6.83, Z:0.03 [[ 9.58340718e-01 -2.85627498e-01 0.00000000e+00 5.67045210e+01] [ 2.85627498e-01 9.58340718e-01 0.00000000e+00 6.82624070e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50533606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.420371743 meters Centerline goodness : 0.993976 Centerline is valid? [True, True] Translation: X:56.75, Y:6.83, Z:0.02 [[ 9.61261967e-01 -2.75636410e-01 0.00000000e+00 5.67521741e+01] [ 2.75636410e-01 9.61261967e-01 0.00000000e+00 6.82627130e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02077034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.450371743 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:56.76, Y:6.84, Z:0.02 [[ 9.58452381e-01 -2.85252579e-01 0.00000000e+00 5.67632708e+01] [ 2.85252579e-01 9.58452381e-01 0.00000000e+00 6.84356837e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49914553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480371743 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:56.81, Y:6.84, Z:0.02 [[ 9.60965945e-01 -2.76666681e-01 0.00000000e+00 5.68126164e+01] [ 2.76666681e-01 9.60965945e-01 0.00000000e+00 6.84343268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78748131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.510371743 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:56.84, Y:6.85, Z:0.02 [[ 9.60939843e-01 -2.76757329e-01 0.00000000e+00 5.68443210e+01] [ 2.76757329e-01 9.60939843e-01 0.00000000e+00 6.85087865e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72264508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540371743 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:56.85, Y:6.87, Z:0.02 [[ 9.57796821e-01 -2.87446082e-01 0.00000000e+00 5.68523809e+01] [ 2.87446082e-01 9.57796821e-01 0.00000000e+00 6.86830990e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26197809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.570371743 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:56.90, Y:6.87, Z:0.02 [[ 9.59990252e-01 -2.80033420e-01 0.00000000e+00 5.68986590e+01] [ 2.80033420e-01 9.59990252e-01 0.00000000e+00 6.86901164e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85920585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600371743000004 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:56.93, Y:6.88, Z:0.02 [[ 9.59102495e-01 -2.83059011e-01 0.00000000e+00 5.69258375e+01] [ 2.83059011e-01 9.59102495e-01 0.00000000e+00 6.87829838e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92527947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.630371743 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:56.96, Y:6.89, Z:0.02 [[ 9.59019353e-01 -2.83340575e-01 0.00000000e+00 5.69563787e+01] [ 2.83340575e-01 9.59019353e-01 0.00000000e+00 6.88630276e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92527947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660371743 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:56.99, Y:6.90, Z:0.02 [[ 9.58313842e-01 -2.85717658e-01 0.00000000e+00 5.69880472e+01] [ 2.85717658e-01 9.58313842e-01 0.00000000e+00 6.89544411e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98320138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.690371743 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:57.02, Y:6.90, Z:0.02 [[ 9.58154708e-01 -2.86250860e-01 0.00000000e+00 5.70175217e+01] [ 2.86250860e-01 9.58154708e-01 0.00000000e+00 6.90392854e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92228209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720371743 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:57.03, Y:6.92, Z:0.02 [[ 9.55474040e-01 -2.95075175e-01 0.00000000e+00 5.70331767e+01] [ 2.95075175e-01 9.55474040e-01 0.00000000e+00 6.91908461e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23171470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.750371743 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:57.08, Y:6.92, Z:0.02 [[ 9.57138075e-01 -2.89632016e-01 0.00000000e+00 5.70782119e+01] [ 2.89632016e-01 9.57138075e-01 0.00000000e+00 6.92101097e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91286128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780371743 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:57.11, Y:6.93, Z:0.02 [[ 9.56267284e-01 -2.92494241e-01 0.00000000e+00 5.71083445e+01] [ 2.92494241e-01 9.56267284e-01 0.00000000e+00 6.92954918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95766755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.810371743 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:57.14, Y:6.94, Z:0.02 [[ 9.55778592e-01 -2.94087202e-01 0.00000000e+00 5.71401445e+01] [ 2.94087202e-01 9.55778592e-01 0.00000000e+00 6.93728696e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81309786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840371743 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:57.17, Y:6.95, Z:0.02 [[ 9.54159727e-01 -2.99297870e-01 0.00000000e+00 5.71689936e+01] [ 2.99297870e-01 9.54159727e-01 0.00000000e+00 6.94637119e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96744317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.870371743 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:57.20, Y:6.95, Z:0.02 [[ 9.53666153e-01 -3.00866862e-01 0.00000000e+00 5.71989233e+01] [ 3.00866862e-01 9.53666153e-01 0.00000000e+00 6.95449495e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90741929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900371743 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:57.23, Y:6.96, Z:0.02 [[ 9.52921979e-01 -3.03215604e-01 0.00000000e+00 5.72307790e+01] [ 3.03215604e-01 9.52921979e-01 0.00000000e+00 6.96265855e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86995034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.930371743 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:57.26, Y:6.97, Z:0.02 [[ 9.51363802e-01 -3.08069661e-01 0.00000000e+00 5.72608613e+01] [ 3.08069661e-01 9.51363802e-01 0.00000000e+00 6.97233182e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92383075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960371743 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:57.29, Y:6.98, Z:0.02 [[ 9.51001755e-01 -3.09185481e-01 0.00000000e+00 5.72898766e+01] [ 3.09185481e-01 9.51001755e-01 0.00000000e+00 6.98114600e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86775146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.990371743 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:57.32, Y:6.99, Z:0.02 [[ 9.50816404e-01 -3.09755009e-01 0.00000000e+00 5.73220036e+01] [ 3.09755009e-01 9.50816404e-01 0.00000000e+00 6.99038006e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76678819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020371743 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:57.35, Y:7.00, Z:0.02 [[ 9.50686731e-01 -3.10152769e-01 0.00000000e+00 5.73537136e+01] [ 3.10152769e-01 9.50686731e-01 0.00000000e+00 7.00051644e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67090053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.050371743 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:57.38, Y:7.01, Z:0.02 [[ 9.50433312e-01 -3.10928479e-01 0.00000000e+00 5.73836366e+01] [ 3.10928479e-01 9.50433312e-01 0.00000000e+00 7.01052501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76127828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080371743 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:57.42, Y:7.02, Z:0.01 [[ 9.51662911e-01 -3.07144436e-01 0.00000000e+00 5.74181196e+01] [ 3.07144436e-01 9.51662911e-01 0.00000000e+00 7.01729698e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32348732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.110371743 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:57.44, Y:7.03, Z:0.02 [[ 9.50555440e-01 -3.10554914e-01 0.00000000e+00 5.74434884e+01] [ 3.10554914e-01 9.50555440e-01 0.00000000e+00 7.02879248e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74742970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140371743 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:57.48, Y:7.04, Z:0.02 [[ 9.50592400e-01 -3.10441765e-01 0.00000000e+00 5.74761376e+01] [ 3.10441765e-01 9.50592400e-01 0.00000000e+00 7.03839604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67863836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.170371743 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:57.51, Y:7.05, Z:0.02 [[ 9.50519571e-01 -3.10664682e-01 0.00000000e+00 5.75058168e+01] [ 3.10664682e-01 9.50519571e-01 0.00000000e+00 7.04716401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72008299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200371743 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:57.53, Y:7.06, Z:0.02 [[ 9.50261681e-01 -3.11452626e-01 0.00000000e+00 5.75339757e+01] [ 3.11452626e-01 9.50261681e-01 0.00000000e+00 7.05593591e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82986369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.230371743 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:57.57, Y:7.07, Z:0.02 [[ 9.50270284e-01 -3.11426376e-01 0.00000000e+00 5.75667396e+01] [ 3.11426376e-01 9.50270284e-01 0.00000000e+00 7.06580239e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80602558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260371743 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:57.60, Y:7.08, Z:0.02 [[ 9.50086602e-01 -3.11986297e-01 0.00000000e+00 5.75974221e+01] [ 3.11986297e-01 9.50086602e-01 0.00000000e+00 7.07533686e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89368789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.290371743 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:57.63, Y:7.08, Z:0.02 [[ 9.50422170e-01 -3.10962535e-01 0.00000000e+00 5.76292341e+01] [ 3.10962535e-01 9.50422170e-01 0.00000000e+00 7.08376849e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74373838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320371743 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:57.66, Y:7.09, Z:0.02 [[ 9.50548446e-01 -3.10576323e-01 0.00000000e+00 5.76581341e+01] [ 3.10576323e-01 9.50548446e-01 0.00000000e+00 7.09323581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90643678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.350371743000004 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:57.69, Y:7.10, Z:0.02 [[ 9.51677744e-01 -3.07098473e-01 0.00000000e+00 5.76906142e+01] [ 3.07098473e-01 9.51677744e-01 0.00000000e+00 7.10353052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81897018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.380371743 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:57.72, Y:7.11, Z:0.02 [[ 9.52280606e-01 -3.05223930e-01 0.00000000e+00 5.77199870e+01] [ 3.05223930e-01 9.52280606e-01 0.00000000e+00 7.11342063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95272137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.410371743 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:57.75, Y:7.12, Z:0.02 [[ 9.53608826e-01 -3.01048512e-01 0.00000000e+00 5.77530064e+01] [ 3.01048512e-01 9.53608826e-01 0.00000000e+00 7.12268967e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77948721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440371743 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:57.78, Y:7.13, Z:0.02 [[ 9.55901473e-01 -2.93687543e-01 0.00000000e+00 5.77836070e+01] [ 2.93687543e-01 9.55901473e-01 0.00000000e+00 7.13371112e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77891811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.470371743 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:57.80, Y:7.15, Z:0.02 [[ 9.54779890e-01 -2.97313575e-01 0.00000000e+00 5.77990695e+01] [ 2.97313575e-01 9.54779890e-01 0.00000000e+00 7.14887071e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12808798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500371743 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:57.84, Y:7.15, Z:0.02 [[ 9.57620559e-01 -2.88032751e-01 0.00000000e+00 5.78412739e+01] [ 2.88032751e-01 9.57620559e-01 0.00000000e+00 7.15250920e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01227097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.530371743 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:57.87, Y:7.16, Z:0.02 [[ 9.59075934e-01 -2.83148993e-01 0.00000000e+00 5.78728752e+01] [ 2.83148993e-01 9.59075934e-01 0.00000000e+00 7.16266005e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98765581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.560371743 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:57.90, Y:7.17, Z:0.02 [[ 9.59644544e-01 -2.81215839e-01 0.00000000e+00 5.79025377e+01] [ 2.81215839e-01 9.59644544e-01 0.00000000e+00 7.17229768e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14260533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.590371743 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:57.93, Y:7.18, Z:0.02 [[ 9.60186330e-01 -2.79360362e-01 0.00000000e+00 5.79305426e+01] [ 2.79360362e-01 9.60186330e-01 0.00000000e+00 7.18165531e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18643213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620371743 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:57.96, Y:7.19, Z:0.02 [[ 9.61901880e-01 -2.73394905e-01 0.00000000e+00 5.79621547e+01] [ 2.73394905e-01 9.61901880e-01 0.00000000e+00 7.19055045e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76959727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.650371743 meters Centerline goodness : 0.993378 Centerline is valid? [True, True] Translation: X:57.99, Y:7.20, Z:0.02 [[ 9.61777555e-01 -2.73831945e-01 0.00000000e+00 5.79932461e+01] [ 2.73831945e-01 9.61777555e-01 0.00000000e+00 7.20035947e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08447118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680371743 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:58.02, Y:7.21, Z:0.02 [[ 9.62497122e-01 -2.71291891e-01 0.00000000e+00 5.80220805e+01] [ 2.71291891e-01 9.62497122e-01 0.00000000e+00 7.20844918e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87527329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.710371743 meters Centerline goodness : 0.993244 Centerline is valid? [True, True] Translation: X:58.06, Y:7.22, Z:0.02 [[ 9.62540827e-01 -2.71136784e-01 0.00000000e+00 5.80558330e+01] [ 2.71136784e-01 9.62540827e-01 0.00000000e+00 7.21713067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89310854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.740371743 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:58.09, Y:7.23, Z:0.02 [[ 9.62692308e-01 -2.70598447e-01 0.00000000e+00 5.80872804e+01] [ 2.70598447e-01 9.62692308e-01 0.00000000e+00 7.22577207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76840953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.770371743 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:58.12, Y:7.23, Z:0.02 [[ 9.62433190e-01 -2.71518608e-01 0.00000000e+00 5.81192768e+01] [ 2.71518608e-01 9.62433190e-01 0.00000000e+00 7.23417755e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75250518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800371743 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:58.15, Y:7.24, Z:0.02 [[ 9.62201193e-01 -2.72339610e-01 0.00000000e+00 5.81507064e+01] [ 2.72339610e-01 9.62201193e-01 0.00000000e+00 7.24209822e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73642247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.830371743 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:58.18, Y:7.25, Z:0.02 [[ 9.61036539e-01 -2.76421364e-01 0.00000000e+00 5.81814863e+01] [ 2.76421364e-01 9.61036539e-01 0.00000000e+00 7.25012401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93842204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860371743 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:58.21, Y:7.26, Z:0.02 [[ 9.60026949e-01 -2.79907587e-01 0.00000000e+00 5.82129292e+01] [ 2.79907587e-01 9.60026949e-01 0.00000000e+00 7.25799880e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04563108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.890371743 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:58.24, Y:7.27, Z:0.02 [[ 9.59422659e-01 -2.81971917e-01 0.00000000e+00 5.82426471e+01] [ 2.81971917e-01 9.59422659e-01 0.00000000e+00 7.26533699e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07112402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.920371743 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:58.27, Y:7.27, Z:0.02 [[ 9.57294112e-01 -2.89115865e-01 0.00000000e+00 5.82717190e+01] [ 2.89115865e-01 9.57294112e-01 0.00000000e+00 7.27318581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47094372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.950371743 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:58.30, Y:7.28, Z:0.02 [[ 9.55801960e-01 -2.94011248e-01 0.00000000e+00 5.83009284e+01] [ 2.94011248e-01 9.55801960e-01 0.00000000e+00 7.28128462e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48799623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980371743 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:58.33, Y:7.29, Z:0.02 [[ 9.55159723e-01 -2.96091038e-01 0.00000000e+00 5.83344880e+01] [ 2.96091038e-01 9.55159723e-01 0.00000000e+00 7.28794103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48550603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.010371743 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:58.36, Y:7.30, Z:0.02 [[ 9.53957484e-01 -2.99941860e-01 0.00000000e+00 5.83611497e+01] [ 2.99941860e-01 9.53957484e-01 0.00000000e+00 7.29644876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38363434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040371743 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:58.39, Y:7.30, Z:0.02 [[ 9.52693783e-01 -3.03931826e-01 0.00000000e+00 5.83925889e+01] [ 3.03931826e-01 9.52693783e-01 0.00000000e+00 7.30256114e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45988252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.070371743 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:58.42, Y:7.31, Z:0.02 [[ 9.52176411e-01 -3.05548821e-01 0.00000000e+00 5.84226767e+01] [ 3.05548821e-01 9.52176411e-01 0.00000000e+00 7.31004101e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43202050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100371743000004 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:58.45, Y:7.32, Z:0.02 [[ 9.51394538e-01 -3.07974728e-01 0.00000000e+00 5.84513076e+01] [ 3.07974728e-01 9.51394538e-01 0.00000000e+00 7.31830668e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35803799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.130371743 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:58.48, Y:7.33, Z:0.02 [[ 9.51027301e-01 -3.09106895e-01 0.00000000e+00 5.84833541e+01] [ 3.09106895e-01 9.51027301e-01 0.00000000e+00 7.32595622e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40470856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160371743 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:58.51, Y:7.33, Z:0.02 [[ 9.50294102e-01 -3.11353690e-01 0.00000000e+00 5.85132569e+01] [ 3.11353690e-01 9.50294102e-01 0.00000000e+00 7.33352063e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42992700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.190371743 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:58.54, Y:7.34, Z:0.02 [[ 9.49962859e-01 -3.12362877e-01 0.00000000e+00 5.85438687e+01] [ 3.12362877e-01 9.49962859e-01 0.00000000e+00 7.34153803e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46033886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220371743 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:58.57, Y:7.35, Z:0.02 [[ 9.49803209e-01 -3.12847989e-01 0.00000000e+00 5.85749127e+01] [ 3.12847989e-01 9.49803209e-01 0.00000000e+00 7.34988885e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47139065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.250371743 meters Centerline goodness : 0.993292 Centerline is valid? [True, True] Translation: X:58.60, Y:7.36, Z:0.02 [[ 9.50079248e-01 -3.12008688e-01 0.00000000e+00 5.86038173e+01] [ 3.12008688e-01 9.50079248e-01 0.00000000e+00 7.35823945e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24191203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280371743 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:58.64, Y:7.37, Z:0.02 [[ 9.50394457e-01 -3.11047225e-01 0.00000000e+00 5.86356115e+01] [ 3.11047225e-01 9.50394457e-01 0.00000000e+00 7.36695009e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29996335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.310371743 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:58.67, Y:7.38, Z:0.02 [[ 9.50747665e-01 -3.09965930e-01 0.00000000e+00 5.86676717e+01] [ 3.09965930e-01 9.50747665e-01 0.00000000e+00 7.37608167e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25926555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340371743 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:58.70, Y:7.39, Z:0.02 [[ 9.51659468e-01 -3.07155104e-01 0.00000000e+00 5.86960092e+01] [ 3.07155104e-01 9.51659468e-01 0.00000000e+00 7.38614795e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21101757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.370371743 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:58.73, Y:7.40, Z:0.02 [[ 9.52150854e-01 -3.05628452e-01 0.00000000e+00 5.87258981e+01] [ 3.05628452e-01 9.52150854e-01 0.00000000e+00 7.39539616e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15309929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400371743 meters Centerline goodness : 0.993804 Centerline is valid? [True, True] Translation: X:58.76, Y:7.40, Z:0.02 [[ 9.52753818e-01 -3.03743580e-01 0.00000000e+00 5.87573732e+01] [ 3.03743580e-01 9.52753818e-01 0.00000000e+00 7.40430818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09948363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.430371743 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:58.79, Y:7.41, Z:0.02 [[ 9.53824923e-01 -3.00363139e-01 0.00000000e+00 5.87895346e+01] [ 3.00363139e-01 9.53824923e-01 0.00000000e+00 7.41353554e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25826514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460371743 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:58.82, Y:7.42, Z:0.02 [[ 9.54222086e-01 -2.99098997e-01 0.00000000e+00 5.88209171e+01] [ 2.99098997e-01 9.54222086e-01 0.00000000e+00 7.42273197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31299700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.490371743 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:58.85, Y:7.43, Z:0.02 [[ 9.54230329e-01 -2.99072699e-01 0.00000000e+00 5.88532945e+01] [ 2.99072699e-01 9.54230329e-01 0.00000000e+00 7.43144211e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31299700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520371743 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:58.88, Y:7.44, Z:0.02 [[ 9.54731223e-01 -2.97469818e-01 0.00000000e+00 5.88828881e+01] [ 2.97469818e-01 9.54731223e-01 0.00000000e+00 7.44032284e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33773418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.550371743 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:58.92, Y:7.45, Z:0.03 [[ 9.55982584e-01 -2.93423411e-01 0.00000000e+00 5.89165759e+01] [ 2.93423411e-01 9.55982584e-01 0.00000000e+00 7.45048410e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53863474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580371743 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:58.95, Y:7.46, Z:0.03 [[ 9.56149391e-01 -2.92879398e-01 0.00000000e+00 5.89462715e+01] [ 2.92879398e-01 9.56149391e-01 0.00000000e+00 7.46095296e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58988111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.610371743 meters Centerline goodness : 0.993361 Centerline is valid? [True, True] Translation: X:58.98, Y:7.47, Z:0.02 [[ 9.57228792e-01 -2.89332057e-01 0.00000000e+00 5.89781460e+01] [ 2.89332057e-01 9.57228792e-01 0.00000000e+00 7.46927708e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40986355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640371743 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:59.01, Y:7.48, Z:0.03 [[ 9.57207434e-01 -2.89402711e-01 0.00000000e+00 5.90075168e+01] [ 2.89402711e-01 9.57207434e-01 0.00000000e+00 7.47965581e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65787171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.670371743 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:59.04, Y:7.49, Z:0.03 [[ 9.58325648e-01 -2.85678056e-01 0.00000000e+00 5.90391660e+01] [ 2.85678056e-01 9.58325648e-01 0.00000000e+00 7.48895009e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63928534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700371743 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:59.07, Y:7.50, Z:0.02 [[ 9.59166613e-01 -2.82841665e-01 0.00000000e+00 5.90714132e+01] [ 2.82841665e-01 9.59166613e-01 0.00000000e+00 7.49695928e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33594024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.730371743 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:59.10, Y:7.51, Z:0.02 [[ 9.60062849e-01 -2.79784426e-01 0.00000000e+00 5.91003020e+01] [ 2.79784426e-01 9.60062849e-01 0.00000000e+00 7.50641330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28780300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760371743 meters Centerline goodness : 0.992652 Centerline is valid? [True, True] Translation: X:59.13, Y:7.52, Z:0.02 [[ 9.60314738e-01 -2.78918635e-01 0.00000000e+00 5.91321594e+01] [ 2.78918635e-01 9.60314738e-01 0.00000000e+00 7.51532648e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29174744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.790371743 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:59.17, Y:7.52, Z:0.02 [[ 9.60829262e-01 -2.77140993e-01 0.00000000e+00 5.91652269e+01] [ 2.77140993e-01 9.60829262e-01 0.00000000e+00 7.52386151e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23874784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820371743 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:59.19, Y:7.53, Z:0.02 [[ 9.60760434e-01 -2.77379504e-01 0.00000000e+00 5.91938554e+01] [ 2.77379504e-01 9.60760434e-01 0.00000000e+00 7.53243302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29592694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.850371743000004 meters Centerline goodness : 0.992129 Centerline is valid? [True, True] Translation: X:59.22, Y:7.54, Z:0.02 [[ 9.61045457e-01 -2.76390356e-01 0.00000000e+00 5.92226114e+01] [ 2.76390356e-01 9.61045457e-01 0.00000000e+00 7.54071565e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42833563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.880371743 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:59.25, Y:7.55, Z:0.02 [[ 9.61621540e-01 -2.74379325e-01 0.00000000e+00 5.92532652e+01] [ 2.74379325e-01 9.61621540e-01 0.00000000e+00 7.54861345e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37918305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.910371743 meters Centerline goodness : 0.992625 Centerline is valid? [True, True] Translation: X:59.28, Y:7.56, Z:0.03 [[ 9.61483935e-01 -2.74861132e-01 0.00000000e+00 5.92813568e+01] [ 2.74861132e-01 9.61483935e-01 0.00000000e+00 7.55846277e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74884506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940371743 meters Centerline goodness : 0.991760 Centerline is valid? [True, True] Translation: X:59.31, Y:7.57, Z:0.03 [[ 9.61941573e-01 -2.73255210e-01 0.00000000e+00 5.93122479e+01] [ 2.73255210e-01 9.61941573e-01 0.00000000e+00 7.56590394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73237240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.970371743 meters Centerline goodness : 0.992397 Centerline is valid? [True, True] Translation: X:59.33, Y:7.58, Z:0.03 [[ 9.61161590e-01 -2.75986227e-01 0.00000000e+00 5.93347830e+01] [ 2.75986227e-01 9.61161590e-01 0.00000000e+00 7.57635196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72466337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000371743 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:59.37, Y:7.58, Z:0.03 [[ 9.61609186e-01 -2.74422617e-01 0.00000000e+00 5.93676846e+01] [ 2.74422617e-01 9.61609186e-01 0.00000000e+00 7.58279730e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72288992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.030371743 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:59.41, Y:7.59, Z:0.03 [[ 9.62875283e-01 -2.69946640e-01 0.00000000e+00 5.94060354e+01] [ 2.69946640e-01 9.62875283e-01 0.00000000e+00 7.58606206e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70184645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.060371743 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:59.44, Y:7.59, Z:0.02 [[ 9.63275494e-01 -2.68515031e-01 0.00000000e+00 5.94388845e+01] [ 2.68515031e-01 9.63275494e-01 0.00000000e+00 7.59194452e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41466887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.090371743 meters Centerline goodness : 0.992332 Centerline is valid? [True, True] Translation: X:59.47, Y:7.60, Z:0.02 [[ 9.62896148e-01 -2.69872207e-01 0.00000000e+00 5.94682583e+01] [ 2.69872207e-01 9.62896148e-01 0.00000000e+00 7.59926868e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46097109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120371743 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:59.49, Y:7.61, Z:0.03 [[ 9.60815829e-01 -2.77187559e-01 0.00000000e+00 5.94901962e+01] [ 2.77187559e-01 9.60815829e-01 0.00000000e+00 7.60860310e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79116178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.150371743 meters Centerline goodness : 0.993295 Centerline is valid? [True, True] Translation: X:59.53, Y:7.61, Z:0.02 [[ 9.62066727e-01 -2.72814247e-01 0.00000000e+00 5.95329819e+01] [ 2.72814247e-01 9.62066727e-01 0.00000000e+00 7.60927224e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33610778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180371743 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:59.55, Y:7.62, Z:0.03 [[ 9.59362915e-01 -2.82175119e-01 0.00000000e+00 5.95512531e+01] [ 2.82175119e-01 9.59362915e-01 0.00000000e+00 7.62066613e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72469069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.210371743 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:59.60, Y:7.62, Z:0.02 [[ 9.59473844e-01 -2.81797699e-01 0.00000000e+00 5.95950798e+01] [ 2.81797699e-01 9.59473844e-01 0.00000000e+00 7.61876911e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05439890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.240371743 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:59.63, Y:7.63, Z:0.02 [[ 9.58272448e-01 -2.85856459e-01 0.00000000e+00 5.96271267e+01] [ 2.85856459e-01 9.58272448e-01 0.00000000e+00 7.62545764e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08468785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.270371743 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:59.66, Y:7.63, Z:0.02 [[ 9.57325153e-01 -2.89013065e-01 0.00000000e+00 5.96584434e+01] [ 2.89013065e-01 9.57325153e-01 0.00000000e+00 7.63198249e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07480991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300371743 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:59.69, Y:7.64, Z:0.02 [[ 9.54711422e-01 -2.97533361e-01 0.00000000e+00 5.96854018e+01] [ 2.97533361e-01 9.54711422e-01 0.00000000e+00 7.63839197e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36618694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.330371743 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:59.72, Y:7.64, Z:0.02 [[ 9.54098591e-01 -2.99492703e-01 0.00000000e+00 5.97191212e+01] [ 2.99492703e-01 9.54098591e-01 0.00000000e+00 7.64484361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20397647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360371743 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:59.75, Y:7.65, Z:0.02 [[ 9.53683035e-01 -3.00813345e-01 0.00000000e+00 5.97533588e+01] [ 3.00813345e-01 9.53683035e-01 0.00000000e+00 7.65016826e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05567364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.390371743 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:59.78, Y:7.66, Z:0.02 [[ 9.52182157e-01 -3.05530914e-01 0.00000000e+00 5.97787772e+01] [ 3.05530914e-01 9.52182157e-01 0.00000000e+00 7.65770701e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32169923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.420371743 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:59.81, Y:7.66, Z:0.02 [[ 9.50919452e-01 -3.09438518e-01 0.00000000e+00 5.98113317e+01] [ 3.09438518e-01 9.50919452e-01 0.00000000e+00 7.66254982e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42709846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.450371743 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:59.84, Y:7.67, Z:0.02 [[ 9.50847297e-01 -3.09660164e-01 0.00000000e+00 5.98436606e+01] [ 3.09660164e-01 9.50847297e-01 0.00000000e+00 7.66862983e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44262102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480371743 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:59.88, Y:7.68, Z:0.03 [[ 9.50404879e-01 -3.11015380e-01 0.00000000e+00 5.98750735e+01] [ 3.11015380e-01 9.50404879e-01 0.00000000e+00 7.67602454e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55025959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.510371743 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:59.90, Y:7.69, Z:0.03 [[ 9.48478531e-01 -3.16841406e-01 0.00000000e+00 5.98956812e+01] [ 3.16841406e-01 9.48478531e-01 0.00000000e+00 7.68754240e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89543436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540371743 meters Centerline goodness : 0.993484 Centerline is valid? [True, True] Translation: X:59.94, Y:7.69, Z:0.03 [[ 9.50229528e-01 -3.11550710e-01 0.00000000e+00 5.99391883e+01] [ 3.11550710e-01 9.50229528e-01 0.00000000e+00 7.68804017e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51063772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.570371743 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:59.97, Y:7.69, Z:0.02 [[ 9.49971218e-01 -3.12337454e-01 0.00000000e+00 5.99682002e+01] [ 3.12337454e-01 9.49971218e-01 0.00000000e+00 7.69496971e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48410637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.600371743 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:60.00, Y:7.70, Z:0.03 [[ 9.49417082e-01 -3.14017840e-01 0.00000000e+00 5.99978703e+01] [ 3.14017840e-01 9.49417082e-01 0.00000000e+00 7.70313874e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57923381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.630371743 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:60.03, Y:7.71, Z:0.02 [[ 9.49622585e-01 -3.13395829e-01 0.00000000e+00 6.00302296e+01] [ 3.13395829e-01 9.49622585e-01 0.00000000e+00 7.70974774e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38692186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660371743 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:60.06, Y:7.72, Z:0.02 [[ 9.49959356e-01 -3.12373530e-01 0.00000000e+00 6.00587614e+01] [ 3.12373530e-01 9.49959356e-01 0.00000000e+00 7.71805289e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30900343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.690371743 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:60.09, Y:7.73, Z:0.02 [[ 9.50352870e-01 -3.11174265e-01 0.00000000e+00 6.00903065e+01] [ 3.11174265e-01 9.50352870e-01 0.00000000e+00 7.72660345e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28188211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720371743 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:60.11, Y:7.74, Z:0.02 [[ 9.50285234e-01 -3.11380756e-01 0.00000000e+00 6.01109187e+01] [ 3.11380756e-01 9.50285234e-01 0.00000000e+00 7.73892134e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30140350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.750371743 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:60.16, Y:7.74, Z:0.02 [[ 9.54265109e-01 -2.98961705e-01 0.00000000e+00 6.01611415e+01] [ 2.98961705e-01 9.54265109e-01 0.00000000e+00 7.74001766e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74979177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780371743 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:60.17, Y:7.76, Z:0.03 [[ 9.51782928e-01 -3.06772323e-01 0.00000000e+00 6.01690869e+01] [ 3.06772323e-01 9.51782928e-01 0.00000000e+00 7.75666075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61357797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.810371743 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:60.20, Y:7.77, Z:0.03 [[ 9.52801275e-01 -3.03594682e-01 0.00000000e+00 6.02000745e+01] [ 3.03594682e-01 9.52801275e-01 0.00000000e+00 7.76598233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66103222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840371743 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:60.25, Y:7.77, Z:0.02 [[ 9.57091386e-01 -2.89786264e-01 0.00000000e+00 6.02500682e+01] [ 2.89786264e-01 9.57091386e-01 0.00000000e+00 7.76683302e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02448721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.870371743 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:60.28, Y:7.78, Z:0.02 [[ 9.59017956e-01 -2.83345302e-01 0.00000000e+00 6.02805482e+01] [ 2.83345302e-01 9.59017956e-01 0.00000000e+00 7.77675545e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14125689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900371743 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:60.31, Y:7.79, Z:0.02 [[ 9.59832533e-01 -2.80573536e-01 0.00000000e+00 6.03098565e+01] [ 2.80573536e-01 9.59832533e-01 0.00000000e+00 7.78557052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19252295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.930371743 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:60.34, Y:7.80, Z:0.02 [[ 9.61091578e-01 -2.76229938e-01 0.00000000e+00 6.03418904e+01] [ 2.76229938e-01 9.61091578e-01 0.00000000e+00 7.79535011e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26638942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960371743 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:60.37, Y:7.80, Z:0.02 [[ 9.61294134e-01 -2.75524205e-01 0.00000000e+00 6.03699729e+01] [ 2.75524205e-01 9.61294134e-01 0.00000000e+00 7.80454672e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29063936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.990371743 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:60.40, Y:7.81, Z:0.02 [[ 9.61489058e-01 -2.74843213e-01 0.00000000e+00 6.04010249e+01] [ 2.74843213e-01 9.61489058e-01 0.00000000e+00 7.81365987e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22037107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020371743 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:60.41, Y:7.83, Z:0.03 [[ 9.57941153e-01 -2.86964715e-01 0.00000000e+00 6.04068356e+01] [ 2.86964715e-01 9.57941153e-01 0.00000000e+00 7.83124317e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90961648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.050371743 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:60.46, Y:7.83, Z:0.02 [[ 9.61486345e-01 -2.74852703e-01 0.00000000e+00 6.04610172e+01] [ 2.74852703e-01 9.61486345e-01 0.00000000e+00 7.82876382e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98875493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080371743 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:60.49, Y:7.84, Z:0.02 [[ 9.60127536e-01 -2.79562364e-01 0.00000000e+00 6.04868583e+01] [ 2.79562364e-01 9.60127536e-01 0.00000000e+00 7.83823934e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05849202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.110371743 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:60.50, Y:7.85, Z:0.03 [[ 9.55529232e-01 -2.94896400e-01 0.00000000e+00 6.04966045e+01] [ 2.94896400e-01 9.55529232e-01 0.00000000e+00 7.85329670e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91512008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140371743 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:60.55, Y:7.85, Z:0.02 [[ 9.58090692e-01 -2.86465053e-01 0.00000000e+00 6.05475792e+01] [ 2.86465053e-01 9.58090692e-01 0.00000000e+00 7.85114760e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11375518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.170371743 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:60.58, Y:7.86, Z:0.02 [[ 9.57127750e-01 -2.89666137e-01 0.00000000e+00 6.05782589e+01] [ 2.89666137e-01 9.57127750e-01 0.00000000e+00 7.85837871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09995584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200371743 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:60.61, Y:7.86, Z:0.02 [[ 9.55255979e-01 -2.95780350e-01 0.00000000e+00 6.06117659e+01] [ 2.95780350e-01 9.55255979e-01 0.00000000e+00 7.86428096e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97846592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.230371743 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:60.64, Y:7.87, Z:0.02 [[ 9.53566091e-01 -3.01183849e-01 0.00000000e+00 6.06375927e+01] [ 3.01183849e-01 9.53566091e-01 0.00000000e+00 7.87260215e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02617507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260371743 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:60.65, Y:7.89, Z:0.03 [[ 9.49400475e-01 -3.14068046e-01 0.00000000e+00 6.06472139e+01] [ 3.14068046e-01 9.49400475e-01 0.00000000e+00 7.88814207e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78253940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.290371743 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:60.69, Y:7.89, Z:0.02 [[ 9.50622592e-01 -3.10349300e-01 0.00000000e+00 6.06944229e+01] [ 3.10349300e-01 9.50622592e-01 0.00000000e+00 7.88660996e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11903202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320371743 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:60.72, Y:7.89, Z:0.02 [[ 9.49949289e-01 -3.12404144e-01 0.00000000e+00 6.07237302e+01] [ 3.12404144e-01 9.49949289e-01 0.00000000e+00 7.89426727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06943939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.350371743 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:60.75, Y:7.90, Z:0.02 [[ 9.48780106e-01 -3.15937193e-01 0.00000000e+00 6.07545210e+01] [ 3.15937193e-01 9.48780106e-01 0.00000000e+00 7.90226355e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10473129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.380371743 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:60.78, Y:7.91, Z:0.02 [[ 9.47787381e-01 -3.18902932e-01 0.00000000e+00 6.07827865e+01] [ 3.18902932e-01 9.47787381e-01 0.00000000e+00 7.91236137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26746054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.410371743 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:60.81, Y:7.92, Z:0.02 [[ 9.47676013e-01 -3.19233731e-01 0.00000000e+00 6.08130805e+01] [ 3.19233731e-01 9.47676013e-01 0.00000000e+00 7.92120292e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26746054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440371743 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:60.84, Y:7.93, Z:0.02 [[ 9.47385165e-01 -3.20095843e-01 0.00000000e+00 6.08417040e+01] [ 3.20095843e-01 9.47385165e-01 0.00000000e+00 7.93031986e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36716980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.470371743 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:60.87, Y:7.94, Z:0.02 [[ 9.47496916e-01 -3.19764905e-01 0.00000000e+00 6.08725471e+01] [ 3.19764905e-01 9.47496916e-01 0.00000000e+00 7.93904339e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39268339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500371743 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:60.89, Y:7.95, Z:0.03 [[ 9.45474412e-01 -3.25696385e-01 0.00000000e+00 6.08888039e+01] [ 3.25696385e-01 9.45474412e-01 0.00000000e+00 7.95389476e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99630392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.530371743 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:60.94, Y:7.95, Z:0.02 [[ 9.48619335e-01 -3.16419590e-01 0.00000000e+00 6.09354595e+01] [ 3.16419590e-01 9.48619335e-01 0.00000000e+00 7.95388569e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27581640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.560371743 meters Centerline goodness : 0.994531 Centerline is valid? [True, True] Translation: X:60.96, Y:7.96, Z:0.02 [[ 9.47747725e-01 -3.19020766e-01 0.00000000e+00 6.09609471e+01] [ 3.19020766e-01 9.47747725e-01 0.00000000e+00 7.96470184e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36682373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.590371743 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:60.98, Y:7.98, Z:0.03 [[ 9.46107414e-01 -3.23852993e-01 0.00000000e+00 6.09789942e+01] [ 3.23852993e-01 9.46107414e-01 0.00000000e+00 7.98018109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79289670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620371743 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:61.01, Y:7.99, Z:0.03 [[ 9.46396654e-01 -3.23006770e-01 0.00000000e+00 6.10093895e+01] [ 3.23006770e-01 9.46396654e-01 0.00000000e+00 7.98948148e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67294006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.650371743 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:61.04, Y:8.00, Z:0.03 [[ 9.47015911e-01 -3.21186652e-01 0.00000000e+00 6.10405624e+01] [ 3.21186652e-01 9.47015911e-01 0.00000000e+00 7.99878642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51233018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680371743 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:61.07, Y:8.01, Z:0.02 [[ 9.47364200e-01 -3.20157887e-01 0.00000000e+00 6.10726729e+01] [ 3.20157887e-01 9.47364200e-01 0.00000000e+00 8.00801484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41321939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.710371743 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:61.10, Y:8.02, Z:0.02 [[ 9.47825772e-01 -3.18788810e-01 0.00000000e+00 6.11042344e+01] [ 3.18788810e-01 9.47825772e-01 0.00000000e+00 8.01674159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44892042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.740371743 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:61.14, Y:8.03, Z:0.03 [[ 9.48721864e-01 -3.16112045e-01 0.00000000e+00 6.11362883e+01] [ 3.16112045e-01 9.48721864e-01 0.00000000e+00 8.02607034e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50265746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.770371743 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:61.17, Y:8.04, Z:0.03 [[ 9.49237887e-01 -3.14559110e-01 0.00000000e+00 6.11676353e+01] [ 3.14559110e-01 9.49237887e-01 0.00000000e+00 8.03537456e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54668365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800371743 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:61.20, Y:8.04, Z:0.03 [[ 9.49879862e-01 -3.12615175e-01 0.00000000e+00 6.11996026e+01] [ 3.12615175e-01 9.49879862e-01 0.00000000e+00 8.04485370e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60835887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.830371743 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:61.23, Y:8.05, Z:0.03 [[ 9.50548532e-01 -3.10576058e-01 0.00000000e+00 6.12305127e+01] [ 3.10576058e-01 9.50548532e-01 0.00000000e+00 8.05381871e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57865590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860371743 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:61.26, Y:8.06, Z:0.03 [[ 9.51808009e-01 -3.06694495e-01 0.00000000e+00 6.12623136e+01] [ 3.06694495e-01 9.51808009e-01 0.00000000e+00 8.06291550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60963385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.890371743 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:61.29, Y:8.07, Z:0.03 [[ 9.52616780e-01 -3.04173093e-01 0.00000000e+00 6.12935755e+01] [ 3.04173093e-01 9.52616780e-01 0.00000000e+00 8.07144105e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58397716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.920371743 meters Centerline goodness : 0.993804 Centerline is valid? [True, True] Translation: X:61.33, Y:8.08, Z:0.03 [[ 9.53296468e-01 -3.02036164e-01 0.00000000e+00 6.13253514e+01] [ 3.02036164e-01 9.53296468e-01 0.00000000e+00 8.08053222e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60323276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.950371743 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:61.36, Y:8.09, Z:0.03 [[ 9.54447906e-01 -2.98377605e-01 0.00000000e+00 6.13561493e+01] [ 2.98377605e-01 9.54447906e-01 0.00000000e+00 8.08930639e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63138979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980371743 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:61.39, Y:8.10, Z:0.03 [[ 9.54769015e-01 -2.97348495e-01 0.00000000e+00 6.13880607e+01] [ 2.97348495e-01 9.54769015e-01 0.00000000e+00 8.09825052e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62543039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.010371743 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:61.44, Y:8.10, Z:0.02 [[ 9.58216496e-01 -2.86043958e-01 0.00000000e+00 6.14366550e+01] [ 2.86043958e-01 9.58216496e-01 0.00000000e+00 8.09755471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90072709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040371743 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:61.45, Y:8.11, Z:0.03 [[ 9.55105930e-01 -2.96264515e-01 0.00000000e+00 6.14481809e+01] [ 2.96264515e-01 9.55105930e-01 0.00000000e+00 8.11371484e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64122260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.070371743 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:61.48, Y:8.12, Z:0.03 [[ 9.55145031e-01 -2.96138430e-01 0.00000000e+00 6.14799091e+01] [ 2.96138430e-01 9.55145031e-01 0.00000000e+00 8.12170251e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70500848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.100371743 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:61.51, Y:8.13, Z:0.03 [[ 9.54965667e-01 -2.96716322e-01 0.00000000e+00 6.15108974e+01] [ 2.96716322e-01 9.54965667e-01 0.00000000e+00 8.12940159e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71631069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.130371743 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:61.56, Y:8.13, Z:0.02 [[ 9.57680222e-01 -2.87834314e-01 0.00000000e+00 6.15624094e+01] [ 2.87834314e-01 9.57680222e-01 0.00000000e+00 8.12703799e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91861643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160371743 meters Centerline goodness : 0.993068 Centerline is valid? [True, True] Translation: X:61.59, Y:8.14, Z:0.02 [[ 9.56742502e-01 -2.90936049e-01 0.00000000e+00 6.15901148e+01] [ 2.90936049e-01 9.56742502e-01 0.00000000e+00 8.13558053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89679477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.190371743 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:61.62, Y:8.14, Z:0.02 [[ 9.55059475e-01 -2.96414235e-01 0.00000000e+00 6.16194213e+01] [ 2.96414235e-01 9.55059475e-01 0.00000000e+00 8.14456656e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89753610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220371743 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:61.65, Y:8.15, Z:0.02 [[ 9.53993939e-01 -2.99825890e-01 0.00000000e+00 6.16535604e+01] [ 2.99825890e-01 9.53993939e-01 0.00000000e+00 8.14840724e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59511170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.250371743 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:61.66, Y:8.16, Z:0.02 [[ 9.48901652e-01 -3.15571948e-01 0.00000000e+00 6.16592441e+01] [ 3.15571948e-01 9.48901652e-01 0.00000000e+00 8.16458966e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21459590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280371743 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:61.69, Y:8.17, Z:0.02 [[ 9.47910920e-01 -3.18535535e-01 0.00000000e+00 6.16917019e+01] [ 3.18535535e-01 9.47910920e-01 0.00000000e+00 8.17255065e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36362735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.310371743 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:61.74, Y:8.17, Z:0.02 [[ 9.48138072e-01 -3.17858768e-01 0.00000000e+00 6.17356073e+01] [ 3.17858768e-01 9.48138072e-01 0.00000000e+00 8.17345962e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99053646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340371743 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:61.77, Y:8.18, Z:0.02 [[ 9.47251051e-01 -3.20492506e-01 0.00000000e+00 6.17656499e+01] [ 3.20492506e-01 9.47251051e-01 0.00000000e+00 8.18121894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02220191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.370371743 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:61.80, Y:8.19, Z:0.02 [[ 9.46043723e-01 -3.24039002e-01 0.00000000e+00 6.17966752e+01] [ 3.24039002e-01 9.46043723e-01 0.00000000e+00 8.19039595e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09175488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400371743 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:61.83, Y:8.20, Z:0.02 [[ 9.44808766e-01 -3.27622336e-01 0.00000000e+00 6.18278431e+01] [ 3.27622336e-01 9.44808766e-01 0.00000000e+00 8.19890922e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10228854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.430371743 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:61.86, Y:8.21, Z:0.02 [[ 9.44461137e-01 -3.28623129e-01 0.00000000e+00 6.18572198e+01] [ 3.28623129e-01 9.44461137e-01 0.00000000e+00 8.20755297e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05552296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460371743 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:61.89, Y:8.22, Z:0.02 [[ 9.43917810e-01 -3.30180509e-01 0.00000000e+00 6.18896998e+01] [ 3.30180509e-01 9.43917810e-01 0.00000000e+00 8.21657254e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01795593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.490371743 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:61.92, Y:8.23, Z:0.02 [[ 9.43563474e-01 -3.31191742e-01 0.00000000e+00 6.19187982e+01] [ 3.31191742e-01 9.43563474e-01 0.00000000e+00 8.22597497e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00836638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520371743 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:61.95, Y:8.24, Z:0.02 [[ 9.43560599e-01 -3.31199935e-01 0.00000000e+00 6.19475195e+01] [ 3.31199935e-01 9.43560599e-01 0.00000000e+00 8.23500188e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06618352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.550371743 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:61.97, Y:8.24, Z:0.02 [[ 9.45173298e-01 -3.26569192e-01 0.00000000e+00 6.19741031e+01] [ 3.26569192e-01 9.45173298e-01 0.00000000e+00 8.24481362e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30148003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580371743 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:62.01, Y:8.25, Z:0.02 [[ 9.45882622e-01 -3.24508959e-01 0.00000000e+00 6.20059993e+01] [ 3.24508959e-01 9.45882622e-01 0.00000000e+00 8.25416044e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23265155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.610371743 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:62.05, Y:8.26, Z:0.02 [[ 9.46272613e-01 -3.23369978e-01 0.00000000e+00 6.20451894e+01] [ 3.23369978e-01 9.46272613e-01 0.00000000e+00 8.26411135e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67810558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640371743 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:62.07, Y:8.28, Z:0.02 [[ 9.46302974e-01 -3.23281117e-01 0.00000000e+00 6.20715370e+01] [ 3.23281117e-01 9.46302974e-01 0.00000000e+00 8.27511693e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24031829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.670371743 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:62.10, Y:8.29, Z:0.02 [[ 9.47372903e-01 -3.20132133e-01 0.00000000e+00 6.21033879e+01] [ 3.20132133e-01 9.47372903e-01 0.00000000e+00 8.28502623e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09409103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700371743 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:62.14, Y:8.30, Z:0.02 [[ 9.51205054e-01 -3.08559467e-01 0.00000000e+00 6.21379622e+01] [ 3.08559467e-01 9.51205054e-01 0.00000000e+00 8.29542876e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82850436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.730371743 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:62.15, Y:8.31, Z:0.02 [[ 9.49524932e-01 -3.13691575e-01 0.00000000e+00 6.21479421e+01] [ 3.13691575e-01 9.49524932e-01 0.00000000e+00 8.31270360e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49971377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760371743 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:62.19, Y:8.32, Z:0.02 [[ 9.54659647e-01 -2.97699443e-01 0.00000000e+00 6.21918331e+01] [ 2.97699443e-01 9.54659647e-01 0.00000000e+00 8.31818293e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14337866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.790371743 meters Centerline goodness : 0.992536 Centerline is valid? [True, True] Translation: X:62.22, Y:8.33, Z:0.03 [[ 9.56613361e-01 -2.91360393e-01 0.00000000e+00 6.22160692e+01] [ 2.91360393e-01 9.56613361e-01 0.00000000e+00 8.32693230e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55974527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820371743 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:62.25, Y:8.34, Z:0.02 [[ 9.58659514e-01 -2.84555682e-01 0.00000000e+00 6.22465466e+01] [ 2.84555682e-01 9.58659514e-01 0.00000000e+00 8.33764343e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43116575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.850371743 meters Centerline goodness : 0.993203 Centerline is valid? [True, True] Translation: X:62.28, Y:8.35, Z:0.02 [[ 9.58828096e-01 -2.83987116e-01 0.00000000e+00 6.22824850e+01] [ 2.83987116e-01 9.58828096e-01 0.00000000e+00 8.34835817e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01034453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.880371743 meters Centerline goodness : 0.992896 Centerline is valid? [True, True] Translation: X:62.32, Y:8.36, Z:0.02 [[ 9.59925596e-01 -2.80254972e-01 0.00000000e+00 6.23165577e+01] [ 2.80254972e-01 9.59925596e-01 0.00000000e+00 8.35667092e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77384847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.910371743 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:62.34, Y:8.37, Z:0.02 [[ 9.59655109e-01 -2.81179785e-01 0.00000000e+00 6.23426059e+01] [ 2.81179785e-01 9.59655109e-01 0.00000000e+00 8.36667491e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95240842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940371743 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:62.36, Y:8.38, Z:0.02 [[ 9.57439295e-01 -2.88634713e-01 0.00000000e+00 6.23590619e+01] [ 2.88634713e-01 9.57439295e-01 0.00000000e+00 8.38065571e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24797372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.970371743 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:62.40, Y:8.38, Z:0.02 [[ 9.59509389e-01 -2.81676647e-01 0.00000000e+00 6.24042471e+01] [ 2.81676647e-01 9.59509389e-01 0.00000000e+00 8.38131494e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75969730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000371743 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:62.44, Y:8.39, Z:0.02 [[ 9.59067226e-01 -2.83178489e-01 0.00000000e+00 6.24357666e+01] [ 2.83178489e-01 9.59067226e-01 0.00000000e+00 8.38868104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74235169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.030371743 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:62.47, Y:8.40, Z:0.02 [[ 9.58231162e-01 -2.85994825e-01 0.00000000e+00 6.24659460e+01] [ 2.85994825e-01 9.58231162e-01 0.00000000e+00 8.39550039e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74756462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.060371743 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:62.48, Y:8.41, Z:0.02 [[ 9.55158161e-01 -2.96096079e-01 0.00000000e+00 6.24802073e+01] [ 2.96096079e-01 9.55158161e-01 0.00000000e+00 8.41107413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34524024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.090371743 meters Centerline goodness : 0.992951 Centerline is valid? [True, True] Translation: X:62.53, Y:8.41, Z:0.02 [[ 9.57304403e-01 -2.89081789e-01 0.00000000e+00 6.25275990e+01] [ 2.89081789e-01 9.57304403e-01 0.00000000e+00 8.40932196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75838092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120371743 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:62.54, Y:8.42, Z:0.02 [[ 9.54023468e-01 -2.99731918e-01 0.00000000e+00 6.25395738e+01] [ 2.99731918e-01 9.54023468e-01 0.00000000e+00 8.42438646e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42951183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.150371743 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:62.59, Y:8.42, Z:0.02 [[ 9.56601799e-01 -2.91398351e-01 0.00000000e+00 6.25872209e+01] [ 2.91398351e-01 9.56601799e-01 0.00000000e+00 8.42317103e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69078930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180371743 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:62.62, Y:8.43, Z:0.02 [[ 9.55049109e-01 -2.96447634e-01 0.00000000e+00 6.26184311e+01] [ 2.96447634e-01 9.55049109e-01 0.00000000e+00 8.42990232e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79623155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.210371743 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:62.65, Y:8.44, Z:0.02 [[ 9.54177926e-01 -2.99239846e-01 0.00000000e+00 6.26491608e+01] [ 2.99239846e-01 9.54177926e-01 0.00000000e+00 8.43816080e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79596182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.240371743 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:62.68, Y:8.45, Z:0.02 [[ 9.53315120e-01 -3.01977286e-01 0.00000000e+00 6.26790529e+01] [ 3.01977286e-01 9.53315120e-01 0.00000000e+00 8.44628395e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81368549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.270371743 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:62.71, Y:8.45, Z:0.02 [[ 9.51296163e-01 -3.08278462e-01 0.00000000e+00 6.27094620e+01] [ 3.08278462e-01 9.51296163e-01 0.00000000e+00 8.45357008e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87634139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300371743 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:62.74, Y:8.46, Z:0.02 [[ 9.51198064e-01 -3.08581017e-01 0.00000000e+00 6.27397110e+01] [ 3.08581017e-01 9.51198064e-01 0.00000000e+00 8.46261552e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87634139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.330371743 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:62.77, Y:8.47, Z:0.02 [[ 9.50223942e-01 -3.11567745e-01 0.00000000e+00 6.27690083e+01] [ 3.11567745e-01 9.50223942e-01 0.00000000e+00 8.47081489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88054340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360371743 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:62.80, Y:8.48, Z:0.02 [[ 9.48722547e-01 -3.16109994e-01 0.00000000e+00 6.28016611e+01] [ 3.16109994e-01 9.48722547e-01 0.00000000e+00 8.47808499e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86140943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.390371743 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:62.83, Y:8.49, Z:0.02 [[ 9.47881889e-01 -3.18621914e-01 0.00000000e+00 6.28326164e+01] [ 3.18621914e-01 9.47881889e-01 0.00000000e+00 8.48617201e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86699946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.420371743 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:62.86, Y:8.49, Z:0.02 [[ 9.46343653e-01 -3.23162020e-01 0.00000000e+00 6.28629930e+01] [ 3.23162020e-01 9.46343653e-01 0.00000000e+00 8.49465775e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89398330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.450371743 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:62.88, Y:8.51, Z:0.02 [[ 9.43817147e-01 -3.30468143e-01 0.00000000e+00 6.28812287e+01] [ 3.30468143e-01 9.43817147e-01 0.00000000e+00 8.50811028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34978009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480371743 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:62.92, Y:8.51, Z:0.02 [[ 9.45409534e-01 -3.25884662e-01 0.00000000e+00 6.29211591e+01] [ 3.25884662e-01 9.45409534e-01 0.00000000e+00 8.51139788e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03530935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.510371743 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:62.95, Y:8.52, Z:0.02 [[ 9.45118858e-01 -3.26726712e-01 0.00000000e+00 6.29521442e+01] [ 3.26726712e-01 9.45118858e-01 0.00000000e+00 8.52034516e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10223039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540371743 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:62.98, Y:8.53, Z:0.02 [[ 9.45239357e-01 -3.26377938e-01 0.00000000e+00 6.29828123e+01] [ 3.26377938e-01 9.45239357e-01 0.00000000e+00 8.52860111e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05708695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.570371743 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:63.01, Y:8.54, Z:0.02 [[ 9.45893631e-01 -3.24476869e-01 0.00000000e+00 6.30102671e+01] [ 3.24476869e-01 9.45893631e-01 0.00000000e+00 8.53674181e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92404226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.600371743 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:63.04, Y:8.55, Z:0.02 [[ 9.45446905e-01 -3.25776228e-01 0.00000000e+00 6.30445725e+01] [ 3.25776228e-01 9.45446905e-01 0.00000000e+00 8.54641050e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07541747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.630371743 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:63.07, Y:8.56, Z:0.02 [[ 9.45343758e-01 -3.26075421e-01 0.00000000e+00 6.30740799e+01] [ 3.26075421e-01 9.45343758e-01 0.00000000e+00 8.55518505e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10498682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660371743 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:63.11, Y:8.56, Z:0.02 [[ 9.46099243e-01 -3.23876864e-01 0.00000000e+00 6.31071562e+01] [ 3.23876864e-01 9.46099243e-01 0.00000000e+00 8.56297019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86338569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.690371743 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:63.14, Y:8.57, Z:0.02 [[ 9.46509800e-01 -3.22675066e-01 0.00000000e+00 6.31380148e+01] [ 3.22675066e-01 9.46509800e-01 0.00000000e+00 8.57184948e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82628311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720371743 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:63.16, Y:8.59, Z:0.02 [[ 9.44898801e-01 -3.27362575e-01 0.00000000e+00 6.31565420e+01] [ 3.27362575e-01 9.44898801e-01 0.00000000e+00 8.58501010e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11491537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.750371743 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:63.19, Y:8.59, Z:0.02 [[ 9.45472110e-01 -3.25703068e-01 0.00000000e+00 6.31874646e+01] [ 3.25703068e-01 9.45472110e-01 0.00000000e+00 8.59370636e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08106581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780371743 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:63.23, Y:8.60, Z:0.02 [[ 9.47742300e-01 -3.19036884e-01 0.00000000e+00 6.32272142e+01] [ 3.19036884e-01 9.47742300e-01 0.00000000e+00 8.59838848e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90145904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.810371743 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:63.26, Y:8.61, Z:0.02 [[ 9.49833698e-01 -3.12755410e-01 0.00000000e+00 6.32614296e+01] [ 3.12755410e-01 9.49833698e-01 0.00000000e+00 8.60607804e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62244471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840371743 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:63.29, Y:8.62, Z:0.02 [[ 9.49319990e-01 -3.14311241e-01 0.00000000e+00 6.32877755e+01] [ 3.14311241e-01 9.49319990e-01 0.00000000e+00 8.61664091e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93367672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.870371743 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:63.32, Y:8.63, Z:0.02 [[ 9.51044188e-01 -3.09054934e-01 0.00000000e+00 6.33205729e+01] [ 3.09054934e-01 9.51044188e-01 0.00000000e+00 8.62626604e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80496474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900371743 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:63.35, Y:8.64, Z:0.02 [[ 9.51250544e-01 -3.08419200e-01 0.00000000e+00 6.33459558e+01] [ 3.08419200e-01 9.51250544e-01 0.00000000e+00 8.63591028e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90713208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.930371743 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:63.38, Y:8.65, Z:0.02 [[ 9.51802378e-01 -3.06711970e-01 0.00000000e+00 6.33785447e+01] [ 3.06711970e-01 9.51802378e-01 0.00000000e+00 8.64564939e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90116789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960371743 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:63.40, Y:8.66, Z:0.02 [[ 9.50843777e-01 -3.09670974e-01 0.00000000e+00 6.33955616e+01] [ 3.09670974e-01 9.50843777e-01 0.00000000e+00 8.65963316e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27778772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.990371743 meters Centerline goodness : 0.995835 Centerline is valid? [True, True] Translation: X:63.44, Y:8.66, Z:0.02 [[ 9.54039720e-01 -2.99680185e-01 0.00000000e+00 6.34419147e+01] [ 2.99680185e-01 9.54039720e-01 0.00000000e+00 8.66257200e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80691040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020371743 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:63.47, Y:8.67, Z:0.02 [[ 9.53562178e-01 -3.01196236e-01 0.00000000e+00 6.34662323e+01] [ 3.01196236e-01 9.53562178e-01 0.00000000e+00 8.67262913e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90880997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.050371743 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:63.49, Y:8.68, Z:0.02 [[ 9.53287480e-01 -3.02064529e-01 0.00000000e+00 6.34926781e+01] [ 3.02064529e-01 9.53287480e-01 0.00000000e+00 8.68281550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09976677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080371743 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:63.53, Y:8.69, Z:0.02 [[ 9.53786673e-01 -3.00484580e-01 0.00000000e+00 6.35280966e+01] [ 3.00484580e-01 9.53786673e-01 0.00000000e+00 8.69052663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98469435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.110371743 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:63.54, Y:8.71, Z:0.03 [[ 9.50955693e-01 -3.09327126e-01 0.00000000e+00 6.35422154e+01] [ 3.09327126e-01 9.50955693e-01 0.00000000e+00 8.70544290e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56405006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140371743 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:63.58, Y:8.71, Z:0.02 [[ 9.52391344e-01 -3.04878219e-01 0.00000000e+00 6.35835693e+01] [ 3.04878219e-01 9.52391344e-01 0.00000000e+00 8.70851743e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29981647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.170371743 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:63.62, Y:8.72, Z:0.02 [[ 9.52821653e-01 -3.03530719e-01 0.00000000e+00 6.36171068e+01] [ 3.03530719e-01 9.52821653e-01 0.00000000e+00 8.71553068e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13926383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200371743 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:63.64, Y:8.73, Z:0.02 [[ 9.51343088e-01 -3.08133623e-01 0.00000000e+00 6.36443052e+01] [ 3.08133623e-01 9.51343088e-01 0.00000000e+00 8.72555597e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22902646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.230371743 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:63.66, Y:8.74, Z:0.03 [[ 9.48874577e-01 -3.15653348e-01 0.00000000e+00 6.36616945e+01] [ 3.15653348e-01 9.48874577e-01 0.00000000e+00 8.73912162e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60931986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260371743 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:63.71, Y:8.74, Z:0.02 [[ 9.50694771e-01 -3.10128124e-01 0.00000000e+00 6.37063478e+01] [ 3.10128124e-01 9.50694771e-01 0.00000000e+00 8.74233233e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11161352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.290371743 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:63.74, Y:8.75, Z:0.02 [[ 9.49487908e-01 -3.13803621e-01 0.00000000e+00 6.37373008e+01] [ 3.13803621e-01 9.49487908e-01 0.00000000e+00 8.75037082e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09952029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320371743 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:63.77, Y:8.76, Z:0.02 [[ 9.48800579e-01 -3.15875705e-01 0.00000000e+00 6.37694410e+01] [ 3.15875705e-01 9.48800579e-01 0.00000000e+00 8.75885137e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06567301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.350371743 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:63.79, Y:8.77, Z:0.02 [[ 9.46583673e-01 -3.22458293e-01 0.00000000e+00 6.37932938e+01] [ 3.22458293e-01 9.46583673e-01 0.00000000e+00 8.76949669e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39492764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.380371743 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:63.81, Y:8.78, Z:0.03 [[ 9.43945379e-01 -3.30101684e-01 0.00000000e+00 6.38142765e+01] [ 3.30101684e-01 9.43945379e-01 0.00000000e+00 8.78170437e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56319153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.410371743 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:63.85, Y:8.79, Z:0.02 [[ 9.44921040e-01 -3.27298377e-01 0.00000000e+00 6.38535101e+01] [ 3.27298377e-01 9.44921040e-01 0.00000000e+00 8.78714824e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33014994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440371743 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:63.89, Y:8.80, Z:0.02 [[ 9.44945648e-01 -3.27227326e-01 0.00000000e+00 6.38868476e+01] [ 3.27227326e-01 9.44945648e-01 0.00000000e+00 8.79599683e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19275654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.470371743 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:63.92, Y:8.81, Z:0.02 [[ 9.44978467e-01 -3.27132538e-01 0.00000000e+00 6.39174079e+01] [ 3.27132538e-01 9.44978467e-01 0.00000000e+00 8.80573398e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19215230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500371743 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:63.94, Y:8.82, Z:0.02 [[ 9.43449280e-01 -3.31516901e-01 0.00000000e+00 6.39364808e+01] [ 3.31516901e-01 9.43449280e-01 0.00000000e+00 8.81882630e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42851393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.530371743 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:63.97, Y:8.83, Z:0.02 [[ 9.43723618e-01 -3.30735141e-01 0.00000000e+00 6.39682662e+01] [ 3.30735141e-01 9.43723618e-01 0.00000000e+00 8.82853136e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43808957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.560371743 meters Centerline goodness : 0.994814 Centerline is valid? [True, True] Translation: X:64.00, Y:8.84, Z:0.02 [[ 9.43804491e-01 -3.30504285e-01 0.00000000e+00 6.39992408e+01] [ 3.30504285e-01 9.43804491e-01 0.00000000e+00 8.83783742e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37550261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.590371743 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:64.03, Y:8.85, Z:0.02 [[ 9.43589493e-01 -3.31117606e-01 0.00000000e+00 6.40312053e+01] [ 3.31117606e-01 9.43589493e-01 0.00000000e+00 8.84755022e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42173616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620371743 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:64.06, Y:8.86, Z:0.02 [[ 9.43333210e-01 -3.31847035e-01 0.00000000e+00 6.40627019e+01] [ 3.31847035e-01 9.43333210e-01 0.00000000e+00 8.85758890e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47042250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.650371743 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:64.09, Y:8.87, Z:0.02 [[ 9.43110791e-01 -3.32478625e-01 0.00000000e+00 6.40943033e+01] [ 3.32478625e-01 9.43110791e-01 0.00000000e+00 8.86717739e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43596600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680371743 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:64.12, Y:8.88, Z:0.02 [[ 9.42534337e-01 -3.34109298e-01 0.00000000e+00 6.41237374e+01] [ 3.34109298e-01 9.42534337e-01 0.00000000e+00 8.87621053e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30949205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.710371743 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:64.16, Y:8.89, Z:0.02 [[ 9.42352269e-01 -3.34622476e-01 0.00000000e+00 6.41554266e+01] [ 3.34622476e-01 9.42352269e-01 0.00000000e+00 8.88611489e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33497870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.740371743 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:64.19, Y:8.90, Z:0.02 [[ 9.42262208e-01 -3.34875993e-01 0.00000000e+00 6.41857725e+01] [ 3.34875993e-01 9.42262208e-01 0.00000000e+00 8.89555186e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28689850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.770371743 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:64.22, Y:8.91, Z:0.02 [[ 9.42087853e-01 -3.35366184e-01 0.00000000e+00 6.42172620e+01] [ 3.35366184e-01 9.42087853e-01 0.00000000e+00 8.90586158e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30910299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800371743 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:64.26, Y:8.91, Z:0.02 [[ 9.44029498e-01 -3.29861043e-01 0.00000000e+00 6.42591945e+01] [ 3.29861043e-01 9.44029498e-01 0.00000000e+00 8.91088088e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96262184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.830371743 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:64.29, Y:8.92, Z:0.02 [[ 9.44015890e-01 -3.29899983e-01 0.00000000e+00 6.42902314e+01] [ 3.29899983e-01 9.44015890e-01 0.00000000e+00 8.92118571e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02774738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860371743 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:64.31, Y:8.94, Z:0.02 [[ 9.42207820e-01 -3.35028990e-01 0.00000000e+00 6.43062052e+01] [ 3.35028990e-01 9.42207820e-01 0.00000000e+00 8.93799426e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49294564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.890371743 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:64.35, Y:8.94, Z:0.02 [[ 9.45353400e-01 -3.26047464e-01 0.00000000e+00 6.43512287e+01] [ 3.26047464e-01 9.45353400e-01 0.00000000e+00 8.94185204e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98764092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.920371743 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:64.38, Y:8.95, Z:0.02 [[ 9.45335279e-01 -3.26100001e-01 0.00000000e+00 6.43792627e+01] [ 3.26100001e-01 9.45335279e-01 0.00000000e+00 8.95310773e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08546221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.950371743 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:64.39, Y:8.97, Z:0.03 [[ 9.43483013e-01 -3.31420886e-01 0.00000000e+00 6.43947452e+01] [ 3.31420886e-01 9.43483013e-01 0.00000000e+00 8.96937373e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51292754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980371743 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:64.44, Y:8.98, Z:0.02 [[ 9.47159848e-01 -3.20761940e-01 0.00000000e+00 6.44378484e+01] [ 3.20761940e-01 9.47159848e-01 0.00000000e+00 8.97513550e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00405774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.010371743 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:64.45, Y:8.99, Z:0.02 [[ 9.45389784e-01 -3.25941952e-01 0.00000000e+00 6.44529053e+01] [ 3.25941952e-01 9.45389784e-01 0.00000000e+00 8.99151534e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36493787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040371743 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:64.48, Y:9.00, Z:0.03 [[ 9.46496512e-01 -3.22714043e-01 0.00000000e+00 6.44837384e+01] [ 3.22714043e-01 9.46496512e-01 0.00000000e+00 9.00346329e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51739196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.070371743 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:64.51, Y:9.01, Z:0.02 [[ 9.46956714e-01 -3.21361139e-01 0.00000000e+00 6.45138225e+01] [ 3.21361139e-01 9.46956714e-01 0.00000000e+00 9.01362731e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36759914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.100371743 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:64.56, Y:9.02, Z:0.02 [[ 9.49773533e-01 -3.12938069e-01 0.00000000e+00 6.45563548e+01] [ 3.12938069e-01 9.49773533e-01 0.00000000e+00 9.01841203e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96288755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.130371743 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:64.59, Y:9.03, Z:0.02 [[ 9.50651426e-01 -3.10260964e-01 0.00000000e+00 6.45892621e+01] [ 3.10260964e-01 9.50651426e-01 0.00000000e+00 9.02592750e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69976554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160371743 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:64.62, Y:9.04, Z:0.02 [[ 9.50214211e-01 -3.11597423e-01 0.00000000e+00 6.46193330e+01] [ 3.11597423e-01 9.50214211e-01 0.00000000e+00 9.03641260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68539484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.190371743 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:64.63, Y:9.05, Z:0.02 [[ 9.46909989e-01 -3.21498791e-01 0.00000000e+00 6.46318817e+01] [ 3.21498791e-01 9.46909989e-01 0.00000000e+00 9.05458726e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23782287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220371743 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:64.68, Y:9.06, Z:0.02 [[ 9.50172178e-01 -3.11725572e-01 0.00000000e+00 6.46798363e+01] [ 3.11725572e-01 9.50172178e-01 0.00000000e+00 9.05599140e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50091626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.250371743 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:64.71, Y:9.07, Z:0.02 [[ 9.50005131e-01 -3.12234289e-01 0.00000000e+00 6.47099000e+01] [ 3.12234289e-01 9.50005131e-01 0.00000000e+00 9.06536852e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50091626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280371743 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:64.72, Y:9.08, Z:0.02 [[ 9.46223465e-01 -3.23513763e-01 0.00000000e+00 6.47197693e+01] [ 3.23513763e-01 9.46223465e-01 0.00000000e+00 9.08246969e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16217557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.310371743 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:64.77, Y:9.09, Z:0.02 [[ 9.48725831e-01 -3.16100138e-01 0.00000000e+00 6.47660243e+01] [ 3.16100138e-01 9.48725831e-01 0.00000000e+00 9.08564378e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50325036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340371743 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:64.80, Y:9.10, Z:0.02 [[ 9.48108681e-01 -3.17946425e-01 0.00000000e+00 6.47956342e+01] [ 3.17946425e-01 9.48108681e-01 0.00000000e+00 9.09628506e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54620207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.370371743 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:64.81, Y:9.11, Z:0.02 [[ 9.44927424e-01 -3.27279947e-01 0.00000000e+00 6.48093043e+01] [ 3.27279947e-01 9.44927424e-01 0.00000000e+00 9.11299571e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10185576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400371743 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:64.85, Y:9.12, Z:0.02 [[ 9.47070921e-01 -3.21024409e-01 0.00000000e+00 6.48523590e+01] [ 3.21024409e-01 9.47070921e-01 0.00000000e+00 9.11754432e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73151418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.430371743 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:64.87, Y:9.13, Z:0.02 [[ 9.44556300e-01 -3.28349503e-01 0.00000000e+00 6.48679907e+01] [ 3.28349503e-01 9.44556300e-01 0.00000000e+00 9.13286327e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29073572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460371743 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:64.91, Y:9.14, Z:0.02 [[ 9.47213270e-01 -3.20604149e-01 0.00000000e+00 6.49127992e+01] [ 3.20604149e-01 9.47213270e-01 0.00000000e+00 9.13627784e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72278075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.490371743 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:64.94, Y:9.15, Z:0.02 [[ 9.46990314e-01 -3.21262114e-01 0.00000000e+00 6.49440745e+01] [ 3.21262114e-01 9.46990314e-01 0.00000000e+00 9.14773043e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71725583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520371743 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:64.97, Y:9.16, Z:0.02 [[ 9.46935299e-01 -3.21424236e-01 0.00000000e+00 6.49740591e+01] [ 3.21424236e-01 9.46935299e-01 0.00000000e+00 9.15824674e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64737541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.550371743 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:65.00, Y:9.17, Z:0.02 [[ 9.46386985e-01 -3.23035099e-01 0.00000000e+00 6.50004166e+01] [ 3.23035099e-01 9.46386985e-01 0.00000000e+00 9.17101183e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74568153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580371743 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:65.03, Y:9.18, Z:0.02 [[ 9.46626839e-01 -3.22331551e-01 0.00000000e+00 6.50318016e+01] [ 3.22331551e-01 9.46626839e-01 0.00000000e+00 9.18085352e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66565632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.610371743 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:65.06, Y:9.19, Z:0.02 [[ 9.46749929e-01 -3.21969830e-01 0.00000000e+00 6.50606543e+01] [ 3.21969830e-01 9.46749929e-01 0.00000000e+00 9.19127564e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69981583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640371743 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:65.08, Y:9.21, Z:0.02 [[ 9.45206934e-01 -3.26471823e-01 0.00000000e+00 6.50771146e+01] [ 3.26471823e-01 9.45206934e-01 0.00000000e+00 9.20687659e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23135378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.670371743 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:65.11, Y:9.22, Z:0.02 [[ 9.45632567e-01 -3.25236911e-01 0.00000000e+00 6.51084927e+01] [ 3.25236911e-01 9.45632567e-01 0.00000000e+00 9.21708777e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32024906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700371743 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:65.14, Y:9.23, Z:0.02 [[ 9.46133005e-01 -3.23778222e-01 0.00000000e+00 6.51390655e+01] [ 3.23778222e-01 9.46133005e-01 0.00000000e+00 9.22690653e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33869896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.730371743 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:65.17, Y:9.24, Z:0.02 [[ 9.46996933e-01 -3.21242602e-01 0.00000000e+00 6.51700478e+01] [ 3.21242602e-01 9.46996933e-01 0.00000000e+00 9.23809745e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38358647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760371743 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:65.20, Y:9.25, Z:0.02 [[ 9.48056586e-01 -3.18101728e-01 0.00000000e+00 6.52015194e+01] [ 3.18101728e-01 9.48056586e-01 0.00000000e+00 9.24905863e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40312295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.790371743 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:65.23, Y:9.26, Z:0.02 [[ 9.48552697e-01 -3.16619298e-01 0.00000000e+00 6.52317087e+01] [ 3.16619298e-01 9.48552697e-01 0.00000000e+00 9.25900725e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37999635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820371743 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:65.28, Y:9.26, Z:0.02 [[ 9.52309659e-01 -3.05133271e-01 0.00000000e+00 6.52803444e+01] [ 3.05133271e-01 9.52309659e-01 0.00000000e+00 9.26046307e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61677696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.850371743 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:65.29, Y:9.28, Z:0.02 [[ 9.49321969e-01 -3.14305265e-01 0.00000000e+00 6.52896234e+01] [ 3.14305265e-01 9.49321969e-01 0.00000000e+00 9.27745058e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37786594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.880371743 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:65.32, Y:9.29, Z:0.02 [[ 9.49880049e-01 -3.12614607e-01 0.00000000e+00 6.53201619e+01] [ 3.12614607e-01 9.49880049e-01 0.00000000e+00 9.28636807e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29766746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.910371743 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:65.37, Y:9.29, Z:0.02 [[ 9.52659471e-01 -3.04039359e-01 0.00000000e+00 6.53658413e+01] [ 3.04039359e-01 9.52659471e-01 0.00000000e+00 9.28793532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61265058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940371743 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:65.40, Y:9.30, Z:0.02 [[ 9.52971588e-01 -3.03059651e-01 0.00000000e+00 6.53988020e+01] [ 3.03059651e-01 9.52971588e-01 0.00000000e+00 9.29607172e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55389415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.970371743 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:65.41, Y:9.31, Z:0.02 [[ 9.49524005e-01 -3.13694378e-01 0.00000000e+00 6.54093564e+01] [ 3.13694378e-01 9.49524005e-01 0.00000000e+00 9.31256019e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30031790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000371743 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:65.46, Y:9.31, Z:0.02 [[ 9.52575024e-01 -3.04303834e-01 0.00000000e+00 6.54584685e+01] [ 3.04303834e-01 9.52575024e-01 0.00000000e+00 9.31177910e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58177088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.030371743 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:65.47, Y:9.33, Z:0.02 [[ 9.48087685e-01 -3.18009027e-01 0.00000000e+00 6.54676670e+01] [ 3.18009027e-01 9.48087685e-01 0.00000000e+00 9.32700330e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28838497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.060371743 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:65.52, Y:9.33, Z:0.02 [[ 9.51072104e-01 -3.08969015e-01 0.00000000e+00 6.55157573e+01] [ 3.08969015e-01 9.51072104e-01 0.00000000e+00 9.32684379e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60894839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.090371743 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:65.53, Y:9.34, Z:0.02 [[ 9.45908410e-01 -3.24433784e-01 0.00000000e+00 6.55267897e+01] [ 3.24433784e-01 9.45908410e-01 0.00000000e+00 9.34152305e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27423959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120371743 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:65.56, Y:9.35, Z:0.02 [[ 9.46001191e-01 -3.24163147e-01 0.00000000e+00 6.55589926e+01] [ 3.24163147e-01 9.46001191e-01 0.00000000e+00 9.35121710e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27423959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.150371743 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:65.61, Y:9.35, Z:0.02 [[ 9.49077997e-01 -3.15041197e-01 0.00000000e+00 6.56088697e+01] [ 3.15041197e-01 9.49077997e-01 0.00000000e+00 9.35093594e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52433250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180371743 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:65.62, Y:9.37, Z:0.02 [[ 9.44792961e-01 -3.27667913e-01 0.00000000e+00 6.56174863e+01] [ 3.27667913e-01 9.44792961e-01 0.00000000e+00 9.36732459e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28507837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.210371743 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:65.65, Y:9.38, Z:0.02 [[ 9.44237019e-01 -3.29266537e-01 0.00000000e+00 6.56483288e+01] [ 3.29266537e-01 9.44237019e-01 0.00000000e+00 9.37555051e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21247466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.240371743 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:65.70, Y:9.37, Z:0.02 [[ 9.47298399e-01 -3.20352531e-01 0.00000000e+00 6.56995948e+01] [ 3.20352531e-01 9.47298399e-01 0.00000000e+00 9.37404412e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54907791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.270371743 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:65.71, Y:9.39, Z:0.02 [[ 9.42558669e-01 -3.34040650e-01 0.00000000e+00 6.57064549e+01] [ 3.34040650e-01 9.42558669e-01 0.00000000e+00 9.39092225e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34062698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300371743 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:65.74, Y:9.40, Z:0.02 [[ 9.40897837e-01 -3.38690508e-01 0.00000000e+00 6.57380310e+01] [ 3.38690508e-01 9.40897837e-01 0.00000000e+00 9.39797610e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21939277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.330371743 meters Centerline goodness : 0.995997 Centerline is valid? [True, True] Translation: X:65.77, Y:9.41, Z:0.02 [[ 9.40099909e-01 -3.40899049e-01 0.00000000e+00 6.57696405e+01] [ 3.40899049e-01 9.40099909e-01 0.00000000e+00 9.40617067e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16373205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360371743 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:65.80, Y:9.41, Z:0.02 [[ 9.38905413e-01 -3.44175282e-01 0.00000000e+00 6.58010796e+01] [ 3.44175282e-01 9.38905413e-01 0.00000000e+00 9.41290471e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17777415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.390371743 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:65.85, Y:9.41, Z:0.01 [[ 9.41975279e-01 -3.35682250e-01 0.00000000e+00 6.58504133e+01] [ 3.35682250e-01 9.41975279e-01 0.00000000e+00 9.41338723e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37924434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.420371743 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:65.88, Y:9.42, Z:0.01 [[ 9.41225986e-01 -3.37777507e-01 0.00000000e+00 6.58795198e+01] [ 3.37777507e-01 9.41225986e-01 0.00000000e+00 9.42250501e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42730830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.450371743 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:65.91, Y:9.43, Z:0.02 [[ 9.42113270e-01 -3.35294776e-01 0.00000000e+00 6.59062529e+01] [ 3.35294776e-01 9.42113270e-01 0.00000000e+00 9.43082328e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84989824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480371743 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:65.94, Y:9.44, Z:0.01 [[ 9.42342509e-01 -3.34649959e-01 0.00000000e+00 6.59405072e+01] [ 3.34649959e-01 9.42342509e-01 0.00000000e+00 9.44072756e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48798595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.510371743 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:65.97, Y:9.45, Z:0.02 [[ 9.44664572e-01 -3.28037874e-01 0.00000000e+00 6.59697198e+01] [ 3.28037874e-01 9.44664572e-01 0.00000000e+00 9.45050642e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51503969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540371743 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:65.98, Y:9.47, Z:0.02 [[ 9.42585095e-01 -3.33966075e-01 0.00000000e+00 6.59785189e+01] [ 3.33966075e-01 9.42585095e-01 0.00000000e+00 9.46771056e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29259688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.570371743 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:66.03, Y:9.47, Z:0.02 [[ 9.47197213e-01 -3.20651587e-01 0.00000000e+00 6.60267045e+01] [ 3.20651587e-01 9.47197213e-01 0.00000000e+00 9.46879228e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58366082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.600371743 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:66.06, Y:9.48, Z:0.02 [[ 9.49272911e-01 -3.14453398e-01 0.00000000e+00 6.60604610e+01] [ 3.14453398e-01 9.49272911e-01 0.00000000e+00 9.47687268e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50311373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.630371743 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:66.09, Y:9.49, Z:0.02 [[ 9.52288535e-01 -3.05199190e-01 0.00000000e+00 6.60888532e+01] [ 3.05199190e-01 9.52288535e-01 0.00000000e+00 9.48669472e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54110307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660371743 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:66.09, Y:9.51, Z:0.02 [[ 9.50044348e-01 -3.12114942e-01 0.00000000e+00 6.60941146e+01] [ 3.12114942e-01 9.50044348e-01 0.00000000e+00 9.50612873e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35565669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.690371743 meters Centerline goodness : 0.994081 Centerline is valid? [True, True] Translation: X:66.14, Y:9.51, Z:0.02 [[ 9.55025467e-01 -2.96523788e-01 0.00000000e+00 6.61442837e+01] [ 2.96523788e-01 9.55025467e-01 0.00000000e+00 9.50632146e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59070706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720371743 meters Centerline goodness : 0.993484 Centerline is valid? [True, True] Translation: X:66.15, Y:9.53, Z:0.02 [[ 9.53484392e-01 -3.01442388e-01 0.00000000e+00 6.61513077e+01] [ 3.01442388e-01 9.53484392e-01 0.00000000e+00 9.52504394e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29699367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.750371743 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:66.18, Y:9.53, Z:0.02 [[ 9.54453478e-01 -2.98359780e-01 0.00000000e+00 6.61819022e+01] [ 2.98359780e-01 9.54453478e-01 0.00000000e+00 9.53366075e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25387279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780371743 meters Centerline goodness : 0.993988 Centerline is valid? [True, True] Translation: X:66.21, Y:9.54, Z:0.02 [[ 9.55503272e-01 -2.94980502e-01 0.00000000e+00 6.62134368e+01] [ 2.94980502e-01 9.55503272e-01 0.00000000e+00 9.54191517e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16124696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.810371743 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:66.25, Y:9.55, Z:0.02 [[ 9.55777412e-01 -2.94091037e-01 0.00000000e+00 6.62454506e+01] [ 2.94091037e-01 9.55777412e-01 0.00000000e+00 9.55074413e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10822930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840371743 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:66.28, Y:9.56, Z:0.02 [[ 9.55831685e-01 -2.93914598e-01 0.00000000e+00 6.62767230e+01] [ 2.93914598e-01 9.55831685e-01 0.00000000e+00 9.55961446e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03749024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.870371743 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:66.31, Y:9.57, Z:0.02 [[ 9.55653820e-01 -2.94492406e-01 0.00000000e+00 6.63071532e+01] [ 2.94492406e-01 9.55653820e-01 0.00000000e+00 9.56824656e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03431158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900371743 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:66.35, Y:9.57, Z:0.02 [[ 9.57178878e-01 -2.89497143e-01 0.00000000e+00 6.63514489e+01] [ 2.89497143e-01 9.57178878e-01 0.00000000e+00 9.56875220e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65539488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.930371743 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:66.37, Y:9.58, Z:0.02 [[ 9.54126512e-01 -2.99403740e-01 0.00000000e+00 6.63672343e+01] [ 2.99403740e-01 9.54126512e-01 0.00000000e+00 9.58244364e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24209106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960371743 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:66.40, Y:9.59, Z:0.02 [[ 9.53493099e-01 -3.01414847e-01 0.00000000e+00 6.63984875e+01] [ 3.01414847e-01 9.53493099e-01 0.00000000e+00 9.58977744e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25255828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.990371743 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:66.43, Y:9.60, Z:0.02 [[ 9.51724108e-01 -3.06954756e-01 0.00000000e+00 6.64309808e+01] [ 3.06954756e-01 9.51724108e-01 0.00000000e+00 9.59560196e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36818609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.020371743 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:66.46, Y:9.60, Z:0.02 [[ 9.50700027e-01 -3.10112010e-01 0.00000000e+00 6.64625860e+01] [ 3.10112010e-01 9.50700027e-01 0.00000000e+00 9.60339615e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35628741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.050371743 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:66.51, Y:9.60, Z:0.02 [[ 9.50953295e-01 -3.09334497e-01 0.00000000e+00 6.65077417e+01] [ 3.09334497e-01 9.50953295e-01 0.00000000e+00 9.60262903e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96377993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080371743 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:66.52, Y:9.62, Z:0.02 [[ 9.47308692e-01 -3.20322092e-01 0.00000000e+00 6.65241333e+01] [ 3.20322092e-01 9.47308692e-01 0.00000000e+00 9.61667057e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46436442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.110371743 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:66.56, Y:9.63, Z:0.02 [[ 9.47399744e-01 -3.20052692e-01 0.00000000e+00 6.65563286e+01] [ 3.20052692e-01 9.47399744e-01 0.00000000e+00 9.62636244e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46436442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140371743 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:66.60, Y:9.63, Z:0.02 [[ 9.48656125e-01 -3.16309273e-01 0.00000000e+00 6.66006237e+01] [ 3.16309273e-01 9.48656125e-01 0.00000000e+00 9.62837000e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06379549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.170371743 meters Centerline goodness : 0.995139 Centerline is valid? [True, True] Translation: X:66.63, Y:9.64, Z:0.02 [[ 9.47332777e-01 -3.20250854e-01 0.00000000e+00 6.66317358e+01] [ 3.20250854e-01 9.47332777e-01 0.00000000e+00 9.63671535e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11293384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.200371743 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:66.66, Y:9.64, Z:0.02 [[ 9.46111961e-01 -3.23839710e-01 0.00000000e+00 6.66617879e+01] [ 3.23839710e-01 9.46111961e-01 0.00000000e+00 9.64417663e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08809060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.230371743 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:66.69, Y:9.65, Z:0.02 [[ 9.43356079e-01 -3.31782020e-01 0.00000000e+00 6.66905168e+01] [ 3.31782020e-01 9.43356079e-01 0.00000000e+00 9.65152486e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11514039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.260371743 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:66.72, Y:9.66, Z:0.02 [[ 9.40934401e-01 -3.38588915e-01 0.00000000e+00 6.67234606e+01] [ 3.38588915e-01 9.40934401e-01 0.00000000e+00 9.65886416e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03339915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.290371743 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:66.74, Y:9.67, Z:0.02 [[ 9.37808223e-01 -3.47153765e-01 0.00000000e+00 6.67416915e+01] [ 3.47153765e-01 9.37808223e-01 0.00000000e+00 9.67217012e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27305991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.320371743 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:66.79, Y:9.68, Z:0.02 [[ 9.39787234e-01 -3.41760083e-01 0.00000000e+00 6.67869816e+01] [ 3.41760083e-01 9.39787234e-01 0.00000000e+00 9.67562264e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82216384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.350371743 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:66.80, Y:9.69, Z:0.02 [[ 9.36357887e-01 -3.51046874e-01 0.00000000e+00 6.68011780e+01] [ 3.51046874e-01 9.36357887e-01 0.00000000e+00 9.69014771e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19979988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.380371743 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:66.85, Y:9.69, Z:0.02 [[ 9.38608803e-01 -3.44983354e-01 0.00000000e+00 6.68481548e+01] [ 3.44983354e-01 9.38608803e-01 0.00000000e+00 9.69405260e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61507618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.410371743 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:66.86, Y:9.71, Z:0.02 [[ 9.35285423e-01 -3.53894303e-01 0.00000000e+00 6.68594604e+01] [ 3.53894303e-01 9.35285423e-01 0.00000000e+00 9.70938087e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98682340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440371743 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:66.89, Y:9.72, Z:0.02 [[ 9.35368201e-01 -3.53675456e-01 0.00000000e+00 6.68907448e+01] [ 3.53675456e-01 9.35368201e-01 0.00000000e+00 9.71955759e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95681948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.470371743 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:66.94, Y:9.72, Z:0.02 [[ 9.38544383e-01 -3.45158574e-01 0.00000000e+00 6.69362723e+01] [ 3.45158574e-01 9.38544383e-01 0.00000000e+00 9.72357032e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50654776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500371743 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:66.95, Y:9.74, Z:0.02 [[ 9.35747664e-01 -3.52670255e-01 0.00000000e+00 6.69492738e+01] [ 3.52670255e-01 9.35747664e-01 0.00000000e+00 9.73999335e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86120798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.530371743 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:66.98, Y:9.75, Z:0.02 [[ 9.36836680e-01 -3.49767117e-01 0.00000000e+00 6.69804393e+01] [ 3.49767117e-01 9.36836680e-01 0.00000000e+00 9.75178512e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95448679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.560371743 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:67.02, Y:9.76, Z:0.02 [[ 9.39683734e-01 -3.42044557e-01 0.00000000e+00 6.70237947e+01] [ 3.42044557e-01 9.39683734e-01 0.00000000e+00 9.75692818e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76776298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.590371743 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:67.05, Y:9.77, Z:0.02 [[ 9.40322263e-01 -3.40285236e-01 0.00000000e+00 6.70537109e+01] [ 3.40285236e-01 9.40322263e-01 0.00000000e+00 9.76726104e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73679244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.620371743 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:67.08, Y:9.78, Z:0.02 [[ 9.41318152e-01 -3.37520573e-01 0.00000000e+00 6.70845736e+01] [ 3.37520573e-01 9.41318152e-01 0.00000000e+00 9.77919026e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78564529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.650371743 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:67.12, Y:9.79, Z:0.02 [[ 9.41919739e-01 -3.35838064e-01 0.00000000e+00 6.71155724e+01] [ 3.35838064e-01 9.41919739e-01 0.00000000e+00 9.78993109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71853805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.680371743 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:67.15, Y:9.80, Z:0.02 [[ 9.42150053e-01 -3.35191405e-01 0.00000000e+00 6.71468283e+01] [ 3.35191405e-01 9.42150053e-01 0.00000000e+00 9.80108727e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73767578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.710371743 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:67.17, Y:9.81, Z:0.02 [[ 9.43443210e-01 -3.31534176e-01 0.00000000e+00 6.71723258e+01] [ 3.31534176e-01 9.43443210e-01 0.00000000e+00 9.81052503e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92641040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.740371743 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:67.21, Y:9.82, Z:0.01 [[ 9.44262628e-01 -3.29193089e-01 0.00000000e+00 6.72071856e+01] [ 3.29193089e-01 9.44262628e-01 0.00000000e+00 9.81993205e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40909266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.770371743 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:67.24, Y:9.83, Z:0.01 [[ 9.44450500e-01 -3.28653699e-01 0.00000000e+00 6.72353455e+01] [ 3.28653699e-01 9.44450500e-01 0.00000000e+00 9.83114820e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47736194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800371743 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:67.27, Y:9.84, Z:0.01 [[ 9.45423145e-01 -3.25845173e-01 0.00000000e+00 6.72657679e+01] [ 3.25845173e-01 9.45423145e-01 0.00000000e+00 9.84252791e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42992750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.830371743 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:67.28, Y:9.86, Z:0.02 [[ 9.43093055e-01 -3.32528930e-01 0.00000000e+00 6.72781764e+01] [ 3.32528930e-01 9.43093055e-01 0.00000000e+00 9.85984422e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80014155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860371743 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:67.32, Y:9.86, Z:0.02 [[ 9.47160112e-01 -3.20761160e-01 0.00000000e+00 6.73198761e+01] [ 3.20761160e-01 9.47160112e-01 0.00000000e+00 9.86268894e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82566087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.890371743 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:67.35, Y:9.87, Z:0.02 [[ 9.46853860e-01 -3.21664061e-01 0.00000000e+00 6.73524690e+01] [ 3.21664061e-01 9.46853860e-01 0.00000000e+00 9.87394425e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58462088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920371743 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:67.38, Y:9.89, Z:0.02 [[ 9.47202036e-01 -3.20637339e-01 0.00000000e+00 6.73804446e+01] [ 3.20637339e-01 9.47202036e-01 0.00000000e+00 9.88548596e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70922778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.950371743 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:67.41, Y:9.90, Z:0.02 [[ 9.47155893e-01 -3.20773620e-01 0.00000000e+00 6.74108144e+01] [ 3.20773620e-01 9.47155893e-01 0.00000000e+00 9.89591408e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79977995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.980371743 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:67.44, Y:9.91, Z:0.02 [[ 9.47784309e-01 -3.18912063e-01 0.00000000e+00 6.74424753e+01] [ 3.18912063e-01 9.47784309e-01 0.00000000e+00 9.90642361e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88199764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.010371743 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:67.47, Y:9.92, Z:0.02 [[ 9.46992100e-01 -3.21256849e-01 0.00000000e+00 6.74706207e+01] [ 3.21256849e-01 9.46992100e-01 0.00000000e+00 9.91862532e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02703540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.040371743 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:67.50, Y:9.93, Z:0.02 [[ 9.46787374e-01 -3.21859703e-01 0.00000000e+00 6.75022688e+01] [ 3.21859703e-01 9.46787374e-01 0.00000000e+00 9.92854848e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00607266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.070371743 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:67.53, Y:9.94, Z:0.02 [[ 9.46895362e-01 -3.21541869e-01 0.00000000e+00 6.75295805e+01] [ 3.21541869e-01 9.46895362e-01 0.00000000e+00 9.93809109e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36017378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.100371743 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:67.55, Y:9.95, Z:0.02 [[ 9.44612988e-01 -3.28186383e-01 0.00000000e+00 6.75537825e+01] [ 3.28186383e-01 9.44612988e-01 0.00000000e+00 9.94833752e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18236560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.130371743 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:67.59, Y:9.96, Z:0.02 [[ 9.42599926e-01 -3.33924211e-01 0.00000000e+00 6.75881425e+01] [ 3.33924211e-01 9.42599926e-01 0.00000000e+00 9.95873887e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92383556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.160371743 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:67.62, Y:9.97, Z:0.02 [[ 9.40968488e-01 -3.38494174e-01 0.00000000e+00 6.76172748e+01] [ 3.38494174e-01 9.40968488e-01 0.00000000e+00 9.96859401e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03532878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.190371743 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:67.65, Y:9.98, Z:0.02 [[ 9.39565552e-01 -3.42369061e-01 0.00000000e+00 6.76453623e+01] [ 3.42369061e-01 9.39565552e-01 0.00000000e+00 9.97775170e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08496935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220371743 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:67.68, Y:9.99, Z:0.02 [[ 9.37925454e-01 -3.46836910e-01 0.00000000e+00 6.76786803e+01] [ 3.46836910e-01 9.37925454e-01 0.00000000e+00 9.98858537e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94800186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.250371743 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:67.71, Y:10.00, Z:0.02 [[ 9.36505209e-01 -3.50653666e-01 0.00000000e+00 6.77081838e+01] [ 3.50653666e-01 9.36505209e-01 0.00000000e+00 9.99873227e+00] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81668378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280371743 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:67.74, Y:10.01, Z:0.02 [[ 9.35661092e-01 -3.52899875e-01 0.00000000e+00 6.77380204e+01] [ 3.52899875e-01 9.35661092e-01 0.00000000e+00 1.00091931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89334685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.310371743 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:67.77, Y:10.02, Z:0.02 [[ 9.35279839e-01 -3.53909061e-01 0.00000000e+00 6.77698904e+01] [ 3.53909061e-01 9.35279839e-01 0.00000000e+00 1.00195988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85865486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.340371743 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:67.80, Y:10.03, Z:0.02 [[ 9.34389915e-01 -3.56251998e-01 0.00000000e+00 6.77999620e+01] [ 3.56251998e-01 9.34389915e-01 0.00000000e+00 1.00306663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86786548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.370371743 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:67.83, Y:10.04, Z:0.02 [[ 9.33988983e-01 -3.57301805e-01 0.00000000e+00 6.78302413e+01] [ 3.57301805e-01 9.33988983e-01 0.00000000e+00 1.00414302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86268062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.400371743 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:67.86, Y:10.05, Z:0.02 [[ 9.34189347e-01 -3.56777610e-01 0.00000000e+00 6.78607449e+01] [ 3.56777610e-01 9.34189347e-01 0.00000000e+00 1.00518321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81718707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.430371743 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:67.89, Y:10.06, Z:0.02 [[ 9.34291740e-01 -3.56509388e-01 0.00000000e+00 6.78897518e+01] [ 3.56509388e-01 9.34291740e-01 0.00000000e+00 1.00626605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79657043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.460371743 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:67.92, Y:10.07, Z:0.02 [[ 9.35016512e-01 -3.54604176e-01 0.00000000e+00 6.79209485e+01] [ 3.54604176e-01 9.35016512e-01 0.00000000e+00 1.00748157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78818861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.490371743 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:67.95, Y:10.09, Z:0.02 [[ 9.34978193e-01 -3.54705199e-01 0.00000000e+00 6.79498978e+01] [ 3.54705199e-01 9.34978193e-01 0.00000000e+00 1.00863753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93771719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.520371743 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:67.98, Y:10.10, Z:0.02 [[ 9.35466596e-01 -3.53415121e-01 0.00000000e+00 6.79802167e+01] [ 3.53415121e-01 9.35466596e-01 0.00000000e+00 1.00977743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95712479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.550371743 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:68.01, Y:10.11, Z:0.02 [[ 9.38103041e-01 -3.46356297e-01 0.00000000e+00 6.80141889e+01] [ 3.46356297e-01 9.38103041e-01 0.00000000e+00 1.01093706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72976694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580371743 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:68.04, Y:10.12, Z:0.02 [[ 9.38439530e-01 -3.45443553e-01 0.00000000e+00 6.80419797e+01] [ 3.45443553e-01 9.38439530e-01 0.00000000e+00 1.01220067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99077178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.610371743 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:68.07, Y:10.13, Z:0.02 [[ 9.41650280e-01 -3.36592854e-01 0.00000000e+00 6.80714087e+01] [ 3.36592854e-01 9.41650280e-01 0.00000000e+00 1.01344419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85227010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640371743 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:68.10, Y:10.14, Z:0.02 [[ 9.43574386e-01 -3.31160652e-01 0.00000000e+00 6.81038926e+01] [ 3.31160652e-01 9.43574386e-01 0.00000000e+00 1.01449253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70799785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.670371743 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:68.11, Y:10.16, Z:0.02 [[ 9.41562790e-01 -3.36837517e-01 0.00000000e+00 6.81121804e+01] [ 3.36837517e-01 9.41562790e-01 0.00000000e+00 1.01636175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41035856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.700371743 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:68.14, Y:10.18, Z:0.02 [[ 9.44435985e-01 -3.28695407e-01 0.00000000e+00 6.81431952e+01] [ 3.28695407e-01 9.44435985e-01 0.00000000e+00 1.01762048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48344858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.730371743 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:68.17, Y:10.19, Z:0.03 [[ 9.45696961e-01 -3.25049623e-01 0.00000000e+00 6.81744308e+01] [ 3.25049623e-01 9.45696961e-01 0.00000000e+00 1.01871765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54040528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.760371743 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:68.21, Y:10.20, Z:0.03 [[ 9.46652558e-01 -3.22256008e-01 0.00000000e+00 6.82056119e+01] [ 3.22256008e-01 9.46652558e-01 0.00000000e+00 1.01981282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57280688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.790371743 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:68.25, Y:10.20, Z:0.02 [[ 9.51148913e-01 -3.08732482e-01 0.00000000e+00 6.82530394e+01] [ 3.08732482e-01 9.51148913e-01 0.00000000e+00 1.02000268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92541874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.820371743 meters Centerline goodness : 0.992899 Centerline is valid? [True, True] Translation: X:68.28, Y:10.21, Z:0.02 [[ 9.51035757e-01 -3.09080878e-01 0.00000000e+00 6.82831427e+01] [ 3.09080878e-01 9.51035757e-01 0.00000000e+00 1.02105693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93119603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.850371743 meters Centerline goodness : 0.992886 Centerline is valid? [True, True] Translation: X:68.32, Y:10.22, Z:0.02 [[ 9.51239340e-01 -3.08453754e-01 0.00000000e+00 6.83170390e+01] [ 3.08453754e-01 9.51239340e-01 0.00000000e+00 1.02186862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77580843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.880371743 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:68.35, Y:10.23, Z:0.02 [[ 9.50691078e-01 -3.10139444e-01 0.00000000e+00 6.83475416e+01] [ 3.10139444e-01 9.50691078e-01 0.00000000e+00 1.02277869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73886694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.910371743 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:68.38, Y:10.24, Z:0.02 [[ 9.49854673e-01 -3.12691700e-01 0.00000000e+00 6.83751327e+01] [ 3.12691700e-01 9.49854673e-01 0.00000000e+00 1.02373057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75627896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940371743 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:68.38, Y:10.25, Z:0.03 [[ 9.44825926e-01 -3.27572847e-01 0.00000000e+00 6.83842390e+01] [ 3.27572847e-01 9.44825926e-01 0.00000000e+00 1.02530549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59882742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.970371743 meters Centerline goodness : 0.992650 Centerline is valid? [True, True] Translation: X:68.42, Y:10.26, Z:0.03 [[ 9.43786607e-01 -3.30555352e-01 0.00000000e+00 6.84157312e+01] [ 3.30555352e-01 9.43786607e-01 0.00000000e+00 1.02620930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54105802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000371743 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:68.45, Y:10.27, Z:0.03 [[ 9.42781302e-01 -3.33411783e-01 0.00000000e+00 6.84477312e+01] [ 3.33411783e-01 9.42781302e-01 0.00000000e+00 1.02706564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54161619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.030371743 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:68.48, Y:10.28, Z:0.03 [[ 9.40522797e-01 -3.39730583e-01 0.00000000e+00 6.84805924e+01] [ 3.39730583e-01 9.40522797e-01 0.00000000e+00 1.02775994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56347772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.060371743 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:68.51, Y:10.29, Z:0.03 [[ 9.40619655e-01 -3.39462317e-01 0.00000000e+00 6.85126695e+01] [ 3.39462317e-01 9.40619655e-01 0.00000000e+00 1.02877018e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56347772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.090371743 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:68.54, Y:10.30, Z:0.03 [[ 9.39653625e-01 -3.42127264e-01 0.00000000e+00 6.85439275e+01] [ 3.42127264e-01 9.39653625e-01 0.00000000e+00 1.02961799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50572888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.120371743 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:68.59, Y:10.30, Z:0.02 [[ 9.42560429e-01 -3.34035684e-01 0.00000000e+00 6.85934469e+01] [ 3.34035684e-01 9.42560429e-01 0.00000000e+00 1.02960077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83473563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.150371743 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:68.60, Y:10.31, Z:0.03 [[ 9.37514157e-01 -3.47947131e-01 0.00000000e+00 6.86021566e+01] [ 3.47947131e-01 9.37514157e-01 0.00000000e+00 1.03124178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72236480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.180371743 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:68.64, Y:10.31, Z:0.02 [[ 9.40310562e-01 -3.40317567e-01 0.00000000e+00 6.86446729e+01] [ 3.40317567e-01 9.40310562e-01 0.00000000e+00 1.03133984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08854680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.210371743 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:68.66, Y:10.33, Z:0.03 [[ 9.36939754e-01 -3.49490913e-01 0.00000000e+00 6.86627849e+01] [ 3.49490913e-01 9.36939754e-01 0.00000000e+00 1.03297786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71520859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.240371743 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:68.71, Y:10.33, Z:0.02 [[ 9.39522376e-01 -3.42487526e-01 0.00000000e+00 6.87065279e+01] [ 3.42487526e-01 9.39522376e-01 0.00000000e+00 1.03317526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20688081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.270371743 meters Centerline goodness : 0.992851 Centerline is valid? [True, True] Translation: X:68.74, Y:10.34, Z:0.02 [[ 9.39558880e-01 -3.42387370e-01 0.00000000e+00 6.87360974e+01] [ 3.42387370e-01 9.39558880e-01 0.00000000e+00 1.03409193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21390150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.300371743 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:68.75, Y:10.36, Z:0.03 [[ 9.37195387e-01 -3.48804827e-01 0.00000000e+00 6.87528574e+01] [ 3.48804827e-01 9.37195387e-01 0.00000000e+00 1.03566195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81693975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.330371743 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:68.78, Y:10.37, Z:0.03 [[ 9.38064492e-01 -3.46460688e-01 0.00000000e+00 6.87834077e+01] [ 3.46460688e-01 9.38064492e-01 0.00000000e+00 1.03655708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70015495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360371743 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:68.83, Y:10.37, Z:0.02 [[ 9.41051277e-01 -3.38263941e-01 0.00000000e+00 6.88270025e+01] [ 3.38263941e-01 9.41051277e-01 0.00000000e+00 1.03687352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18189060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.390371743 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:68.85, Y:10.38, Z:0.02 [[ 9.41424079e-01 -3.37225005e-01 0.00000000e+00 6.88548732e+01] [ 3.37225005e-01 9.41424079e-01 0.00000000e+00 1.03792526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48948831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420371743 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:68.89, Y:10.39, Z:0.02 [[ 9.42388589e-01 -3.34520174e-01 0.00000000e+00 6.88857097e+01] [ 3.34520174e-01 9.42388589e-01 0.00000000e+00 1.03889854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26770384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.450371743 meters Centerline goodness : 0.993101 Centerline is valid? [True, True] Translation: X:68.92, Y:10.40, Z:0.02 [[ 9.43174673e-01 -3.32297362e-01 0.00000000e+00 6.89154878e+01] [ 3.32297362e-01 9.43174673e-01 0.00000000e+00 1.03992939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29834061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.480371743 meters Centerline goodness : 0.992621 Centerline is valid? [True, True] Translation: X:68.95, Y:10.41, Z:0.02 [[ 9.44754403e-01 -3.27779068e-01 0.00000000e+00 6.89451426e+01] [ 3.27779068e-01 9.44754403e-01 0.00000000e+00 1.04104147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49476131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.510371743 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:68.98, Y:10.42, Z:0.02 [[ 9.46872894e-01 -3.21608028e-01 0.00000000e+00 6.89759334e+01] [ 3.21608028e-01 9.46872894e-01 0.00000000e+00 1.04206175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29736083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.540371743 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:69.01, Y:10.43, Z:0.03 [[ 9.47132619e-01 -3.20842333e-01 0.00000000e+00 6.90062438e+01] [ 3.20842333e-01 9.47132619e-01 0.00000000e+00 1.04313617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54515197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.570371743 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:69.03, Y:10.44, Z:0.02 [[ 9.47723527e-01 -3.19092645e-01 0.00000000e+00 6.90348179e+01] [ 3.19092645e-01 9.47723527e-01 0.00000000e+00 1.04406641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48580286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.600371743 meters Centerline goodness : 0.992714 Centerline is valid? [True, True] Translation: X:69.06, Y:10.45, Z:0.02 [[ 9.48691301e-01 -3.16203755e-01 0.00000000e+00 6.90646272e+01] [ 3.16203755e-01 9.48691301e-01 0.00000000e+00 1.04494371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37805331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.630371743 meters Centerline goodness : 0.992972 Centerline is valid? [True, True] Translation: X:69.08, Y:10.46, Z:0.03 [[ 9.46601955e-01 -3.22404620e-01 0.00000000e+00 6.90803253e+01] [ 3.22404620e-01 9.46601955e-01 0.00000000e+00 1.04642907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81421492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.660371743 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:69.13, Y:10.47, Z:0.02 [[ 9.49401332e-01 -3.14065455e-01 0.00000000e+00 6.91256077e+01] [ 3.14065455e-01 9.49401332e-01 0.00000000e+00 1.04661397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29492268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.690371743 meters Centerline goodness : 0.992508 Centerline is valid? [True, True] Translation: X:69.16, Y:10.47, Z:0.02 [[ 9.49537318e-01 -3.13654080e-01 0.00000000e+00 6.91551041e+01] [ 3.13654080e-01 9.49537318e-01 0.00000000e+00 1.04744632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18719253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720371743 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:69.17, Y:10.49, Z:0.03 [[ 9.46664576e-01 -3.22220701e-01 0.00000000e+00 6.91686540e+01] [ 3.22220701e-01 9.46664576e-01 0.00000000e+00 1.04902746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84436461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.750371743 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:69.20, Y:10.50, Z:0.03 [[ 9.46008170e-01 -3.24142782e-01 0.00000000e+00 6.91995980e+01] [ 3.24142782e-01 9.46008170e-01 0.00000000e+00 1.04970707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84453540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780371743 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:69.23, Y:10.51, Z:0.03 [[ 9.45652275e-01 -3.25179605e-01 0.00000000e+00 6.92313864e+01] [ 3.25179605e-01 9.45652275e-01 0.00000000e+00 1.05053720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82307435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.810371743 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:69.26, Y:10.51, Z:0.03 [[ 9.44653052e-01 -3.28071047e-01 0.00000000e+00 6.92639633e+01] [ 3.28071047e-01 9.44653052e-01 0.00000000e+00 1.05120528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76493455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.840371743 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:69.31, Y:10.51, Z:0.02 [[ 9.47295433e-01 -3.20361300e-01 0.00000000e+00 6.93107198e+01] [ 3.20361300e-01 9.47295433e-01 0.00000000e+00 1.05123678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16936969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.870371743 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:69.32, Y:10.53, Z:0.03 [[ 9.43591822e-01 -3.31110970e-01 0.00000000e+00 6.93232268e+01] [ 3.31110970e-01 9.43591822e-01 0.00000000e+00 1.05278477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79609763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.900371743 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:69.37, Y:10.53, Z:0.02 [[ 9.45812335e-01 -3.24713763e-01 0.00000000e+00 6.93702765e+01] [ 3.24713763e-01 9.45812335e-01 0.00000000e+00 1.05267983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31897434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.930371743 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:69.38, Y:10.54, Z:0.03 [[ 9.42471269e-01 -3.34287162e-01 0.00000000e+00 6.93835288e+01] [ 3.34287162e-01 9.42471269e-01 0.00000000e+00 1.05412777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85730403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.960371743 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:69.41, Y:10.55, Z:0.03 [[ 9.42559732e-01 -3.34037649e-01 0.00000000e+00 6.94126242e+01] [ 3.34037649e-01 9.42559732e-01 0.00000000e+00 1.05489854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71952076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.990371743 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:69.46, Y:10.55, Z:0.02 [[ 9.43483347e-01 -3.31419935e-01 0.00000000e+00 6.94571073e+01] [ 3.31419935e-01 9.43483347e-01 0.00000000e+00 1.05506168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45011272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.020371743 meters Centerline goodness : 0.993660 Centerline is valid? [True, True] Translation: X:69.48, Y:10.56, Z:0.03 [[ 9.42418053e-01 -3.34437160e-01 0.00000000e+00 6.94843654e+01] [ 3.34437160e-01 9.42418053e-01 0.00000000e+00 1.05595140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57255189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.050371743 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:69.50, Y:10.57, Z:0.03 [[ 9.39243445e-01 -3.43251732e-01 0.00000000e+00 6.95032346e+01] [ 3.43251732e-01 9.39243445e-01 0.00000000e+00 1.05709813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80480878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.080371743 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:69.54, Y:10.58, Z:0.03 [[ 9.38828967e-01 -3.44383756e-01 0.00000000e+00 6.95351256e+01] [ 3.44383756e-01 9.38828967e-01 0.00000000e+00 1.05789817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76967119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.110371743 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:69.58, Y:10.58, Z:0.02 [[ 9.40854775e-01 -3.38810113e-01 0.00000000e+00 6.95790921e+01] [ 3.38810113e-01 9.40854775e-01 0.00000000e+00 1.05812956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36111452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140371743 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:69.61, Y:10.59, Z:0.02 [[ 9.40320114e-01 -3.40291175e-01 0.00000000e+00 6.96126124e+01] [ 3.40291175e-01 9.40320114e-01 0.00000000e+00 1.05880087e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28523790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.170371743 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:69.63, Y:10.60, Z:0.03 [[ 9.37365653e-01 -3.48347001e-01 0.00000000e+00 6.96267059e+01] [ 3.48347001e-01 9.37365653e-01 0.00000000e+00 1.06005168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61614544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.200371743 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:69.66, Y:10.61, Z:0.03 [[ 9.37711328e-01 -3.47415409e-01 0.00000000e+00 6.96589594e+01] [ 3.47415409e-01 9.37711328e-01 0.00000000e+00 1.06098913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62827022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.230371743 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:69.71, Y:10.61, Z:0.02 [[ 9.40886334e-01 -3.38722462e-01 0.00000000e+00 6.97062692e+01] [ 3.38722462e-01 9.40886334e-01 0.00000000e+00 1.06121058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22418447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.260371743 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:69.73, Y:10.62, Z:0.03 [[ 9.39490708e-01 -3.42574385e-01 0.00000000e+00 6.97315759e+01] [ 3.42574385e-01 9.39490708e-01 0.00000000e+00 1.06235796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52133724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.290371743 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:69.75, Y:10.64, Z:0.03 [[ 9.38351832e-01 -3.45681704e-01 0.00000000e+00 6.97506755e+01] [ 3.45681704e-01 9.38351832e-01 0.00000000e+00 1.06357708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71345119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.320371743 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:69.80, Y:10.64, Z:0.02 [[ 9.41979985e-01 -3.35669045e-01 0.00000000e+00 6.97982929e+01] [ 3.35669045e-01 9.41979985e-01 0.00000000e+00 1.06383512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13697480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.350371743 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:69.83, Y:10.65, Z:0.02 [[ 9.42731376e-01 -3.33552923e-01 0.00000000e+00 6.98297220e+01] [ 3.33552923e-01 9.42731376e-01 0.00000000e+00 1.06463882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09248005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.380371743 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:69.84, Y:10.66, Z:0.03 [[ 9.38895271e-01 -3.44202950e-01 0.00000000e+00 6.98374918e+01] [ 3.44202950e-01 9.38895271e-01 0.00000000e+00 1.06629286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83526649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.410371743 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:69.87, Y:10.67, Z:0.03 [[ 9.38928329e-01 -3.44112762e-01 0.00000000e+00 6.98685414e+01] [ 3.44112762e-01 9.38928329e-01 0.00000000e+00 1.06721646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73370384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.440371743 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:69.92, Y:10.67, Z:0.02 [[ 9.43341909e-01 -3.31822305e-01 0.00000000e+00 6.99226571e+01] [ 3.31822305e-01 9.43341909e-01 0.00000000e+00 1.06717394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99722011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.470371743 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:69.93, Y:10.69, Z:0.03 [[ 9.38279673e-01 -3.45877515e-01 0.00000000e+00 6.99255496e+01] [ 3.45877515e-01 9.38279673e-01 0.00000000e+00 1.06886120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50722338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.500371743 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:69.98, Y:10.69, Z:0.02 [[ 9.42523084e-01 -3.34141042e-01 0.00000000e+00 6.99811938e+01] [ 3.34141042e-01 9.42523084e-01 0.00000000e+00 1.06867835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77773621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.530371743 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:70.01, Y:10.70, Z:0.02 [[ 9.41253347e-01 -3.37701254e-01 0.00000000e+00 7.00137424e+01] [ 3.37701254e-01 9.41253347e-01 0.00000000e+00 1.06971793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90704865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.560371743 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:70.01, Y:10.72, Z:0.03 [[ 9.35357700e-01 -3.53703227e-01 0.00000000e+00 7.00127145e+01] [ 3.53703227e-01 9.35357700e-01 0.00000000e+00 1.07166275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79824882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.590371743 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:70.04, Y:10.73, Z:0.03 [[ 9.35127509e-01 -3.54311362e-01 0.00000000e+00 7.00432835e+01] [ 3.54311362e-01 9.35127509e-01 0.00000000e+00 1.07264167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79820024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.620371743 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:70.07, Y:10.74, Z:0.03 [[ 9.34362130e-01 -3.56324866e-01 0.00000000e+00 7.00749241e+01] [ 3.56324866e-01 9.34362130e-01 0.00000000e+00 1.07361683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81410802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.650371743 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:70.13, Y:10.74, Z:0.02 [[ 9.38146623e-01 -3.46238232e-01 0.00000000e+00 7.01260691e+01] [ 3.46238232e-01 9.38146623e-01 0.00000000e+00 1.07369245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05697247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.680371743 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:70.13, Y:10.76, Z:0.03 [[ 9.33031992e-01 -3.59793416e-01 0.00000000e+00 7.01318601e+01] [ 3.59793416e-01 9.33031992e-01 0.00000000e+00 1.07553121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86865488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.710371743 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:70.18, Y:10.76, Z:0.02 [[ 9.37135626e-01 -3.48965354e-01 0.00000000e+00 7.01837020e+01] [ 3.48965354e-01 9.37135626e-01 0.00000000e+00 1.07559390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12287596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.740371743 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:70.22, Y:10.76, Z:0.02 [[ 9.37556484e-01 -3.47833064e-01 0.00000000e+00 7.02187373e+01] [ 3.47833064e-01 9.37556484e-01 0.00000000e+00 1.07649866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04152068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.770371743 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:70.22, Y:10.79, Z:0.03 [[ 9.30966947e-01 -3.65103471e-01 0.00000000e+00 7.02166855e+01] [ 3.65103471e-01 9.30966947e-01 0.00000000e+00 1.07851114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97658601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.800371743 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:70.27, Y:10.79, Z:0.02 [[ 9.34585683e-01 -3.55738108e-01 0.00000000e+00 7.02669343e+01] [ 3.55738108e-01 9.34585683e-01 0.00000000e+00 1.07866561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26263507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.830371743 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:70.27, Y:10.80, Z:0.03 [[ 9.30221658e-01 -3.66998183e-01 0.00000000e+00 7.02740569e+01] [ 3.66998183e-01 9.30221658e-01 0.00000000e+00 1.08044918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88187789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.860371743 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:70.31, Y:10.81, Z:0.03 [[ 9.30075025e-01 -3.67369634e-01 0.00000000e+00 7.03051371e+01] [ 3.67369634e-01 9.30075025e-01 0.00000000e+00 1.08146243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84139818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.890371743 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:70.34, Y:10.83, Z:0.03 [[ 9.29640027e-01 -3.68469023e-01 0.00000000e+00 7.03363446e+01] [ 3.68469023e-01 9.29640027e-01 0.00000000e+00 1.08259291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85993426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920371743 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:70.39, Y:10.83, Z:0.02 [[ 9.35091120e-01 -3.54407390e-01 0.00000000e+00 7.03931062e+01] [ 3.54407390e-01 9.35091120e-01 0.00000000e+00 1.08251661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97373942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.950371743 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:70.42, Y:10.84, Z:0.02 [[ 9.34791565e-01 -3.55196749e-01 0.00000000e+00 7.04227439e+01] [ 3.55196749e-01 9.34791565e-01 0.00000000e+00 1.08355941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97373942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.980371743 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:70.42, Y:10.86, Z:0.03 [[ 9.28855992e-01 -3.70441016e-01 0.00000000e+00 7.04213933e+01] [ 3.70441016e-01 9.28855992e-01 0.00000000e+00 1.08576034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76457976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.010371743 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:70.48, Y:10.86, Z:0.02 [[ 9.34627601e-01 -3.55627961e-01 0.00000000e+00 7.04771151e+01] [ 3.55627961e-01 9.34627601e-01 0.00000000e+00 1.08561060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93887124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.040371743 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:70.50, Y:10.87, Z:0.02 [[ 9.33268287e-01 -3.59180044e-01 0.00000000e+00 7.04989503e+01] [ 3.59180044e-01 9.33268287e-01 0.00000000e+00 1.08692174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03956863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.070371743 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:70.53, Y:10.88, Z:0.02 [[ 9.33377114e-01 -3.58897150e-01 0.00000000e+00 7.05290108e+01] [ 3.58897150e-01 9.33377114e-01 0.00000000e+00 1.08816324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03529063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.100371743 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:70.56, Y:10.89, Z:0.02 [[ 9.33140090e-01 -3.59512966e-01 0.00000000e+00 7.05581712e+01] [ 3.59512966e-01 9.33140090e-01 0.00000000e+00 1.08930539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05263497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.130371743 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:70.58, Y:10.90, Z:0.02 [[ 9.34665049e-01 -3.55529529e-01 0.00000000e+00 7.05788026e+01] [ 3.55529529e-01 9.34665049e-01 0.00000000e+00 1.09021179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66725520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.160371743 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:70.59, Y:10.93, Z:0.03 [[ 9.31657640e-01 -3.63337367e-01 0.00000000e+00 7.05900545e+01] [ 3.63337367e-01 9.31657640e-01 0.00000000e+00 1.09251329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61615220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.190371743 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:70.62, Y:10.94, Z:0.03 [[ 9.31925761e-01 -3.62649108e-01 0.00000000e+00 7.06233416e+01] [ 3.62649108e-01 9.31925761e-01 0.00000000e+00 1.09370832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77166740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220371743 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:70.65, Y:10.95, Z:0.03 [[ 9.32588511e-01 -3.60941366e-01 0.00000000e+00 7.06537209e+01] [ 3.60941366e-01 9.32588511e-01 0.00000000e+00 1.09479630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75342973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.250371743 meters Centerline goodness : 0.993007 Centerline is valid? [True, True] Translation: X:70.70, Y:10.95, Z:0.02 [[ 9.38625847e-01 -3.44936979e-01 0.00000000e+00 7.07042572e+01] [ 3.44936979e-01 9.38625847e-01 0.00000000e+00 1.09498837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02383608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.280371743 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:70.71, Y:10.97, Z:0.03 [[ 9.33863726e-01 -3.57629054e-01 0.00000000e+00 7.07088082e+01] [ 3.57629054e-01 9.33863726e-01 0.00000000e+00 1.09711445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87958394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.310371743 meters Centerline goodness : 0.992769 Centerline is valid? [True, True] Translation: X:70.76, Y:10.97, Z:0.02 [[ 9.39040737e-01 -3.43805897e-01 0.00000000e+00 7.07614795e+01] [ 3.43805897e-01 9.39040737e-01 0.00000000e+00 1.09710554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00955798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.340371743 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:70.79, Y:10.98, Z:0.02 [[ 9.38725632e-01 -3.44665327e-01 0.00000000e+00 7.07858564e+01] [ 3.44665327e-01 9.38725632e-01 0.00000000e+00 1.09829082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91312937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.370371743 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:70.82, Y:10.99, Z:0.02 [[ 9.38456629e-01 -3.45397098e-01 0.00000000e+00 7.08175059e+01] [ 3.45397098e-01 9.38456629e-01 0.00000000e+00 1.09938598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90430072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.400371743 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:70.84, Y:11.01, Z:0.02 [[ 9.38535691e-01 -3.45182208e-01 0.00000000e+00 7.08408710e+01] [ 3.45182208e-01 9.38535691e-01 0.00000000e+00 1.10051020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95310889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.430371743 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:70.87, Y:11.02, Z:0.02 [[ 9.37705110e-01 -3.47432189e-01 0.00000000e+00 7.08745866e+01] [ 3.47432189e-01 9.37705110e-01 0.00000000e+00 1.10171528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94399976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.460371743 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:70.91, Y:11.03, Z:0.02 [[ 9.38800565e-01 -3.44461171e-01 0.00000000e+00 7.09120422e+01] [ 3.44461171e-01 9.38800565e-01 0.00000000e+00 1.10260339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84871317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.490371743 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:70.93, Y:11.04, Z:0.02 [[ 9.37160113e-01 -3.48899588e-01 0.00000000e+00 7.09311156e+01] [ 3.48899588e-01 9.37160113e-01 0.00000000e+00 1.10393441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95443214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.520371743 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:70.96, Y:11.05, Z:0.02 [[ 9.36655803e-01 -3.50251205e-01 0.00000000e+00 7.09612711e+01] [ 3.50251205e-01 9.36655803e-01 0.00000000e+00 1.10505933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81984705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.550371743 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:70.99, Y:11.06, Z:0.02 [[ 9.36486569e-01 -3.50703444e-01 0.00000000e+00 7.09898467e+01] [ 3.50703444e-01 9.36486569e-01 0.00000000e+00 1.10611887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78252415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.580371743 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:71.02, Y:11.07, Z:0.02 [[ 9.35687146e-01 -3.52830788e-01 0.00000000e+00 7.10190046e+01] [ 3.52830788e-01 9.35687146e-01 0.00000000e+00 1.10725995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83074049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.610371743 meters Centerline goodness : 0.992690 Centerline is valid? [True, True] Translation: X:71.04, Y:11.08, Z:0.02 [[ 9.35353832e-01 -3.53713456e-01 0.00000000e+00 7.10442901e+01] [ 3.53713456e-01 9.35353832e-01 0.00000000e+00 1.10846341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96336609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.640371743 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:71.05, Y:11.11, Z:0.03 [[ 9.30870103e-01 -3.65350312e-01 0.00000000e+00 7.10533832e+01] [ 3.65350312e-01 9.30870103e-01 0.00000000e+00 1.11050371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84495645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.670371743 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:71.08, Y:11.12, Z:0.03 [[ 9.30497850e-01 -3.66297353e-01 0.00000000e+00 7.10830713e+01] [ 3.66297353e-01 9.30497850e-01 0.00000000e+00 1.11167467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94576563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.700371743 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:71.13, Y:11.12, Z:0.02 [[ 9.33791632e-01 -3.57817255e-01 0.00000000e+00 7.11296911e+01] [ 3.57817255e-01 9.33791632e-01 0.00000000e+00 1.11198991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33594087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.730371743 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:71.14, Y:11.14, Z:0.03 [[ 9.30180377e-01 -3.67102802e-01 0.00000000e+00 7.11386173e+01] [ 3.67102802e-01 9.30180377e-01 0.00000000e+00 1.11367472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85283380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.760371743 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:71.17, Y:11.15, Z:0.03 [[ 9.29122180e-01 -3.69772870e-01 0.00000000e+00 7.11706767e+01] [ 3.69772870e-01 9.29122180e-01 0.00000000e+00 1.11483569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91516044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.790371743 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:71.22, Y:11.15, Z:0.02 [[ 9.31949119e-01 -3.62589079e-01 0.00000000e+00 7.12169945e+01] [ 3.62589079e-01 9.31949119e-01 0.00000000e+00 1.11524006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23869644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.820371743 meters Centerline goodness : 0.993033 Centerline is valid? [True, True] Translation: X:71.24, Y:11.16, Z:0.02 [[ 9.31026040e-01 -3.64952755e-01 0.00000000e+00 7.12432664e+01] [ 3.64952755e-01 9.31026040e-01 0.00000000e+00 1.11641970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30046256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.850371743 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:71.27, Y:11.17, Z:0.02 [[ 9.32458628e-01 -3.61276773e-01 0.00000000e+00 7.12679043e+01] [ 3.61276773e-01 9.32458628e-01 0.00000000e+00 1.11737441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06292491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.880371743 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:71.30, Y:11.19, Z:0.02 [[ 9.31408884e-01 -3.63974574e-01 0.00000000e+00 7.13031752e+01] [ 3.63974574e-01 9.31408884e-01 0.00000000e+00 1.11873924e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12292482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.910371743 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:71.33, Y:11.20, Z:0.02 [[ 9.31881120e-01 -3.62763805e-01 0.00000000e+00 7.13338350e+01] [ 3.62763805e-01 9.31881120e-01 0.00000000e+00 1.11990616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09757512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.940371743 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:71.36, Y:11.21, Z:0.02 [[ 9.33429829e-01 -3.58760024e-01 0.00000000e+00 7.13620875e+01] [ 3.58760024e-01 9.33429829e-01 0.00000000e+00 1.12118299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95327487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.970371743 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:71.39, Y:11.22, Z:0.02 [[ 9.34217356e-01 -3.56704264e-01 0.00000000e+00 7.13936048e+01] [ 3.56704264e-01 9.34217356e-01 0.00000000e+00 1.12239309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86090096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000371743 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:71.42, Y:11.24, Z:0.02 [[ 9.35103274e-01 -3.54375318e-01 0.00000000e+00 7.14231650e+01] [ 3.54375318e-01 9.35103274e-01 0.00000000e+00 1.12356026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86039170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.030371743 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:71.45, Y:11.25, Z:0.02 [[ 9.35916260e-01 -3.52222592e-01 0.00000000e+00 7.14531647e+01] [ 3.52222592e-01 9.35916260e-01 0.00000000e+00 1.12495872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04375581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.060371743 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:71.46, Y:11.27, Z:0.03 [[ 9.32666119e-01 -3.60740779e-01 0.00000000e+00 7.14611758e+01] [ 3.60740779e-01 9.32666119e-01 0.00000000e+00 1.12674248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79065101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.090371743 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:71.49, Y:11.28, Z:0.03 [[ 9.33442577e-01 -3.58726853e-01 0.00000000e+00 7.14925031e+01] [ 3.58726853e-01 9.33442577e-01 0.00000000e+00 1.12795386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90503808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.120371743 meters Centerline goodness : 0.992757 Centerline is valid? [True, True] Translation: X:71.54, Y:11.28, Z:0.03 [[ 9.38470649e-01 -3.45359004e-01 0.00000000e+00 7.15353554e+01] [ 3.45359004e-01 9.38470649e-01 0.00000000e+00 1.12837560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87231564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.150371743 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:71.57, Y:11.30, Z:0.02 [[ 9.37929098e-01 -3.46827057e-01 0.00000000e+00 7.15718561e+01] [ 3.46827057e-01 9.37929098e-01 0.00000000e+00 1.12960662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30982391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.180371743 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:71.60, Y:11.31, Z:0.02 [[ 9.37602066e-01 -3.47710174e-01 0.00000000e+00 7.15977167e+01] [ 3.47710174e-01 9.37602066e-01 0.00000000e+00 1.13081943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34199693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.210371743 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:71.61, Y:11.33, Z:0.03 [[ 9.34251665e-01 -3.56614393e-01 0.00000000e+00 7.16060802e+01] [ 3.56614393e-01 9.34251665e-01 0.00000000e+00 1.13270235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88560118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.240371743 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:71.65, Y:11.33, Z:0.02 [[ 9.37349441e-01 -3.48390622e-01 0.00000000e+00 7.16517786e+01] [ 3.48390622e-01 9.37349441e-01 0.00000000e+00 1.13320739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37493880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.270371743 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:71.68, Y:11.34, Z:0.02 [[ 9.37372486e-01 -3.48328613e-01 0.00000000e+00 7.16815716e+01] [ 3.48328613e-01 9.37372486e-01 0.00000000e+00 1.13438917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39813138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.300371743 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:71.71, Y:11.35, Z:0.02 [[ 9.37585118e-01 -3.47755872e-01 0.00000000e+00 7.17119938e+01] [ 3.47755872e-01 9.37585118e-01 0.00000000e+00 1.13545216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41174258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.330371743 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:71.72, Y:11.37, Z:0.03 [[ 9.34539494e-01 -3.55859430e-01 0.00000000e+00 7.17232621e+01] [ 3.55859430e-01 9.34539494e-01 0.00000000e+00 1.13714713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84016170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.360371743 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:71.77, Y:11.38, Z:0.02 [[ 9.37113596e-01 -3.49024508e-01 0.00000000e+00 7.17677802e+01] [ 3.49024508e-01 9.37113596e-01 0.00000000e+00 1.13761037e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47033251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.390371743 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:71.80, Y:11.39, Z:0.02 [[ 9.36970637e-01 -3.49408107e-01 0.00000000e+00 7.17989250e+01] [ 3.49408107e-01 9.36970637e-01 0.00000000e+00 1.13868520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40690650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420371743 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:71.83, Y:11.40, Z:0.02 [[ 9.37957060e-01 -3.46751429e-01 0.00000000e+00 7.18343520e+01] [ 3.46751429e-01 9.37957060e-01 0.00000000e+00 1.13960198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15061134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.450371743 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:71.86, Y:11.41, Z:0.02 [[ 9.37606296e-01 -3.47698770e-01 0.00000000e+00 7.18553364e+01] [ 3.47698770e-01 9.37606296e-01 0.00000000e+00 1.14068203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27309885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.480371743 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:71.89, Y:11.42, Z:0.02 [[ 9.37162985e-01 -3.48891875e-01 0.00000000e+00 7.18880792e+01] [ 3.48891875e-01 9.37162985e-01 0.00000000e+00 1.14177524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18239926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.510371743 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:71.91, Y:11.43, Z:0.02 [[ 9.36701740e-01 -3.50128335e-01 0.00000000e+00 7.19139150e+01] [ 3.50128335e-01 9.36701740e-01 0.00000000e+00 1.14295791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23902163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.540371743 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:71.95, Y:11.44, Z:0.02 [[ 9.37065951e-01 -3.49152406e-01 0.00000000e+00 7.19466513e+01] [ 3.49152406e-01 9.37065951e-01 0.00000000e+00 1.14390640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15151383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.570371743 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:71.95, Y:11.46, Z:0.03 [[ 9.32449653e-01 -3.61299937e-01 0.00000000e+00 7.19527134e+01] [ 3.61299937e-01 9.32449653e-01 0.00000000e+00 1.14574812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66087859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.600371743 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:72.00, Y:11.46, Z:0.02 [[ 9.35594659e-01 -3.53075961e-01 0.00000000e+00 7.19994930e+01] [ 3.53075961e-01 9.35594659e-01 0.00000000e+00 1.14609585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18595020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.630371743 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:72.03, Y:11.47, Z:0.02 [[ 9.35154852e-01 -3.54239190e-01 0.00000000e+00 7.20275257e+01] [ 3.54239190e-01 9.35154852e-01 0.00000000e+00 1.14712190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20657164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.660371743 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:72.06, Y:11.48, Z:0.02 [[ 9.34181068e-01 -3.56799289e-01 0.00000000e+00 7.20583181e+01] [ 3.56799289e-01 9.34181068e-01 0.00000000e+00 1.14822713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19381460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.690371743 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:72.09, Y:11.49, Z:0.02 [[ 9.33544758e-01 -3.58460855e-01 0.00000000e+00 7.20871434e+01] [ 3.58460855e-01 9.33544758e-01 0.00000000e+00 1.14936001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17816482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720371743 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:72.10, Y:11.51, Z:0.03 [[ 9.30248554e-01 -3.66930003e-01 0.00000000e+00 7.21016293e+01] [ 3.66930003e-01 9.30248554e-01 0.00000000e+00 1.15093338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57213907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.750371743 meters Centerline goodness : 0.992856 Centerline is valid? [True, True] Translation: X:72.15, Y:11.51, Z:0.02 [[ 9.33035541e-01 -3.59784211e-01 0.00000000e+00 7.21477149e+01] [ 3.59784211e-01 9.33035541e-01 0.00000000e+00 1.15135315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03363812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780371743 meters Centerline goodness : 0.993167 Centerline is valid? [True, True] Translation: X:72.18, Y:11.52, Z:0.02 [[ 9.31956944e-01 -3.62568965e-01 0.00000000e+00 7.21773286e+01] [ 3.62568965e-01 9.31956944e-01 0.00000000e+00 1.15249572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12647659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.810371743 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:72.21, Y:11.54, Z:0.02 [[ 9.32349440e-01 -3.61558462e-01 0.00000000e+00 7.22076527e+01] [ 3.61558462e-01 9.32349440e-01 0.00000000e+00 1.15354079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06932857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.840371743 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:72.24, Y:11.55, Z:0.02 [[ 9.31724228e-01 -3.63166578e-01 0.00000000e+00 7.22390057e+01] [ 3.63166578e-01 9.31724228e-01 0.00000000e+00 1.15455473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11845237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87037174299999 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:72.27, Y:11.56, Z:0.02 [[ 9.31561899e-01 -3.63582767e-01 0.00000000e+00 7.22685944e+01] [ 3.63582767e-01 9.31561899e-01 0.00000000e+00 1.15563770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11845237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.900371743 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:72.30, Y:11.57, Z:0.02 [[ 9.31695736e-01 -3.63239668e-01 0.00000000e+00 7.22979875e+01] [ 3.63239668e-01 9.31695736e-01 0.00000000e+00 1.15665635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15985339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.930371743 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:72.31, Y:11.58, Z:0.03 [[ 9.28251301e-01 -3.71953656e-01 0.00000000e+00 7.23081135e+01] [ 3.71953656e-01 9.28251301e-01 0.00000000e+00 1.15834943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74139545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.960371743 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:72.35, Y:11.59, Z:0.02 [[ 9.31440061e-01 -3.63894783e-01 0.00000000e+00 7.23544562e+01] [ 3.63894783e-01 9.31440061e-01 0.00000000e+00 1.15882237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20499778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.990371743 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:72.39, Y:11.60, Z:0.02 [[ 9.31541794e-01 -3.63634275e-01 0.00000000e+00 7.23853731e+01] [ 3.63634275e-01 9.31541794e-01 0.00000000e+00 1.15993408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08823927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.020371743 meters Centerline goodness : 0.992937 Centerline is valid? [True, True] Translation: X:72.42, Y:11.61, Z:0.02 [[ 9.32002598e-01 -3.62451594e-01 0.00000000e+00 7.24158853e+01] [ 3.62451594e-01 9.32002598e-01 0.00000000e+00 1.16111817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99491338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.050371743 meters Centerline goodness : 0.992775 Centerline is valid? [True, True] Translation: X:72.45, Y:11.62, Z:0.02 [[ 9.32493710e-01 -3.61186212e-01 0.00000000e+00 7.24468242e+01] [ 3.61186212e-01 9.32493710e-01 0.00000000e+00 1.16217982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94453833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.080371743 meters Centerline goodness : 0.993091 Centerline is valid? [True, True] Translation: X:72.48, Y:11.63, Z:0.02 [[ 9.32750346e-01 -3.60522944e-01 0.00000000e+00 7.24791660e+01] [ 3.60522944e-01 9.32750346e-01 0.00000000e+00 1.16327809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86889633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.110371743 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:72.51, Y:11.64, Z:0.02 [[ 9.33690127e-01 -3.58082038e-01 0.00000000e+00 7.25093754e+01] [ 3.58082038e-01 9.33690127e-01 0.00000000e+00 1.16426160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80356294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140371743 meters Centerline goodness : 0.992637 Centerline is valid? [True, True] Translation: X:72.51, Y:11.66, Z:0.03 [[ 9.29545899e-01 -3.68706417e-01 0.00000000e+00 7.25128449e+01] [ 3.68706417e-01 9.29545899e-01 0.00000000e+00 1.16615038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52908426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.170371743 meters Centerline goodness : 0.992446 Centerline is valid? [True, True] Translation: X:72.54, Y:11.67, Z:0.03 [[ 9.29789833e-01 -3.68090840e-01 0.00000000e+00 7.25409049e+01] [ 3.68090840e-01 9.29789833e-01 0.00000000e+00 1.16728386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93677077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.200371743 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:72.57, Y:11.68, Z:0.03 [[ 9.29990687e-01 -3.67583082e-01 0.00000000e+00 7.25726682e+01] [ 3.67583082e-01 9.29990687e-01 0.00000000e+00 1.16837708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52410506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.230371743 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:72.63, Y:11.69, Z:0.02 [[ 9.35047005e-01 -3.54523762e-01 0.00000000e+00 7.26256544e+01] [ 3.54523762e-01 9.35047005e-01 0.00000000e+00 1.16864562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78275336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.260371743 meters Centerline goodness : 0.992917 Centerline is valid? [True, True] Translation: X:72.65, Y:11.70, Z:0.02 [[ 9.33692131e-01 -3.58076813e-01 0.00000000e+00 7.26475300e+01] [ 3.58076813e-01 9.33692131e-01 0.00000000e+00 1.16983632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93578892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.290371743 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:72.66, Y:11.72, Z:0.03 [[ 9.30052709e-01 -3.67426128e-01 0.00000000e+00 7.26583609e+01] [ 3.67426128e-01 9.30052709e-01 0.00000000e+00 1.17162942e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61160218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.320371743 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:72.71, Y:11.72, Z:0.02 [[ 9.33906349e-01 -3.57517735e-01 0.00000000e+00 7.27095587e+01] [ 3.57517735e-01 9.33906349e-01 0.00000000e+00 1.17179479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80407585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.350371743 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:72.73, Y:11.73, Z:0.03 [[ 9.33599885e-01 -3.58317255e-01 0.00000000e+00 7.27347733e+01] [ 3.58317255e-01 9.33599885e-01 0.00000000e+00 1.17280106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53171443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.380371743 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:72.76, Y:11.74, Z:0.02 [[ 9.32338922e-01 -3.61585585e-01 0.00000000e+00 7.27637052e+01] [ 3.61585585e-01 9.32338922e-01 0.00000000e+00 1.17393992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48079841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.410371743 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:72.79, Y:11.75, Z:0.02 [[ 9.30886159e-01 -3.65309401e-01 0.00000000e+00 7.27921258e+01] [ 3.65309401e-01 9.30886159e-01 0.00000000e+00 1.17513562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88720195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.440371743 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:72.80, Y:11.77, Z:0.03 [[ 9.26891442e-01 -3.75329529e-01 0.00000000e+00 7.28036665e+01] [ 3.75329529e-01 9.26891442e-01 0.00000000e+00 1.17684517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61296097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.470371743 meters Centerline goodness : 0.992174 Centerline is valid? [True, True] Translation: X:72.85, Y:11.77, Z:0.03 [[ 9.30672048e-01 -3.65854533e-01 0.00000000e+00 7.28476165e+01] [ 3.65854533e-01 9.30672048e-01 0.00000000e+00 1.17714273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73425407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500371743 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:72.87, Y:11.78, Z:0.03 [[ 9.30545547e-01 -3.66176166e-01 0.00000000e+00 7.28739741e+01] [ 3.66176166e-01 9.30545547e-01 0.00000000e+00 1.17833639e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91754037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.530371743 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:72.90, Y:11.80, Z:0.02 [[ 9.30411078e-01 -3.66517703e-01 0.00000000e+00 7.29041969e+01] [ 3.66517703e-01 9.30411078e-01 0.00000000e+00 1.17972654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35159611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.560371743 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:72.94, Y:11.81, Z:0.02 [[ 9.31437925e-01 -3.63900251e-01 0.00000000e+00 7.29369293e+01] [ 3.63900251e-01 9.31437925e-01 0.00000000e+00 1.18084686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23393574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.590371743 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:72.95, Y:11.82, Z:0.03 [[ 9.28745276e-01 -3.70718508e-01 0.00000000e+00 7.29495578e+01] [ 3.70718508e-01 9.28745276e-01 0.00000000e+00 1.18249483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88852858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62037174299999 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:72.99, Y:11.83, Z:0.03 [[ 9.32377514e-01 -3.61486061e-01 0.00000000e+00 7.29934674e+01] [ 3.61486061e-01 9.32377514e-01 0.00000000e+00 1.18299646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83401018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.650371743 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:73.02, Y:11.84, Z:0.02 [[ 9.32756962e-01 -3.60505825e-01 0.00000000e+00 7.30220152e+01] [ 3.60505825e-01 9.32756962e-01 0.00000000e+00 1.18408032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95857621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.680371743 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:73.05, Y:11.85, Z:0.02 [[ 9.32264126e-01 -3.61778385e-01 0.00000000e+00 7.30518766e+01] [ 3.61778385e-01 9.32264126e-01 0.00000000e+00 1.18520348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95887356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.710371743 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:73.08, Y:11.86, Z:0.02 [[ 9.31715619e-01 -3.63188663e-01 0.00000000e+00 7.30774917e+01] [ 3.63188663e-01 9.31715619e-01 0.00000000e+00 1.18644487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08731962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.740371743 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:73.11, Y:11.87, Z:0.02 [[ 9.32338270e-01 -3.61587266e-01 0.00000000e+00 7.31094991e+01] [ 3.61587266e-01 9.32338270e-01 0.00000000e+00 1.18748762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88384570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.770371743 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:73.14, Y:11.89, Z:0.02 [[ 9.32559379e-01 -3.61016627e-01 0.00000000e+00 7.31395650e+01] [ 3.61016627e-01 9.32559379e-01 0.00000000e+00 1.18863898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89163601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.800371743 meters Centerline goodness : 0.992894 Centerline is valid? [True, True] Translation: X:73.17, Y:11.90, Z:0.02 [[ 9.33065758e-01 -3.59705840e-01 0.00000000e+00 7.31671467e+01] [ 3.59705840e-01 9.33065758e-01 0.00000000e+00 1.18979215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03062480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.830371743 meters Centerline goodness : 0.992929 Centerline is valid? [True, True] Translation: X:73.19, Y:11.91, Z:0.03 [[ 9.31526855e-01 -3.63672542e-01 0.00000000e+00 7.31865983e+01] [ 3.63672542e-01 9.31526855e-01 0.00000000e+00 1.19130592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54099456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.860371743 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:73.23, Y:11.92, Z:0.02 [[ 9.34273608e-01 -3.56556903e-01 0.00000000e+00 7.32277928e+01] [ 3.56556903e-01 9.34273608e-01 0.00000000e+00 1.19195433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07832927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.890371743 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:73.26, Y:11.93, Z:0.02 [[ 9.35162402e-01 -3.54219257e-01 0.00000000e+00 7.32607734e+01] [ 3.54219257e-01 9.35162402e-01 0.00000000e+00 1.19298839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03540871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920371743 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:73.29, Y:11.94, Z:0.02 [[ 9.34878842e-01 -3.54966973e-01 0.00000000e+00 7.32864660e+01] [ 3.54966973e-01 9.34878842e-01 0.00000000e+00 1.19411035e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23388524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.950371743 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:73.32, Y:11.95, Z:0.02 [[ 9.35135538e-01 -3.54290171e-01 0.00000000e+00 7.33189664e+01] [ 3.54290171e-01 9.35135538e-01 0.00000000e+00 1.19513443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16785884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.980371743 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:73.33, Y:11.97, Z:0.03 [[ 9.32196354e-01 -3.61952977e-01 0.00000000e+00 7.33344498e+01] [ 3.61952977e-01 9.32196354e-01 0.00000000e+00 1.19661841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71726298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.010371743 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:73.38, Y:11.97, Z:0.02 [[ 9.34054161e-01 -3.57131383e-01 0.00000000e+00 7.33755884e+01] [ 3.57131383e-01 9.34054161e-01 0.00000000e+00 1.19721285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26011658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.040371743 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:73.41, Y:11.98, Z:0.02 [[ 9.32854241e-01 -3.60254029e-01 0.00000000e+00 7.34073592e+01] [ 3.60254029e-01 9.32854241e-01 0.00000000e+00 1.19819041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21074582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.070371743 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:73.42, Y:12.00, Z:0.03 [[ 9.29826426e-01 -3.67998393e-01 0.00000000e+00 7.34249140e+01] [ 3.67998393e-01 9.29826426e-01 0.00000000e+00 1.19956702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63345044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.100371743 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:73.46, Y:12.01, Z:0.03 [[ 9.28526345e-01 -3.71266516e-01 0.00000000e+00 7.34560154e+01] [ 3.71266516e-01 9.28526345e-01 0.00000000e+00 1.20058536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64800775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.130371743 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:73.49, Y:12.02, Z:0.03 [[ 9.27887702e-01 -3.72859775e-01 0.00000000e+00 7.34870905e+01] [ 3.72859775e-01 9.27887702e-01 0.00000000e+00 1.20166840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59389162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.160371743 meters Centerline goodness : 0.994260 Centerline is valid? [True, True] Translation: X:73.53, Y:12.02, Z:0.02 [[ 9.30651941e-01 -3.65905678e-01 0.00000000e+00 7.35328661e+01] [ 3.65905678e-01 9.30651941e-01 0.00000000e+00 1.20213816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89483447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.190371743 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:73.55, Y:12.04, Z:0.03 [[ 9.26426323e-01 -3.76476119e-01 0.00000000e+00 7.35454134e+01] [ 3.76476119e-01 9.26426323e-01 0.00000000e+00 1.20371019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52338788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.220371743 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:73.59, Y:12.04, Z:0.02 [[ 9.28156684e-01 -3.72189695e-01 0.00000000e+00 7.35907603e+01] [ 3.72189695e-01 9.28156684e-01 0.00000000e+00 1.20417586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83185693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.250371743 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:73.62, Y:12.05, Z:0.02 [[ 9.27323646e-01 -3.74260413e-01 0.00000000e+00 7.36220071e+01] [ 3.74260413e-01 9.27323646e-01 0.00000000e+00 1.20526897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88496093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280371743 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:73.65, Y:12.06, Z:0.02 [[ 9.25688037e-01 -3.78287798e-01 0.00000000e+00 7.36450099e+01] [ 3.78287798e-01 9.25688037e-01 0.00000000e+00 1.20644483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12488574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.310371743 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:73.68, Y:12.08, Z:0.02 [[ 9.25755375e-01 -3.78122977e-01 0.00000000e+00 7.36780340e+01] [ 3.78122977e-01 9.25755375e-01 0.00000000e+00 1.20754923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05975849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.340371743 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:73.71, Y:12.09, Z:0.02 [[ 9.25247311e-01 -3.79364486e-01 0.00000000e+00 7.37062095e+01] [ 3.79364486e-01 9.25247311e-01 0.00000000e+00 1.20872641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14034987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37037174299999 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:73.73, Y:12.10, Z:0.02 [[ 9.25161640e-01 -3.79573365e-01 0.00000000e+00 7.37340951e+01] [ 3.79573365e-01 9.25161640e-01 0.00000000e+00 1.20986739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19909336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.400371743 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:73.76, Y:12.11, Z:0.02 [[ 9.25503391e-01 -3.78739322e-01 0.00000000e+00 7.37645140e+01] [ 3.78739322e-01 9.25503391e-01 0.00000000e+00 1.21101491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24989107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.430371743 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:73.78, Y:12.13, Z:0.03 [[ 9.23510422e-01 -3.83573331e-01 0.00000000e+00 7.37817847e+01] [ 3.83573331e-01 9.23510422e-01 0.00000000e+00 1.21257998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55801651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.460371743 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:73.82, Y:12.13, Z:0.03 [[ 9.27397151e-01 -3.74078233e-01 0.00000000e+00 7.38203265e+01] [ 3.74078233e-01 9.27397151e-01 0.00000000e+00 1.21303484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74861529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.490371743 meters Centerline goodness : 0.993007 Centerline is valid? [True, True] Translation: X:73.85, Y:12.15, Z:0.02 [[ 9.26039571e-01 -3.77426434e-01 0.00000000e+00 7.38520161e+01] [ 3.77426434e-01 9.26039571e-01 0.00000000e+00 1.21450754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16365768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.520371743 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:73.88, Y:12.16, Z:0.02 [[ 9.26480943e-01 -3.76341684e-01 0.00000000e+00 7.38830667e+01] [ 3.76341684e-01 9.26480943e-01 0.00000000e+00 1.21561526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99029741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.550371743 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:73.92, Y:12.17, Z:0.02 [[ 9.26581307e-01 -3.76094512e-01 0.00000000e+00 7.39150823e+01] [ 3.76094512e-01 9.26581307e-01 0.00000000e+00 1.21679899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87681692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.580371743 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:73.95, Y:12.18, Z:0.02 [[ 9.26417916e-01 -3.76496806e-01 0.00000000e+00 7.39454227e+01] [ 3.76496806e-01 9.26417916e-01 0.00000000e+00 1.21795605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79252758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.610371743 meters Centerline goodness : 0.992333 Centerline is valid? [True, True] Translation: X:73.97, Y:12.19, Z:0.02 [[ 9.26604513e-01 -3.76037333e-01 0.00000000e+00 7.39726613e+01] [ 3.76037333e-01 9.26604513e-01 0.00000000e+00 1.21921280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71765772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.640371743 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:74.00, Y:12.20, Z:0.02 [[ 9.26529285e-01 -3.76222651e-01 0.00000000e+00 7.40028112e+01] [ 3.76222651e-01 9.26529285e-01 0.00000000e+00 1.22044692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78845779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.670371743 meters Centerline goodness : 0.992828 Centerline is valid? [True, True] Translation: X:74.03, Y:12.22, Z:0.02 [[ 9.27326431e-01 -3.74253511e-01 0.00000000e+00 7.40327816e+01] [ 3.74253511e-01 9.27326431e-01 0.00000000e+00 1.22158299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69282910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.700371743 meters Centerline goodness : 0.991911 Centerline is valid? [True, True] Translation: X:74.06, Y:12.23, Z:0.02 [[ 9.27557388e-01 -3.73680736e-01 0.00000000e+00 7.40564773e+01] [ 3.73680736e-01 9.27557388e-01 0.00000000e+00 1.22295819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18655565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.730371743 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:74.09, Y:12.24, Z:0.02 [[ 9.27715692e-01 -3.73287549e-01 0.00000000e+00 7.40917993e+01] [ 3.73287549e-01 9.27715692e-01 0.00000000e+00 1.22416562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90346689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.760371743 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:74.12, Y:12.25, Z:0.02 [[ 9.27595706e-01 -3.73585607e-01 0.00000000e+00 7.41213031e+01] [ 3.73585607e-01 9.27595706e-01 0.00000000e+00 1.22528389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90346689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.790371743 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:74.14, Y:12.27, Z:0.02 [[ 9.25012446e-01 -3.79936803e-01 0.00000000e+00 7.41356809e+01] [ 3.79936803e-01 9.25012446e-01 0.00000000e+00 1.22694797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31420506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.820371743 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:74.16, Y:12.28, Z:0.03 [[ 9.25487743e-01 -3.78777557e-01 0.00000000e+00 7.41605549e+01] [ 3.78777557e-01 9.25487743e-01 0.00000000e+00 1.22817307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74692760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.850371743 meters Centerline goodness : 0.992438 Centerline is valid? [True, True] Translation: X:74.21, Y:12.29, Z:0.02 [[ 9.28442821e-01 -3.71475341e-01 0.00000000e+00 7.42084117e+01] [ 3.71475341e-01 9.28442821e-01 0.00000000e+00 1.22876732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12365165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.880371743 meters Centerline goodness : 0.992364 Centerline is valid? [True, True] Translation: X:74.24, Y:12.30, Z:0.02 [[ 9.28101743e-01 -3.72326676e-01 0.00000000e+00 7.42366867e+01] [ 3.72326676e-01 9.28101743e-01 0.00000000e+00 1.22993294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15303373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.910371743 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:74.27, Y:12.31, Z:0.02 [[ 9.27057649e-01 -3.74918812e-01 0.00000000e+00 7.42659448e+01] [ 3.74918812e-01 9.27057649e-01 0.00000000e+00 1.23114165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19114868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.940371743 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:74.30, Y:12.32, Z:0.02 [[ 9.26081433e-01 -3.77323706e-01 0.00000000e+00 7.42973372e+01] [ 3.77323706e-01 9.26081433e-01 0.00000000e+00 1.23227202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01815337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.970371743 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:74.33, Y:12.33, Z:0.02 [[ 9.25591240e-01 -3.78524579e-01 0.00000000e+00 7.43270119e+01] [ 3.78524579e-01 9.25591240e-01 0.00000000e+00 1.23334772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91516970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000371743 meters Centerline goodness : 0.992588 Centerline is valid? [True, True] Translation: X:74.36, Y:12.34, Z:0.02 [[ 9.24738589e-01 -3.80602866e-01 0.00000000e+00 7.43574503e+01] [ 3.80602866e-01 9.24738589e-01 0.00000000e+00 1.23447567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89090341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.030371743 meters Centerline goodness : 0.992550 Centerline is valid? [True, True] Translation: X:74.39, Y:12.36, Z:0.02 [[ 9.23897216e-01 -3.82640738e-01 0.00000000e+00 7.43891804e+01] [ 3.82640738e-01 9.23897216e-01 0.00000000e+00 1.23552888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70717497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.060371743 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:74.41, Y:12.37, Z:0.02 [[ 9.20927294e-01 -3.89734421e-01 0.00000000e+00 7.44055093e+01] [ 3.89734421e-01 9.20927294e-01 0.00000000e+00 1.23709329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10324353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.090371743 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:74.45, Y:12.38, Z:0.02 [[ 9.23302774e-01 -3.84072894e-01 0.00000000e+00 7.44466811e+01] [ 3.84072894e-01 9.23302774e-01 0.00000000e+00 1.23777229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69535094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12037174299999 meters Centerline goodness : 0.992814 Centerline is valid? [True, True] Translation: X:74.47, Y:12.39, Z:0.02 [[ 9.23162544e-01 -3.84409829e-01 0.00000000e+00 7.44747482e+01] [ 3.84409829e-01 9.23162544e-01 0.00000000e+00 1.23899884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74390110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.150371743 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:74.50, Y:12.40, Z:0.02 [[ 9.23645226e-01 -3.83248610e-01 0.00000000e+00 7.45039486e+01] [ 3.83248610e-01 9.23645226e-01 0.00000000e+00 1.24006346e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73026940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.180371743 meters Centerline goodness : 0.992571 Centerline is valid? [True, True] Translation: X:74.53, Y:12.41, Z:0.02 [[ 9.23807867e-01 -3.82856402e-01 0.00000000e+00 7.45342233e+01] [ 3.82856402e-01 9.23807867e-01 0.00000000e+00 1.24128623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79331066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.210371743 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:74.56, Y:12.43, Z:0.02 [[ 9.23863964e-01 -3.82721016e-01 0.00000000e+00 7.45610113e+01] [ 3.82721016e-01 9.23863964e-01 0.00000000e+00 1.24258579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02052855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.240371743 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:74.59, Y:12.44, Z:0.02 [[ 9.24697228e-01 -3.80703344e-01 0.00000000e+00 7.45911835e+01] [ 3.80703344e-01 9.24697228e-01 0.00000000e+00 1.24379717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97308762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.270371743 meters Centerline goodness : 0.992767 Centerline is valid? [True, True] Translation: X:74.61, Y:12.45, Z:0.02 [[ 9.24786993e-01 -3.80485240e-01 0.00000000e+00 7.46114463e+01] [ 3.80485240e-01 9.24786993e-01 0.00000000e+00 1.24530662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26277205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.300371743 meters Centerline goodness : 0.992614 Centerline is valid? [True, True] Translation: X:74.65, Y:12.46, Z:0.02 [[ 9.27360937e-01 -3.74168001e-01 0.00000000e+00 7.46498737e+01] [ 3.74168001e-01 9.27360937e-01 0.00000000e+00 1.24614185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05928416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.330371743 meters Centerline goodness : 0.992398 Centerline is valid? [True, True] Translation: X:74.68, Y:12.47, Z:0.02 [[ 9.29340458e-01 -3.69223934e-01 0.00000000e+00 7.46782329e+01] [ 3.69223934e-01 9.29340458e-01 0.00000000e+00 1.24698545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29301139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360371743 meters Centerline goodness : 0.992552 Centerline is valid? [True, True] Translation: X:74.71, Y:12.48, Z:0.02 [[ 9.30236028e-01 -3.66961758e-01 0.00000000e+00 7.47083158e+01] [ 3.66961758e-01 9.30236028e-01 0.00000000e+00 1.24811305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36648134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.390371743 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:74.74, Y:12.49, Z:0.02 [[ 9.29603844e-01 -3.68560298e-01 0.00000000e+00 7.47386164e+01] [ 3.68560298e-01 9.29603844e-01 0.00000000e+00 1.24931582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88339270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420371743 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:74.76, Y:12.51, Z:0.02 [[ 9.27396499e-01 -3.74079848e-01 0.00000000e+00 7.47588591e+01] [ 3.74079848e-01 9.27396499e-01 0.00000000e+00 1.25090534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09059060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.450371743 meters Centerline goodness : 0.993123 Centerline is valid? [True, True] Translation: X:74.80, Y:12.51, Z:0.02 [[ 9.29822518e-01 -3.68008267e-01 0.00000000e+00 7.48010163e+01] [ 3.68008267e-01 9.29822518e-01 0.00000000e+00 1.25145005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57272930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.480371743 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:74.83, Y:12.52, Z:0.01 [[ 9.29355148e-01 -3.69186958e-01 0.00000000e+00 7.48327368e+01] [ 3.69186958e-01 9.29355148e-01 0.00000000e+00 1.25237278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34513722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.510371743 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:74.86, Y:12.53, Z:0.01 [[ 9.28821281e-01 -3.70528038e-01 0.00000000e+00 7.48626874e+01] [ 3.70528038e-01 9.28821281e-01 0.00000000e+00 1.25341713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28326042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.540371743 meters Centerline goodness : 0.993811 Centerline is valid? [True, True] Translation: X:74.89, Y:12.55, Z:0.01 [[ 9.28122807e-01 -3.72274168e-01 0.00000000e+00 7.48931767e+01] [ 3.72274168e-01 9.28122807e-01 0.00000000e+00 1.25454908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28434682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.570371743 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:74.93, Y:12.56, Z:0.01 [[ 9.27238604e-01 -3.74471055e-01 0.00000000e+00 7.49258460e+01] [ 3.74471055e-01 9.27238604e-01 0.00000000e+00 1.25555873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27872991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.600371743 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:74.96, Y:12.57, Z:0.01 [[ 9.26956394e-01 -3.75169088e-01 0.00000000e+00 7.49582405e+01] [ 3.75169088e-01 9.26956394e-01 0.00000000e+00 1.25661032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27679521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.630371743 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:74.97, Y:12.58, Z:0.02 [[ 9.22891487e-01 -3.85060129e-01 0.00000000e+00 7.49701050e+01] [ 3.85060129e-01 9.22891487e-01 0.00000000e+00 1.25821355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84793061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.660371743 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:75.00, Y:12.59, Z:0.02 [[ 9.22225832e-01 -3.86651670e-01 0.00000000e+00 7.50016532e+01] [ 3.86651670e-01 9.22225832e-01 0.00000000e+00 1.25917054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93815394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.690371743 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:75.04, Y:12.60, Z:0.02 [[ 9.24452210e-01 -3.81297929e-01 0.00000000e+00 7.50443936e+01] [ 3.81297929e-01 9.24452210e-01 0.00000000e+00 1.25973590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70614948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720371743 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:75.07, Y:12.61, Z:0.02 [[ 9.24417890e-01 -3.81381129e-01 0.00000000e+00 7.50747591e+01] [ 3.81381129e-01 9.24417890e-01 0.00000000e+00 1.26073142e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73065268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.750371743 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:75.11, Y:12.62, Z:0.02 [[ 9.23560511e-01 -3.83452713e-01 0.00000000e+00 7.51077632e+01] [ 3.83452713e-01 9.23560511e-01 0.00000000e+00 1.26172689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69034557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780371743 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:75.12, Y:12.63, Z:0.02 [[ 9.19113878e-01 -3.93991979e-01 0.00000000e+00 7.51188902e+01] [ 3.93991979e-01 9.19113878e-01 0.00000000e+00 1.26334563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97941660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.810371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:75.16, Y:12.64, Z:0.02 [[ 9.21227493e-01 -3.89024299e-01 0.00000000e+00 7.51614418e+01] [ 3.89024299e-01 9.21227493e-01 0.00000000e+00 1.26387723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63421727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.840371743 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:75.19, Y:12.65, Z:0.01 [[ 9.20009509e-01 -3.91896036e-01 0.00000000e+00 7.51881485e+01] [ 3.91896036e-01 9.20009509e-01 0.00000000e+00 1.26471293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46276997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87037174299999 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:75.22, Y:12.66, Z:0.01 [[ 9.20513562e-01 -3.90710611e-01 0.00000000e+00 7.52191755e+01] [ 3.90710611e-01 9.20513562e-01 0.00000000e+00 1.26565627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23397992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.900371743 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:75.25, Y:12.67, Z:0.01 [[ 9.19147066e-01 -3.93914548e-01 0.00000000e+00 7.52499241e+01] [ 3.93914548e-01 9.19147066e-01 0.00000000e+00 1.26688367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18578857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.930371743 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:75.28, Y:12.68, Z:0.01 [[ 9.19141895e-01 -3.93926613e-01 0.00000000e+00 7.52773710e+01] [ 3.93926613e-01 9.19141895e-01 0.00000000e+00 1.26811641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10435219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.960371743 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:75.31, Y:12.69, Z:0.01 [[ 9.18955290e-01 -3.94361730e-01 0.00000000e+00 7.53071683e+01] [ 3.94361730e-01 9.18955290e-01 0.00000000e+00 1.26938044e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09718146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.990371743 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:75.34, Y:12.71, Z:0.01 [[ 9.19691147e-01 -3.92642577e-01 0.00000000e+00 7.53372007e+01] [ 3.92642577e-01 9.19691147e-01 0.00000000e+00 1.27053353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06143920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.020371743 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:75.37, Y:12.72, Z:0.01 [[ 9.20365439e-01 -3.91059405e-01 0.00000000e+00 7.53660065e+01] [ 3.91059405e-01 9.20365439e-01 0.00000000e+00 1.27169831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06653611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.050371743 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:75.40, Y:12.73, Z:0.01 [[ 9.22358228e-01 -3.86335735e-01 0.00000000e+00 7.53972374e+01] [ 3.86335735e-01 9.22358228e-01 0.00000000e+00 1.27295010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08819317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.080371743 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:75.42, Y:12.74, Z:0.01 [[ 9.22485577e-01 -3.86031553e-01 0.00000000e+00 7.54244538e+01] [ 3.86031553e-01 9.22485577e-01 0.00000000e+00 1.27424258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14670266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.110371743 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:75.45, Y:12.76, Z:0.01 [[ 9.22819716e-01 -3.85232102e-01 0.00000000e+00 7.54542347e+01] [ 3.85232102e-01 9.22819716e-01 0.00000000e+00 1.27552310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18976319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140371743 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:75.48, Y:12.77, Z:0.01 [[ 9.24178459e-01 -3.81960962e-01 0.00000000e+00 7.54827536e+01] [ 3.81960962e-01 9.24178459e-01 0.00000000e+00 1.27682605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15395379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.170371743 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:75.51, Y:12.78, Z:0.01 [[ 9.24472886e-01 -3.81247798e-01 0.00000000e+00 7.55127872e+01] [ 3.81247798e-01 9.24472886e-01 0.00000000e+00 1.27811124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05475373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.200371743 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:75.54, Y:12.79, Z:0.01 [[ 9.24726351e-01 -3.80632600e-01 0.00000000e+00 7.55426340e+01] [ 3.80632600e-01 9.24726351e-01 0.00000000e+00 1.27933721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82595104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.230371743 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:75.57, Y:12.81, Z:0.01 [[ 9.25138655e-01 -3.79629385e-01 0.00000000e+00 7.55722486e+01] [ 3.79629385e-01 9.25138655e-01 0.00000000e+00 1.28054438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91679689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.260371743 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:75.60, Y:12.82, Z:0.01 [[ 9.26253526e-01 -3.76901055e-01 0.00000000e+00 7.56027205e+01] [ 3.76901055e-01 9.26253526e-01 0.00000000e+00 1.28190858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78589736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.290371743 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:75.63, Y:12.83, Z:0.01 [[ 9.27094723e-01 -3.74827125e-01 0.00000000e+00 7.56315900e+01] [ 3.74827125e-01 9.27094723e-01 0.00000000e+00 1.28311714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.44338545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.320371743 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:75.66, Y:12.84, Z:0.01 [[ 9.27280995e-01 -3.74366072e-01 0.00000000e+00 7.56614077e+01] [ 3.74366072e-01 9.27280995e-01 0.00000000e+00 1.28443900e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67951001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.350371743 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:75.69, Y:12.86, Z:0.01 [[ 9.27939325e-01 -3.72731284e-01 0.00000000e+00 7.56916659e+01] [ 3.72731284e-01 9.27939325e-01 0.00000000e+00 1.28564872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.48700747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.380371743 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:75.72, Y:12.87, Z:0.01 [[ 9.29453837e-01 -3.68938430e-01 0.00000000e+00 7.57191836e+01] [ 3.68938430e-01 9.29453837e-01 0.00000000e+00 1.28683982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.63686440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.410371743 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:75.75, Y:12.88, Z:0.01 [[ 9.29436241e-01 -3.68982757e-01 0.00000000e+00 7.57512450e+01] [ 3.68982757e-01 9.29436241e-01 0.00000000e+00 1.28806500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47542348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.440371743 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:75.78, Y:12.89, Z:0.01 [[ 9.30583202e-01 -3.66080462e-01 0.00000000e+00 7.57805818e+01] [ 3.66080462e-01 9.30583202e-01 0.00000000e+00 1.28916914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45098731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.470371743 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:75.81, Y:12.90, Z:0.01 [[ 9.30263636e-01 -3.66891766e-01 0.00000000e+00 7.58100868e+01] [ 3.66891766e-01 9.30263636e-01 0.00000000e+00 1.29037321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65833407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500371743 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:75.84, Y:12.92, Z:0.01 [[ 9.30225951e-01 -3.66987302e-01 0.00000000e+00 7.58408641e+01] [ 3.66987302e-01 9.30225951e-01 0.00000000e+00 1.29156333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72590044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.530371743 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:75.87, Y:12.93, Z:0.01 [[ 9.30163483e-01 -3.67145605e-01 0.00000000e+00 7.58712542e+01] [ 3.67145605e-01 9.30163483e-01 0.00000000e+00 1.29273532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36377061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.560371743 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:75.90, Y:12.94, Z:0.01 [[ 9.29126907e-01 -3.69760991e-01 0.00000000e+00 7.59007256e+01] [ 3.69760991e-01 9.29126907e-01 0.00000000e+00 1.29391425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40715883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.590371743 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:75.93, Y:12.95, Z:0.01 [[ 9.28234879e-01 -3.71994637e-01 0.00000000e+00 7.59300862e+01] [ 3.71994637e-01 9.28234879e-01 0.00000000e+00 1.29510591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76367261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62037174299999 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:75.96, Y:12.96, Z:0.01 [[ 9.27798285e-01 -3.73082219e-01 0.00000000e+00 7.59612778e+01] [ 3.73082219e-01 9.27798285e-01 0.00000000e+00 1.29618306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18310727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.650371743 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:75.99, Y:12.97, Z:0.01 [[ 9.27711941e-01 -3.73296872e-01 0.00000000e+00 7.59914818e+01] [ 3.73296872e-01 9.27711941e-01 0.00000000e+00 1.29735968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18310727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.680371743 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:76.02, Y:12.98, Z:0.00 [[ 9.27192310e-01 -3.74585665e-01 0.00000000e+00 7.60229648e+01] [ 3.74585665e-01 9.27192310e-01 0.00000000e+00 1.29845837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38837226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.710371743 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:76.05, Y:13.00, Z:0.00 [[ 9.24819059e-01 -3.80407291e-01 0.00000000e+00 7.60527968e+01] [ 3.80407291e-01 9.24819059e-01 0.00000000e+00 1.29954793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72867481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.740371743 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:76.08, Y:13.01, Z:0.00 [[ 9.23510474e-01 -3.83573206e-01 0.00000000e+00 7.60830919e+01] [ 3.83573206e-01 9.23510474e-01 0.00000000e+00 1.30069222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39664625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.770371743 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:76.11, Y:13.02, Z:0.00 [[ 9.21910180e-01 -3.87403691e-01 0.00000000e+00 7.61138397e+01] [ 3.87403691e-01 9.21910180e-01 0.00000000e+00 1.30189164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36970635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.800371743 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:76.14, Y:13.03, Z:0.00 [[ 9.19090234e-01 -3.94047131e-01 0.00000000e+00 7.61421525e+01] [ 3.94047131e-01 9.19090234e-01 0.00000000e+00 1.30296383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47648683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.830371743 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:76.17, Y:13.04, Z:0.00 [[ 9.17738166e-01 -3.97185923e-01 0.00000000e+00 7.61700302e+01] [ 3.97185923e-01 9.17738166e-01 0.00000000e+00 1.30407269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21094656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860371743 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:76.20, Y:13.05, Z:0.00 [[ 9.17735910e-01 -3.97191137e-01 0.00000000e+00 7.61974370e+01] [ 3.97191137e-01 9.17735910e-01 0.00000000e+00 1.30510312e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08949501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.890371743 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:76.23, Y:13.06, Z:0.00 [[ 9.15791210e-01 -4.01654653e-01 0.00000000e+00 7.62292733e+01] [ 4.01654653e-01 9.15791210e-01 0.00000000e+00 1.30645363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99646961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920371743 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:76.26, Y:13.08, Z:0.01 [[ 9.14334672e-01 -4.04959390e-01 0.00000000e+00 7.62590447e+01] [ 4.04959390e-01 9.14334672e-01 0.00000000e+00 1.30770704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13603271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.950371743 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:76.29, Y:13.09, Z:0.01 [[ 9.14041816e-01 -4.05619968e-01 0.00000000e+00 7.62892092e+01] [ 4.05619968e-01 9.14041816e-01 0.00000000e+00 1.30890730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72025117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.980371743 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:76.31, Y:13.10, Z:0.01 [[ 9.14276606e-01 -4.05090468e-01 0.00000000e+00 7.63147746e+01] [ 4.05090468e-01 9.14276606e-01 0.00000000e+00 1.31004432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15782405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.010371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:76.35, Y:13.12, Z:0.00 [[ 9.12074815e-01 -4.10023819e-01 0.00000000e+00 7.63454086e+01] [ 4.10023819e-01 9.12074815e-01 0.00000000e+00 1.31157789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41706229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.040371743 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:76.37, Y:13.13, Z:0.00 [[ 9.10319111e-01 -4.13907135e-01 0.00000000e+00 7.63664776e+01] [ 4.13907135e-01 9.10319111e-01 0.00000000e+00 1.31307499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79529452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.070371743 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:76.40, Y:13.14, Z:0.01 [[ 9.12544340e-01 -4.08977785e-01 0.00000000e+00 7.64017064e+01] [ 4.08977785e-01 9.12544340e-01 0.00000000e+00 1.31403397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43335667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.100371743 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:76.43, Y:13.16, Z:0.00 [[ 9.11480962e-01 -4.11342261e-01 0.00000000e+00 7.64335162e+01] [ 4.11342261e-01 9.11480962e-01 0.00000000e+00 1.31553232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31337245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.130371743 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:76.46, Y:13.17, Z:0.00 [[ 9.11440848e-01 -4.11431138e-01 0.00000000e+00 7.64634234e+01] [ 4.11431138e-01 9.11440848e-01 0.00000000e+00 1.31678863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02702332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.160371743 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:76.50, Y:13.18, Z:0.00 [[ 9.12653689e-01 -4.08733708e-01 0.00000000e+00 7.64950545e+01] [ 4.08733708e-01 9.12653689e-01 0.00000000e+00 1.31794928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.59196509e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.190371743 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:76.53, Y:13.19, Z:0.00 [[ 9.13167035e-01 -4.07585531e-01 0.00000000e+00 7.65259216e+01] [ 4.07585531e-01 9.13167035e-01 0.00000000e+00 1.31925181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11803170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220371743 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:76.56, Y:13.21, Z:0.00 [[ 9.13535035e-01 -4.06760053e-01 0.00000000e+00 7.65552029e+01] [ 4.06760053e-01 9.13535035e-01 0.00000000e+00 1.32059455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24078828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.250371743 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:76.58, Y:13.22, Z:0.00 [[ 9.15055154e-01 -4.03328732e-01 0.00000000e+00 7.65820362e+01] [ 4.03328732e-01 9.15055154e-01 0.00000000e+00 1.32172680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44699870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.280371743 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:76.61, Y:13.23, Z:0.01 [[ 9.15948437e-01 -4.01295976e-01 0.00000000e+00 7.66102408e+01] [ 4.01295976e-01 9.15948437e-01 0.00000000e+00 1.32316327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52318109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.310371743 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:76.64, Y:13.25, Z:0.01 [[ 9.15696282e-01 -4.01871023e-01 0.00000000e+00 7.66428885e+01] [ 4.01871023e-01 9.15696282e-01 0.00000000e+00 1.32453559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49012984e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.340371743 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:76.67, Y:13.26, Z:0.00 [[ 9.16080024e-01 -4.00995499e-01 0.00000000e+00 7.66702732e+01] [ 4.00995499e-01 9.16080024e-01 0.00000000e+00 1.32576396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70426131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37037174299999 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:76.70, Y:13.27, Z:0.01 [[ 9.18186322e-01 -3.96148808e-01 0.00000000e+00 7.67004543e+01] [ 3.96148808e-01 9.18186322e-01 0.00000000e+00 1.32699081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42413247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.400371743 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:76.73, Y:13.28, Z:0.01 [[ 9.18802355e-01 -3.94717916e-01 0.00000000e+00 7.67284211e+01] [ 3.94717916e-01 9.18802355e-01 0.00000000e+00 1.32831776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18494291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.430371743 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:76.76, Y:13.30, Z:0.01 [[ 9.20180448e-01 -3.91494500e-01 0.00000000e+00 7.67602552e+01] [ 3.91494500e-01 9.20180448e-01 0.00000000e+00 1.32953789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12323760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.460371743 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:76.79, Y:13.31, Z:0.00 [[ 9.21257199e-01 -3.88953946e-01 0.00000000e+00 7.67916263e+01] [ 3.88953946e-01 9.21257199e-01 0.00000000e+00 1.33081938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30938104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.490371743 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:76.82, Y:13.32, Z:0.01 [[ 9.23512896e-01 -3.83567374e-01 0.00000000e+00 7.68187927e+01] [ 3.83567374e-01 9.23512896e-01 0.00000000e+00 1.33208838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09351464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.520371743 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:76.85, Y:13.33, Z:0.01 [[ 9.24351244e-01 -3.81542630e-01 0.00000000e+00 7.68484876e+01] [ 3.81542630e-01 9.24351244e-01 0.00000000e+00 1.33333949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66706736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.550371743 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:76.88, Y:13.35, Z:0.01 [[ 9.25765241e-01 -3.78098820e-01 0.00000000e+00 7.68806561e+01] [ 3.78098820e-01 9.25765241e-01 0.00000000e+00 1.33450306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03088130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.580371743 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:76.89, Y:13.36, Z:0.01 [[ 9.25282889e-01 -3.79277702e-01 0.00000000e+00 7.68936804e+01] [ 3.79277702e-01 9.25282889e-01 0.00000000e+00 1.33627937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01674036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.610371743 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:76.94, Y:13.37, Z:0.01 [[ 9.29265714e-01 -3.69412008e-01 0.00000000e+00 7.69385454e+01] [ 3.69412008e-01 9.29265714e-01 0.00000000e+00 1.33695615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25576558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:76.95, Y:13.39, Z:0.01 [[ 9.27739601e-01 -3.73228123e-01 0.00000000e+00 7.69523696e+01] [ 3.73228123e-01 9.27739601e-01 0.00000000e+00 1.33867540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92093753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.670371743 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:77.00, Y:13.39, Z:0.00 [[ 9.31129590e-01 -3.64688479e-01 0.00000000e+00 7.69972237e+01] [ 3.64688479e-01 9.31129590e-01 0.00000000e+00 1.33918283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87329464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.700371743 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:77.03, Y:13.40, Z:0.00 [[ 9.31199203e-01 -3.64510691e-01 0.00000000e+00 7.70252184e+01] [ 3.64510691e-01 9.31199203e-01 0.00000000e+00 1.34026250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58030619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.730371743 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:77.06, Y:13.41, Z:0.00 [[ 9.30964525e-01 -3.65109646e-01 0.00000000e+00 7.70553655e+01] [ 3.65109646e-01 9.30964525e-01 0.00000000e+00 1.34134820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47017493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.760371743 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:77.09, Y:13.42, Z:0.00 [[ 9.29742153e-01 -3.68211257e-01 0.00000000e+00 7.70870256e+01] [ 3.68211257e-01 9.29742153e-01 0.00000000e+00 1.34227861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43058185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.790371743 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:77.12, Y:13.43, Z:0.00 [[ 9.29045017e-01 -3.69966697e-01 0.00000000e+00 7.71163938e+01] [ 3.69966697e-01 9.29045017e-01 0.00000000e+00 1.34326007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66703495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.820371743 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:77.15, Y:13.44, Z:0.00 [[ 9.28074994e-01 -3.72393347e-01 0.00000000e+00 7.71473332e+01] [ 3.72393347e-01 9.28074994e-01 0.00000000e+00 1.34427785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00607754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.850371743 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:77.18, Y:13.45, Z:0.00 [[ 9.25789372e-01 -3.78039732e-01 0.00000000e+00 7.71792225e+01] [ 3.78039732e-01 9.25789372e-01 0.00000000e+00 1.34505842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91625689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.880371743 meters Centerline goodness : 0.993274 Centerline is valid? [True, True] Translation: X:77.19, Y:13.47, Z:0.01 [[ 9.21110327e-01 -3.89301639e-01 0.00000000e+00 7.71936519e+01] [ 3.89301639e-01 9.21110327e-01 0.00000000e+00 1.34655441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75764709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.910371743 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:77.24, Y:13.47, Z:0.00 [[ 9.23080302e-01 -3.84607275e-01 0.00000000e+00 7.72401279e+01] [ 3.84607275e-01 9.23080302e-01 0.00000000e+00 1.34683246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48594544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.940371743 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:77.25, Y:13.48, Z:0.01 [[ 9.18293283e-01 -3.95900804e-01 0.00000000e+00 7.72540676e+01] [ 3.95900804e-01 9.18293283e-01 0.00000000e+00 1.34833937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.55685949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.970371743 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:77.30, Y:13.48, Z:0.00 [[ 9.19408027e-01 -3.93305073e-01 0.00000000e+00 7.73009793e+01] [ 3.93305073e-01 9.19408027e-01 0.00000000e+00 1.34832336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56301143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000371743 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:77.33, Y:13.49, Z:0.00 [[ 9.17859616e-01 -3.96905185e-01 0.00000000e+00 7.73301261e+01] [ 3.96905185e-01 9.17859616e-01 0.00000000e+00 1.34934967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17832328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.030371743 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:77.36, Y:13.50, Z:0.00 [[ 9.16928853e-01 -3.99050721e-01 0.00000000e+00 7.73606141e+01] [ 3.99050721e-01 9.16928853e-01 0.00000000e+00 1.35034840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.69895398e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.060371743 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:77.39, Y:13.51, Z:-0.00 [[ 9.15659316e-01 -4.01955242e-01 0.00000000e+00 7.73915095e+01] [ 4.01955242e-01 9.15659316e-01 0.00000000e+00 1.35119494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.33559010e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.090371743 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:77.42, Y:13.52, Z:0.00 [[ 9.15010507e-01 -4.03430009e-01 0.00000000e+00 7.74205906e+01] [ 4.03430009e-01 9.15010507e-01 0.00000000e+00 1.35228015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81230659e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12037174299999 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:77.45, Y:13.53, Z:-0.00 [[ 9.15038426e-01 -4.03366681e-01 0.00000000e+00 7.74498438e+01] [ 4.03366681e-01 9.15038426e-01 0.00000000e+00 1.35328091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.89107514e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.150371743 meters Centerline goodness : 0.993939 Centerline is valid? [True, True] Translation: X:77.48, Y:13.54, Z:0.00 [[ 9.14750892e-01 -4.04018323e-01 0.00000000e+00 7.74807228e+01] [ 4.04018323e-01 9.14750892e-01 0.00000000e+00 1.35434722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80102386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.180371743 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:77.50, Y:13.56, Z:0.01 [[ 9.12065454e-01 -4.10044640e-01 0.00000000e+00 7.74974237e+01] [ 4.10044640e-01 9.12065454e-01 0.00000000e+00 1.35591488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32228841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.210371743 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:77.54, Y:13.57, Z:0.00 [[ 9.14594273e-01 -4.04372743e-01 0.00000000e+00 7.75394147e+01] [ 4.04372743e-01 9.14594273e-01 0.00000000e+00 1.35651478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33254803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.240371743 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:77.57, Y:13.58, Z:0.00 [[ 9.14660245e-01 -4.04223497e-01 0.00000000e+00 7.75724057e+01] [ 4.04223497e-01 9.14660245e-01 0.00000000e+00 1.35764088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63801054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.270371743 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:77.60, Y:13.59, Z:0.00 [[ 9.14118588e-01 -4.05446923e-01 0.00000000e+00 7.76012544e+01] [ 4.05446923e-01 9.14118588e-01 0.00000000e+00 1.35866006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65923368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.300371743 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:77.63, Y:13.60, Z:0.00 [[ 9.13909374e-01 -4.05918287e-01 0.00000000e+00 7.76326927e+01] [ 4.05918287e-01 9.13909374e-01 0.00000000e+00 1.35977463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40677832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.330371743 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:77.65, Y:13.61, Z:0.01 [[ 9.10434840e-01 -4.13652515e-01 0.00000000e+00 7.76462878e+01] [ 4.13652515e-01 9.10434840e-01 0.00000000e+00 1.36132622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.38399219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.360371743 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:77.67, Y:13.62, Z:0.01 [[ 9.10779555e-01 -4.12892967e-01 0.00000000e+00 7.76738663e+01] [ 4.12892967e-01 9.10779555e-01 0.00000000e+00 1.36228743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37033196e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.390371743 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:77.72, Y:13.63, Z:0.00 [[ 9.14301327e-01 -4.05034670e-01 0.00000000e+00 7.77237765e+01] [ 4.05034670e-01 9.14301327e-01 0.00000000e+00 1.36292220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21003147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420371743 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:77.75, Y:13.64, Z:0.00 [[ 9.13727338e-01 -4.06327888e-01 0.00000000e+00 7.77479783e+01] [ 4.06327888e-01 9.13727338e-01 0.00000000e+00 1.36405553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30773051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.450371743 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:77.78, Y:13.65, Z:0.00 [[ 9.13618828e-01 -4.06571810e-01 0.00000000e+00 7.77782510e+01] [ 4.06571810e-01 9.13618828e-01 0.00000000e+00 1.36516502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41698389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.480371743 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:77.79, Y:13.67, Z:0.01 [[ 9.10649343e-01 -4.13180075e-01 0.00000000e+00 7.77911593e+01] [ 4.13180075e-01 9.10649343e-01 0.00000000e+00 1.36675307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.43435823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.510371743 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:77.84, Y:13.67, Z:0.00 [[ 9.14231213e-01 -4.05192903e-01 0.00000000e+00 7.78360680e+01] [ 4.05192903e-01 9.14231213e-01 0.00000000e+00 1.36731653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81035723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.540371743 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:77.87, Y:13.69, Z:0.00 [[ 9.14013267e-01 -4.05684296e-01 0.00000000e+00 7.78661296e+01] [ 4.05684296e-01 9.14013267e-01 0.00000000e+00 1.36854074e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81035723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.570371743 meters Centerline goodness : 0.994010 Centerline is valid? [True, True] Translation: X:77.90, Y:13.70, Z:0.00 [[ 9.14332171e-01 -4.04965038e-01 0.00000000e+00 7.78967106e+01] [ 4.04965038e-01 9.14332171e-01 0.00000000e+00 1.36962275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81484220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.600371743 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:77.93, Y:13.71, Z:0.00 [[ 9.15513674e-01 -4.02286854e-01 0.00000000e+00 7.79281140e+01] [ 4.02286854e-01 9.15513674e-01 0.00000000e+00 1.37069032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68818585e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.630371743 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:77.96, Y:13.72, Z:0.00 [[ 9.14683237e-01 -4.04171467e-01 0.00000000e+00 7.79578599e+01] [ 4.04171467e-01 9.14683237e-01 0.00000000e+00 1.37187839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27233542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.660371743 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:77.97, Y:13.73, Z:0.01 [[ 9.11542283e-01 -4.11206355e-01 0.00000000e+00 7.79686235e+01] [ 4.11206355e-01 9.11542283e-01 0.00000000e+00 1.37349698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.42724447e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.690371743 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:78.00, Y:13.75, Z:0.01 [[ 9.12151756e-01 -4.09852626e-01 0.00000000e+00 7.79996044e+01] [ 4.09852626e-01 9.12151756e-01 0.00000000e+00 1.37466931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17822349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720371743 meters Centerline goodness : 0.993431 Centerline is valid? [True, True] Translation: X:78.04, Y:13.75, Z:0.00 [[ 9.15820547e-01 -4.01587756e-01 0.00000000e+00 7.80442445e+01] [ 4.01587756e-01 9.15820547e-01 0.00000000e+00 1.37520401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09566462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.750371743 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:78.06, Y:13.77, Z:0.01 [[ 9.13061054e-01 -4.07822891e-01 0.00000000e+00 7.80570083e+01] [ 4.07822891e-01 9.13061054e-01 0.00000000e+00 1.37685415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05215817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.780371743 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:78.09, Y:13.78, Z:0.01 [[ 9.14115537e-01 -4.05453802e-01 0.00000000e+00 7.80871485e+01] [ 4.05453802e-01 9.14115537e-01 0.00000000e+00 1.37785295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00748118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.810371743 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:78.13, Y:13.78, Z:0.00 [[ 9.17901856e-01 -3.96807488e-01 0.00000000e+00 7.81320694e+01] [ 3.96807488e-01 9.17901856e-01 0.00000000e+00 1.37835951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65628999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.840371743 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:78.16, Y:13.80, Z:0.01 [[ 9.17851248e-01 -3.96924536e-01 0.00000000e+00 7.81608336e+01] [ 3.96924536e-01 9.17851248e-01 0.00000000e+00 1.37952232e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38902740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87037174299999 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:78.18, Y:13.81, Z:0.01 [[ 9.15456828e-01 -4.02416197e-01 0.00000000e+00 7.81760423e+01] [ 4.02416197e-01 9.15456828e-01 0.00000000e+00 1.38100931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.29013224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.900371743 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:78.22, Y:13.82, Z:0.00 [[ 9.19063368e-01 -3.94109788e-01 0.00000000e+00 7.82209536e+01] [ 3.94109788e-01 9.19063368e-01 0.00000000e+00 1.38151311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77952394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.930371743 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:78.25, Y:13.83, Z:0.00 [[ 9.19037819e-01 -3.94169364e-01 0.00000000e+00 7.82505602e+01] [ 3.94169364e-01 9.19037819e-01 0.00000000e+00 1.38270791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30158881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.960371743 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:78.27, Y:13.84, Z:0.01 [[ 9.16133992e-01 -4.00872186e-01 0.00000000e+00 7.82656076e+01] [ 4.00872186e-01 9.16133992e-01 0.00000000e+00 1.38423742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89958832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.990371743 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:78.31, Y:13.85, Z:0.00 [[ 9.19669830e-01 -3.92692504e-01 0.00000000e+00 7.83106510e+01] [ 3.92692504e-01 9.19669830e-01 0.00000000e+00 1.38466565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29880490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.020371743 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:78.34, Y:13.86, Z:0.01 [[ 9.18552593e-01 -3.95298792e-01 0.00000000e+00 7.83391306e+01] [ 3.95298792e-01 9.18552593e-01 0.00000000e+00 1.38587244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37878557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.050371743 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:78.36, Y:13.87, Z:0.01 [[ 9.15518033e-01 -4.02276933e-01 0.00000000e+00 7.83557954e+01] [ 4.02276933e-01 9.15518033e-01 0.00000000e+00 1.38723100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48780116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.080371743 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:78.39, Y:13.88, Z:0.01 [[ 9.15374919e-01 -4.02602481e-01 0.00000000e+00 7.83863064e+01] [ 4.02602481e-01 9.15374919e-01 0.00000000e+00 1.38831395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00218660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.110371743 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:78.42, Y:13.89, Z:0.01 [[ 9.15124305e-01 -4.03171808e-01 0.00000000e+00 7.84178636e+01] [ 4.03171808e-01 9.15124305e-01 0.00000000e+00 1.38943871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.56576488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140371743 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:78.45, Y:13.90, Z:0.01 [[ 9.14052795e-01 -4.05595227e-01 0.00000000e+00 7.84488384e+01] [ 4.05595227e-01 9.14052795e-01 0.00000000e+00 1.39038849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52673534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.170371743 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:78.49, Y:13.91, Z:0.00 [[ 9.16273976e-01 -4.00552120e-01 0.00000000e+00 7.84928545e+01] [ 4.00552120e-01 9.16273976e-01 0.00000000e+00 1.39094811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81025799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.200371743 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:78.52, Y:13.92, Z:0.00 [[ 9.15256189e-01 -4.02872323e-01 0.00000000e+00 7.85233924e+01] [ 4.02872323e-01 9.15256189e-01 0.00000000e+00 1.39205822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91215025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.230371743 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:78.55, Y:13.93, Z:0.00 [[ 9.13664518e-01 -4.06469125e-01 0.00000000e+00 7.85547001e+01] [ 4.06469125e-01 9.13664518e-01 0.00000000e+00 1.39300926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92421458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.260371743 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:78.57, Y:13.95, Z:0.01 [[ 9.09606458e-01 -4.15470926e-01 0.00000000e+00 7.85689871e+01] [ 4.15470926e-01 9.09606458e-01 0.00000000e+00 1.39457683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.67876869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.290371743 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:78.61, Y:13.95, Z:0.01 [[ 9.11429516e-01 -4.11456240e-01 0.00000000e+00 7.86103948e+01] [ 4.11456240e-01 9.11429516e-01 0.00000000e+00 1.39530104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89182746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.320371743 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:78.63, Y:13.97, Z:0.01 [[ 9.07910959e-01 -4.19163083e-01 0.00000000e+00 7.86278416e+01] [ 4.19163083e-01 9.07910959e-01 0.00000000e+00 1.39683299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.81774514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.350371743 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:78.66, Y:13.98, Z:0.01 [[ 9.06639528e-01 -4.21906112e-01 0.00000000e+00 7.86591130e+01] [ 4.21906112e-01 9.06639528e-01 0.00000000e+00 1.39787488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.62794535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.380371743 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:78.70, Y:13.99, Z:0.01 [[ 9.09249691e-01 -4.16251125e-01 0.00000000e+00 7.87027288e+01] [ 4.16251125e-01 9.09249691e-01 0.00000000e+00 1.39855889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02878220e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.410371743 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:78.72, Y:14.00, Z:0.01 [[ 9.05847562e-01 -4.23603819e-01 0.00000000e+00 7.87170164e+01] [ 4.23603819e-01 9.05847562e-01 0.00000000e+00 1.40011908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.22901556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.440371743 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:78.75, Y:14.01, Z:0.01 [[ 9.05714306e-01 -4.23888660e-01 0.00000000e+00 7.87464310e+01] [ 4.23888660e-01 9.05714306e-01 0.00000000e+00 1.40138141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13892272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.470371743 meters Centerline goodness : 0.995579 Centerline is valid? [True, True] Translation: X:78.78, Y:14.02, Z:0.01 [[ 9.07899739e-01 -4.19187385e-01 0.00000000e+00 7.87849061e+01] [ 4.19187385e-01 9.07899739e-01 0.00000000e+00 1.40232645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.18053661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500371743 meters Centerline goodness : 0.995762 Centerline is valid? [True, True] Translation: X:78.82, Y:14.04, Z:0.01 [[ 9.08424112e-01 -4.18049797e-01 0.00000000e+00 7.88157612e+01] [ 4.18049797e-01 9.08424112e-01 0.00000000e+00 1.40362020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23581020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.530371743 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:78.83, Y:14.05, Z:0.01 [[ 9.07003340e-01 -4.21123428e-01 0.00000000e+00 7.88342210e+01] [ 4.21123428e-01 9.07003340e-01 0.00000000e+00 1.40535973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07309221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.560371743 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:78.87, Y:14.06, Z:0.01 [[ 9.09639766e-01 -4.15397998e-01 0.00000000e+00 7.88726643e+01] [ 4.15397998e-01 9.09639766e-01 0.00000000e+00 1.40627735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36217536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.590371743 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:78.90, Y:14.08, Z:0.01 [[ 9.10082912e-01 -4.14426222e-01 0.00000000e+00 7.89015899e+01] [ 4.14426222e-01 9.10082912e-01 0.00000000e+00 1.40760629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95010634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62037174299999 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:78.92, Y:14.09, Z:0.01 [[ 9.08711983e-01 -4.17423685e-01 0.00000000e+00 7.89210435e+01] [ 4.17423685e-01 9.08711983e-01 0.00000000e+00 1.40923532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.56471609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.650371743 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:78.95, Y:14.11, Z:0.01 [[ 9.09256170e-01 -4.16236973e-01 0.00000000e+00 7.89513620e+01] [ 4.16236973e-01 9.09256170e-01 0.00000000e+00 1.41063707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03609903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.680371743 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:78.99, Y:14.12, Z:0.01 [[ 9.12488153e-01 -4.09103130e-01 0.00000000e+00 7.89931598e+01] [ 4.09103130e-01 9.12488153e-01 0.00000000e+00 1.41174375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59957894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.710371743 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:79.02, Y:14.13, Z:0.01 [[ 9.11313038e-01 -4.11714156e-01 0.00000000e+00 7.90191794e+01] [ 4.11714156e-01 9.11313038e-01 0.00000000e+00 1.41316724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42782062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.740371743 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:79.05, Y:14.15, Z:0.01 [[ 9.11440196e-01 -4.11432582e-01 0.00000000e+00 7.90472240e+01] [ 4.11432582e-01 9.11440196e-01 0.00000000e+00 1.41453301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19979941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.770371743 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:79.07, Y:14.16, Z:0.01 [[ 9.09676916e-01 -4.15316637e-01 0.00000000e+00 7.90660816e+01] [ 4.15316637e-01 9.09676916e-01 0.00000000e+00 1.41610891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53766216e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.800371743 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:79.11, Y:14.17, Z:0.01 [[ 9.12065650e-01 -4.10044206e-01 0.00000000e+00 7.91069264e+01] [ 4.10044206e-01 9.12065650e-01 0.00000000e+00 1.41708562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29745748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.830371743 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:79.13, Y:14.18, Z:0.01 [[ 9.11573567e-01 -4.11136998e-01 0.00000000e+00 7.91320631e+01] [ 4.11136998e-01 9.11573567e-01 0.00000000e+00 1.41841400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40595793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.860371743 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:79.16, Y:14.20, Z:0.01 [[ 9.10944974e-01 -4.12527883e-01 0.00000000e+00 7.91614457e+01] [ 4.12527883e-01 9.10944974e-01 0.00000000e+00 1.41997728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.36441735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.890371743 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:79.19, Y:14.21, Z:0.01 [[ 9.11276876e-01 -4.11794191e-01 0.00000000e+00 7.91909300e+01] [ 4.11794191e-01 9.11276876e-01 0.00000000e+00 1.42125635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65053361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920371743 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:79.22, Y:14.23, Z:0.01 [[ 9.11120902e-01 -4.12139179e-01 0.00000000e+00 7.92205295e+01] [ 4.12139179e-01 9.11120902e-01 0.00000000e+00 1.42260372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81683935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.950371743 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:79.25, Y:14.24, Z:0.01 [[ 9.11401452e-01 -4.11518399e-01 0.00000000e+00 7.92506420e+01] [ 4.11518399e-01 9.11401452e-01 0.00000000e+00 1.42390196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81410424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.980371743 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:79.27, Y:14.26, Z:0.01 [[ 9.09026997e-01 -4.16737231e-01 0.00000000e+00 7.92663040e+01] [ 4.16737231e-01 9.09026997e-01 0.00000000e+00 1.42576402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15065144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.010371743 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:79.30, Y:14.27, Z:0.01 [[ 9.09369388e-01 -4.15989563e-01 0.00000000e+00 7.92959845e+01] [ 4.15989563e-01 9.09369388e-01 0.00000000e+00 1.42715360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.93228272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.040371743 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:79.33, Y:14.29, Z:0.01 [[ 9.10115733e-01 -4.14354138e-01 0.00000000e+00 7.93254918e+01] [ 4.14354138e-01 9.10115733e-01 0.00000000e+00 1.42867581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09075773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.070371743 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:79.36, Y:14.30, Z:0.01 [[ 9.10563945e-01 -4.13368241e-01 0.00000000e+00 7.93562005e+01] [ 4.13368241e-01 9.10563945e-01 0.00000000e+00 1.43003874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08170456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.100371743 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:79.39, Y:14.31, Z:0.01 [[ 9.10887023e-01 -4.12655827e-01 0.00000000e+00 7.93866936e+01] [ 4.12655827e-01 9.10887023e-01 0.00000000e+00 1.43137932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06866840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.130371743 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:79.43, Y:14.32, Z:0.01 [[ 9.14559989e-01 -4.04450277e-01 0.00000000e+00 7.94295994e+01] [ 4.04450277e-01 9.14559989e-01 0.00000000e+00 1.43218154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70048233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.160371743 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:79.46, Y:14.34, Z:0.01 [[ 9.14443051e-01 -4.04714598e-01 0.00000000e+00 7.94582374e+01] [ 4.04714598e-01 9.14443051e-01 0.00000000e+00 1.43354394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60014052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.190371743 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:79.47, Y:14.35, Z:0.01 [[ 9.11538992e-01 -4.11213650e-01 0.00000000e+00 7.94732999e+01] [ 4.11213650e-01 9.11538992e-01 0.00000000e+00 1.43535869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05026477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.220371743 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:79.52, Y:14.36, Z:0.00 [[ 9.15064796e-01 -4.03306856e-01 0.00000000e+00 7.95165446e+01] [ 4.03306856e-01 9.15064796e-01 0.00000000e+00 1.43615779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53167851e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.250371743 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:79.55, Y:14.37, Z:0.00 [[ 9.15103338e-01 -4.03219396e-01 0.00000000e+00 7.95465742e+01] [ 4.03219396e-01 9.15103338e-01 0.00000000e+00 1.43745903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84891902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280371743 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:79.58, Y:14.39, Z:0.00 [[ 9.15331652e-01 -4.02700840e-01 0.00000000e+00 7.95777391e+01] [ 4.02700840e-01 9.15331652e-01 0.00000000e+00 1.43865699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58796479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.310371743 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:79.60, Y:14.40, Z:0.00 [[ 9.15099434e-01 -4.03228256e-01 0.00000000e+00 7.96048706e+01] [ 4.03228256e-01 9.15099434e-01 0.00000000e+00 1.43988407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53644543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.340371743 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:79.63, Y:14.41, Z:0.00 [[ 9.15608869e-01 -4.02070141e-01 0.00000000e+00 7.96326648e+01] [ 4.02070141e-01 9.15608869e-01 0.00000000e+00 1.44118097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96230456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37037174299999 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:79.65, Y:14.43, Z:0.01 [[ 9.12414271e-01 -4.09267880e-01 0.00000000e+00 7.96460428e+01] [ 4.09267880e-01 9.12414271e-01 0.00000000e+00 1.44308697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90191275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.400371743 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:79.68, Y:14.44, Z:0.01 [[ 9.12519999e-01 -4.09032091e-01 0.00000000e+00 7.96767710e+01] [ 4.09032091e-01 9.12519999e-01 0.00000000e+00 1.44438880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.25883501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.430371743 meters Centerline goodness : 0.993221 Centerline is valid? [True, True] Translation: X:79.71, Y:14.46, Z:0.01 [[ 9.12568353e-01 -4.08924199e-01 0.00000000e+00 7.97050332e+01] [ 4.08924199e-01 9.12568353e-01 0.00000000e+00 1.44565608e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.29558819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.460371743 meters Centerline goodness : 0.993221 Centerline is valid? [True, True] Translation: X:79.74, Y:14.47, Z:0.01 [[ 9.12680054e-01 -4.08674834e-01 0.00000000e+00 7.97362697e+01] [ 4.08674834e-01 9.12680054e-01 0.00000000e+00 1.44690281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.29558819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.490371743 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:79.77, Y:14.48, Z:0.01 [[ 9.12763932e-01 -4.08487460e-01 0.00000000e+00 7.97666669e+01] [ 4.08487460e-01 9.12763932e-01 0.00000000e+00 1.44815498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97763855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.520371743 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:79.80, Y:14.49, Z:0.01 [[ 9.12516321e-01 -4.09040295e-01 0.00000000e+00 7.97974780e+01] [ 4.09040295e-01 9.12516321e-01 0.00000000e+00 1.44943217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97454581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.550371743 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:79.83, Y:14.51, Z:0.01 [[ 9.12083321e-01 -4.10004897e-01 0.00000000e+00 7.98271826e+01] [ 4.10004897e-01 9.12083321e-01 0.00000000e+00 1.45066649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15236906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.580371743 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:79.86, Y:14.52, Z:0.01 [[ 9.12312831e-01 -4.09493954e-01 0.00000000e+00 7.98551634e+01] [ 4.09493954e-01 9.12312831e-01 0.00000000e+00 1.45185294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53423231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.610371743 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:79.88, Y:14.53, Z:0.01 [[ 9.12998373e-01 -4.07963197e-01 0.00000000e+00 7.98819950e+01] [ 4.07963197e-01 9.12998373e-01 0.00000000e+00 1.45294948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02352257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640371743 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:79.92, Y:14.54, Z:0.01 [[ 9.11767342e-01 -4.10707091e-01 0.00000000e+00 7.99162718e+01] [ 4.10707091e-01 9.11767342e-01 0.00000000e+00 1.45432743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28074882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.670371743 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:79.95, Y:14.56, Z:0.01 [[ 9.12192628e-01 -4.09761649e-01 0.00000000e+00 7.99460704e+01] [ 4.09761649e-01 9.12192628e-01 0.00000000e+00 1.45552961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62807784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.700371743 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:79.99, Y:14.56, Z:0.00 [[ 9.15255917e-01 -4.02872940e-01 0.00000000e+00 7.99880726e+01] [ 4.02872940e-01 9.15255917e-01 0.00000000e+00 1.45627098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85013185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.730371743 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:80.02, Y:14.57, Z:0.00 [[ 9.15920308e-01 -4.01360175e-01 0.00000000e+00 8.00171136e+01] [ 4.01360175e-01 9.15920308e-01 0.00000000e+00 1.45749980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33261335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.760371743 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:80.05, Y:14.59, Z:0.00 [[ 9.17132250e-01 -3.98583035e-01 0.00000000e+00 8.00464826e+01] [ 3.98583035e-01 9.17132250e-01 0.00000000e+00 1.45889151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78909532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.790371743 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:80.07, Y:14.60, Z:0.01 [[ 9.17585150e-01 -3.97539298e-01 0.00000000e+00 8.00734991e+01] [ 3.97539298e-01 9.17585150e-01 0.00000000e+00 1.46022350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85252328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.820371743 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:80.10, Y:14.61, Z:0.01 [[ 9.18958362e-01 -3.94354572e-01 0.00000000e+00 8.01034278e+01] [ 3.94354572e-01 9.18958362e-01 0.00000000e+00 1.46148948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68768121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.850371743 meters Centerline goodness : 0.993471 Centerline is valid? [True, True] Translation: X:80.13, Y:14.63, Z:0.01 [[ 9.21310050e-01 -3.88828743e-01 0.00000000e+00 8.01326986e+01] [ 3.88828743e-01 9.21310050e-01 0.00000000e+00 1.46290614e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.38853222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.880371743 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:80.16, Y:14.64, Z:0.01 [[ 9.23365238e-01 -3.83922698e-01 0.00000000e+00 8.01628427e+01] [ 3.83922698e-01 9.23365238e-01 0.00000000e+00 1.46409178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44981819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.910371743 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:80.19, Y:14.65, Z:0.01 [[ 9.24435058e-01 -3.81339512e-01 0.00000000e+00 8.01923700e+01] [ 3.81339512e-01 9.24435058e-01 0.00000000e+00 1.46542633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34592332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.940371743 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:80.21, Y:14.67, Z:0.01 [[ 9.24265103e-01 -3.81751253e-01 0.00000000e+00 8.02074944e+01] [ 3.81751253e-01 9.24265103e-01 0.00000000e+00 1.46723196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85359616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.970371743 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:80.25, Y:14.68, Z:0.01 [[ 9.27807520e-01 -3.73059252e-01 0.00000000e+00 8.02498340e+01] [ 3.73059252e-01 9.27807520e-01 0.00000000e+00 1.46799780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26048572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000371743 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:80.27, Y:14.70, Z:0.01 [[ 9.26372865e-01 -3.76607640e-01 0.00000000e+00 8.02661440e+01] [ 3.76607640e-01 9.26372865e-01 0.00000000e+00 1.46970902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.85121215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.030371743 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:80.31, Y:14.70, Z:0.01 [[ 9.30484030e-01 -3.66332459e-01 0.00000000e+00 8.03088908e+01] [ 3.66332459e-01 9.30484030e-01 0.00000000e+00 1.47046085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41881826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.060371743 meters Centerline goodness : 0.992221 Centerline is valid? [True, True] Translation: X:80.34, Y:14.72, Z:0.00 [[ 9.31309833e-01 -3.64227943e-01 0.00000000e+00 8.03385549e+01] [ 3.64227943e-01 9.31309833e-01 0.00000000e+00 1.47156723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81766772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.090371743 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:80.37, Y:14.73, Z:0.00 [[ 9.31709767e-01 -3.63203676e-01 0.00000000e+00 8.03706547e+01] [ 3.63203676e-01 9.31709767e-01 0.00000000e+00 1.47265251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29823318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12037174299999 meters Centerline goodness : 0.992890 Centerline is valid? [True, True] Translation: X:80.38, Y:14.74, Z:0.01 [[ 9.28036542e-01 -3.72489163e-01 0.00000000e+00 8.03844992e+01] [ 3.72489163e-01 9.28036542e-01 0.00000000e+00 1.47424697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.90807610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.150371743 meters Centerline goodness : 0.992096 Centerline is valid? [True, True] Translation: X:80.43, Y:14.75, Z:0.01 [[ 9.31209572e-01 -3.64484200e-01 0.00000000e+00 8.04281993e+01] [ 3.64484200e-01 9.31209572e-01 0.00000000e+00 1.47459281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98730314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.180371743 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:80.44, Y:14.76, Z:0.01 [[ 9.26524940e-01 -3.76233351e-01 0.00000000e+00 8.04435818e+01] [ 3.76233351e-01 9.26524940e-01 0.00000000e+00 1.47632488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75053369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.210371743 meters Centerline goodness : 0.992512 Centerline is valid? [True, True] Translation: X:80.49, Y:14.77, Z:0.00 [[ 9.29352927e-01 -3.69192547e-01 0.00000000e+00 8.04918551e+01] [ 3.69192547e-01 9.29352927e-01 0.00000000e+00 1.47666875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09943662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.240371743 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:80.52, Y:14.78, Z:0.00 [[ 9.26814794e-01 -3.75518758e-01 0.00000000e+00 8.05189899e+01] [ 3.75518758e-01 9.26814794e-01 0.00000000e+00 1.47752835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57319819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.270371743 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:80.53, Y:14.79, Z:0.01 [[ 9.22409141e-01 -3.86214158e-01 0.00000000e+00 8.05313974e+01] [ 3.86214158e-01 9.22409141e-01 0.00000000e+00 1.47914429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.65131714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.300371743 meters Centerline goodness : 0.992772 Centerline is valid? [True, True] Translation: X:80.56, Y:14.80, Z:0.01 [[ 9.21321113e-01 -3.88802529e-01 0.00000000e+00 8.05619032e+01] [ 3.88802529e-01 9.21321113e-01 0.00000000e+00 1.48016513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56498625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.330371743 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:80.61, Y:14.81, Z:0.00 [[ 9.23466767e-01 -3.83678420e-01 0.00000000e+00 8.06086817e+01] [ 3.83678420e-01 9.23466767e-01 0.00000000e+00 1.48065226e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54082883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360371743 meters Centerline goodness : 0.993033 Centerline is valid? [True, True] Translation: X:80.64, Y:14.81, Z:0.00 [[ 9.21471550e-01 -3.88445855e-01 0.00000000e+00 8.06396285e+01] [ 3.88445855e-01 9.21471550e-01 0.00000000e+00 1.48143024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34303284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.390371743 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:80.67, Y:14.83, Z:0.00 [[ 9.19714793e-01 -3.92587188e-01 0.00000000e+00 8.06676534e+01] [ 3.92587188e-01 9.19714793e-01 0.00000000e+00 1.48254701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44577573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420371743 meters Centerline goodness : 0.993097 Centerline is valid? [True, True] Translation: X:80.70, Y:14.84, Z:0.00 [[ 9.19093456e-01 -3.94039616e-01 0.00000000e+00 8.06990117e+01] [ 3.94039616e-01 9.19093456e-01 0.00000000e+00 1.48354092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66456116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.450371743 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:80.73, Y:14.85, Z:0.01 [[ 9.16930574e-01 -3.99046768e-01 0.00000000e+00 8.07271313e+01] [ 3.99046768e-01 9.16930574e-01 0.00000000e+00 1.48461489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63237302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.480371743 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:80.76, Y:14.86, Z:0.01 [[ 9.16105114e-01 -4.00938174e-01 0.00000000e+00 8.07582041e+01] [ 4.00938174e-01 9.16105114e-01 0.00000000e+00 1.48574592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62177754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.510371743 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:80.79, Y:14.87, Z:0.01 [[ 9.15200353e-01 -4.02999149e-01 0.00000000e+00 8.07885940e+01] [ 4.02999149e-01 9.15200353e-01 0.00000000e+00 1.48687251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84037797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.540371743 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:80.82, Y:14.88, Z:0.01 [[ 9.13723368e-01 -4.06336815e-01 0.00000000e+00 8.08185070e+01] [ 4.06336815e-01 9.13723368e-01 0.00000000e+00 1.48782428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.97804930e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.570371743 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:80.83, Y:14.89, Z:0.01 [[ 9.10798573e-01 -4.12851013e-01 0.00000000e+00 8.08340741e+01] [ 4.12851013e-01 9.10798573e-01 0.00000000e+00 1.48927173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76782922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.600371743 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:80.88, Y:14.90, Z:0.00 [[ 9.13064384e-01 -4.07815438e-01 0.00000000e+00 8.08799899e+01] [ 4.07815438e-01 9.13064384e-01 0.00000000e+00 1.48981425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76016879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.630371743 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:80.89, Y:14.91, Z:0.01 [[ 9.09643532e-01 -4.15389751e-01 0.00000000e+00 8.08913295e+01] [ 4.15389751e-01 9.09643532e-01 0.00000000e+00 1.49123771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33157933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.660371743 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:80.92, Y:14.92, Z:0.01 [[ 9.08867564e-01 -4.17084824e-01 0.00000000e+00 8.09234750e+01] [ 4.17084824e-01 9.08867564e-01 0.00000000e+00 1.49244146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33895884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.690371743 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:80.95, Y:14.94, Z:0.00 [[ 9.08536499e-01 -4.17805493e-01 0.00000000e+00 8.09538888e+01] [ 4.17805493e-01 9.08536499e-01 0.00000000e+00 1.49360095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58874630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720371743 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:81.00, Y:14.94, Z:0.00 [[ 9.11449746e-01 -4.11411425e-01 0.00000000e+00 8.09950106e+01] [ 4.11411425e-01 9.11449746e-01 0.00000000e+00 1.49407332e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98124641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.750371743 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:81.01, Y:14.96, Z:0.00 [[ 9.07391547e-01 -4.20286307e-01 0.00000000e+00 8.10122403e+01] [ 4.20286307e-01 9.07391547e-01 0.00000000e+00 1.49575208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36608718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.780371743 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:81.06, Y:14.96, Z:-0.00 [[ 9.11103622e-01 -4.12177376e-01 0.00000000e+00 8.10610295e+01] [ 4.12177376e-01 9.11103622e-01 0.00000000e+00 1.49627178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85392586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.810371743 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:81.09, Y:14.98, Z:-0.00 [[ 9.09269304e-01 -4.16208280e-01 0.00000000e+00 8.10887311e+01] [ 4.16208280e-01 9.09269304e-01 0.00000000e+00 1.49757602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94454822e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.840371743 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:81.10, Y:14.99, Z:0.00 [[ 9.04909402e-01 -4.25604245e-01 0.00000000e+00 8.10999016e+01] [ 4.25604245e-01 9.04909402e-01 0.00000000e+00 1.49916374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67938656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87037174299999 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:81.14, Y:15.00, Z:0.00 [[ 9.07608239e-01 -4.19818157e-01 0.00000000e+00 8.11439630e+01] [ 4.19818157e-01 9.07608239e-01 0.00000000e+00 1.49989673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20231560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.900371743 meters Centerline goodness : 0.992761 Centerline is valid? [True, True] Translation: X:81.17, Y:15.01, Z:0.01 [[ 9.07055929e-01 -4.21010144e-01 0.00000000e+00 8.11680425e+01] [ 4.21010144e-01 9.07055929e-01 0.00000000e+00 1.50093059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07389238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.930371743 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:81.20, Y:15.02, Z:0.00 [[ 9.05836555e-01 -4.23627354e-01 0.00000000e+00 8.11991145e+01] [ 4.23627354e-01 9.05836555e-01 0.00000000e+00 1.50215805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40447583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.960371743 meters Centerline goodness : 0.992953 Centerline is valid? [True, True] Translation: X:81.23, Y:15.03, Z:0.00 [[ 9.05104234e-01 -4.25189753e-01 0.00000000e+00 8.12284260e+01] [ 4.25189753e-01 9.05104234e-01 0.00000000e+00 1.50338053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61661736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.990371743 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:81.26, Y:15.05, Z:0.00 [[ 9.04820006e-01 -4.25794265e-01 0.00000000e+00 8.12587346e+01] [ 4.25794265e-01 9.04820006e-01 0.00000000e+00 1.50454256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39459180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.020371743 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:81.29, Y:15.06, Z:0.00 [[ 9.04360448e-01 -4.26769470e-01 0.00000000e+00 8.12895212e+01] [ 4.26769470e-01 9.04360448e-01 0.00000000e+00 1.50577528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85564409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.050371743 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] Translation: X:81.32, Y:15.07, Z:0.00 [[ 9.04335488e-01 -4.26822359e-01 0.00000000e+00 8.13174605e+01] [ 4.26822359e-01 9.04335488e-01 0.00000000e+00 1.50697664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86190749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.080371743 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:81.35, Y:15.08, Z:0.01 [[ 9.04376120e-01 -4.26736257e-01 0.00000000e+00 8.13476422e+01] [ 4.26736257e-01 9.04376120e-01 0.00000000e+00 1.50821943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32380782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.110371743 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:81.38, Y:15.09, Z:0.00 [[ 9.05403587e-01 -4.24551934e-01 0.00000000e+00 8.13768545e+01] [ 4.24551934e-01 9.05403587e-01 0.00000000e+00 1.50942798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30874979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140371743 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:81.41, Y:15.11, Z:0.00 [[ 9.05764618e-01 -4.23781142e-01 0.00000000e+00 8.14060965e+01] [ 4.23781142e-01 9.05764618e-01 0.00000000e+00 1.51068041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31229548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.170371743 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:81.44, Y:15.12, Z:0.01 [[ 9.06313722e-01 -4.22605534e-01 0.00000000e+00 8.14356072e+01] [ 4.22605534e-01 9.06313722e-01 0.00000000e+00 1.51198126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35045110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.200371743 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:81.46, Y:15.13, Z:0.01 [[ 9.08360036e-01 -4.18189007e-01 0.00000000e+00 8.14643588e+01] [ 4.18189007e-01 9.08360036e-01 0.00000000e+00 1.51325585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03099114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.230371743 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:81.49, Y:15.15, Z:0.00 [[ 9.09384784e-01 -4.15955905e-01 0.00000000e+00 8.14948749e+01] [ 4.15955905e-01 9.09384784e-01 0.00000000e+00 1.51456279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27748820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.260371743 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:81.53, Y:15.16, Z:-0.00 [[ 9.11147814e-01 -4.12079678e-01 0.00000000e+00 8.15265462e+01] [ 4.12079678e-01 9.11147814e-01 0.00000000e+00 1.51577907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.43688708e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.290371743 meters Centerline goodness : 0.993565 Centerline is valid? [True, True] Translation: X:81.56, Y:15.17, Z:0.00 [[ 9.12060283e-01 -4.10056144e-01 0.00000000e+00 8.15553469e+01] [ 4.10056144e-01 9.12060283e-01 0.00000000e+00 1.51707658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56248157e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.320371743 meters Centerline goodness : 0.993472 Centerline is valid? [True, True] Translation: X:81.59, Y:15.18, Z:0.00 [[ 9.12569083e-01 -4.08922571e-01 0.00000000e+00 8.15858876e+01] [ 4.08922571e-01 9.12569083e-01 0.00000000e+00 1.51829931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04408823e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.350371743 meters Centerline goodness : 0.993472 Centerline is valid? [True, True] Translation: X:81.62, Y:15.20, Z:0.00 [[ 9.12433176e-01 -4.09225733e-01 0.00000000e+00 8.16150102e+01] [ 4.09225733e-01 9.12433176e-01 0.00000000e+00 1.51951283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04408823e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.380371743 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:81.65, Y:15.21, Z:-0.00 [[ 9.13645428e-01 -4.06512031e-01 0.00000000e+00 8.16460931e+01] [ 4.06512031e-01 9.13645428e-01 0.00000000e+00 1.52063437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15071402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.410371743 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:81.67, Y:15.22, Z:-0.00 [[ 9.12779320e-01 -4.08453073e-01 0.00000000e+00 8.16745456e+01] [ 4.08453073e-01 9.12779320e-01 0.00000000e+00 1.52197852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13421711e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.440371743 meters Centerline goodness : 0.990427 Centerline is valid? [True, True] Translation: X:81.69, Y:15.23, Z:0.00 [[ 9.11352070e-01 -4.11627750e-01 0.00000000e+00 8.16947250e+01] [ 4.11627750e-01 9.11352070e-01 0.00000000e+00 1.52328766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63125614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.470371743 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:81.73, Y:15.24, Z:0.00 [[ 9.13362890e-01 -4.07146449e-01 0.00000000e+00 8.17318378e+01] [ 4.07146449e-01 9.13362890e-01 0.00000000e+00 1.52417822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61690732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500371743 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:81.76, Y:15.25, Z:-0.00 [[ 9.12465610e-01 -4.09153406e-01 0.00000000e+00 8.17646433e+01] [ 4.09153406e-01 9.12465610e-01 0.00000000e+00 1.52544830e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70625835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.530371743 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:81.78, Y:15.27, Z:0.00 [[ 9.09269972e-01 -4.16206820e-01 0.00000000e+00 8.17799848e+01] [ 4.16206820e-01 9.09269972e-01 0.00000000e+00 1.52701400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13946990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.560371743 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:81.82, Y:15.28, Z:-0.00 [[ 9.11245045e-01 -4.11864624e-01 0.00000000e+00 8.18193562e+01] [ 4.11864624e-01 9.11245045e-01 0.00000000e+00 1.52784461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.15677239e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.590371743 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:81.85, Y:15.29, Z:-0.00 [[ 9.11124031e-01 -4.12132260e-01 0.00000000e+00 8.18481775e+01] [ 4.12132260e-01 9.11124031e-01 0.00000000e+00 1.52912331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.50887640e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62037174299999 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:81.88, Y:15.30, Z:-0.00 [[ 9.10941504e-01 -4.12535546e-01 0.00000000e+00 8.18795795e+01] [ 4.12535546e-01 9.10941504e-01 0.00000000e+00 1.53042012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13279309e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.650371743 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:81.91, Y:15.32, Z:0.00 [[ 9.11168893e-01 -4.12033066e-01 0.00000000e+00 8.19070395e+01] [ 4.12033066e-01 9.11168893e-01 0.00000000e+00 1.53188210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37318806e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.680371743 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:81.94, Y:15.33, Z:-0.00 [[ 9.11584941e-01 -4.11111780e-01 0.00000000e+00 8.19384170e+01] [ 4.11111780e-01 9.11584941e-01 0.00000000e+00 1.53328087e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99769476e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.710371743 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:81.97, Y:15.34, Z:-0.00 [[ 9.12166151e-01 -4.09820586e-01 0.00000000e+00 8.19660512e+01] [ 4.09820586e-01 9.12166151e-01 0.00000000e+00 1.53446938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28928138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.740371743 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:82.00, Y:15.36, Z:-0.00 [[ 9.12876783e-01 -4.08235202e-01 0.00000000e+00 8.19979250e+01] [ 4.08235202e-01 9.12876783e-01 0.00000000e+00 1.53592714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98029329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.770371743 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:82.02, Y:15.37, Z:0.00 [[ 9.12173231e-01 -4.09804828e-01 0.00000000e+00 8.20234114e+01] [ 4.09804828e-01 9.12173231e-01 0.00000000e+00 1.53735526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30362603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.800371743 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:82.05, Y:15.39, Z:0.00 [[ 9.12431988e-01 -4.09228380e-01 0.00000000e+00 8.20534686e+01] [ 4.09228380e-01 9.12431988e-01 0.00000000e+00 1.53862827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90601567e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.830371743 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:82.08, Y:15.40, Z:0.00 [[ 9.12079294e-01 -4.10013855e-01 0.00000000e+00 8.20823573e+01] [ 4.10013855e-01 9.12079294e-01 0.00000000e+00 1.54014176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00534142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860371743 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:82.11, Y:15.41, Z:0.00 [[ 9.11566699e-01 -4.11152226e-01 0.00000000e+00 8.21088027e+01] [ 4.11152226e-01 9.11566699e-01 0.00000000e+00 1.54144937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61003619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.890371743 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:82.14, Y:15.43, Z:0.00 [[ 9.10573514e-01 -4.13347160e-01 0.00000000e+00 8.21389273e+01] [ 4.13347160e-01 9.10573514e-01 0.00000000e+00 1.54282812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02919352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920371743 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:82.17, Y:15.44, Z:0.00 [[ 9.09865790e-01 -4.14902693e-01 0.00000000e+00 8.21696205e+01] [ 4.14902693e-01 9.09865790e-01 0.00000000e+00 1.54417339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07812587e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.950371743 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:82.20, Y:15.45, Z:0.00 [[ 9.08820095e-01 -4.17188249e-01 0.00000000e+00 8.21981223e+01] [ 4.17188249e-01 9.08820095e-01 0.00000000e+00 1.54545790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65493543e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.980371743 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:82.23, Y:15.47, Z:0.00 [[ 9.06941002e-01 -4.21257664e-01 0.00000000e+00 8.22252161e+01] [ 4.21257664e-01 9.06941002e-01 0.00000000e+00 1.54682783e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46221096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.010371743 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:82.25, Y:15.48, Z:0.00 [[ 9.06022445e-01 -4.23229640e-01 0.00000000e+00 8.22543753e+01] [ 4.23229640e-01 9.06022445e-01 0.00000000e+00 1.54816289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49742075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.040371743 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:82.28, Y:15.50, Z:0.00 [[ 9.05359947e-01 -4.24644990e-01 0.00000000e+00 8.22846228e+01] [ 4.24644990e-01 9.05359947e-01 0.00000000e+00 1.54950502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67361157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.070371743 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:82.31, Y:15.51, Z:0.00 [[ 9.04918261e-01 -4.25585410e-01 0.00000000e+00 8.23129352e+01] [ 4.25585410e-01 9.04918261e-01 0.00000000e+00 1.55080517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21407342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.100371743 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:82.34, Y:15.52, Z:0.00 [[ 9.04721193e-01 -4.26004182e-01 0.00000000e+00 8.23427882e+01] [ 4.26004182e-01 9.04721193e-01 0.00000000e+00 1.55220205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05627429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.130371743 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:82.37, Y:15.53, Z:0.00 [[ 9.04993394e-01 -4.25425618e-01 0.00000000e+00 8.23713011e+01] [ 4.25425618e-01 9.04993394e-01 0.00000000e+00 1.55347754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86436342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.160371743 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:82.40, Y:15.55, Z:0.00 [[ 9.05005386e-01 -4.25400107e-01 0.00000000e+00 8.24010044e+01] [ 4.25400107e-01 9.05005386e-01 0.00000000e+00 1.55487353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98973766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.190371743 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:82.43, Y:15.56, Z:0.00 [[ 9.05708844e-01 -4.23900331e-01 0.00000000e+00 8.24272199e+01] [ 4.23900331e-01 9.05708844e-01 0.00000000e+00 1.55609655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33261332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220371743 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:82.46, Y:15.58, Z:0.00 [[ 9.05030446e-01 -4.25346790e-01 0.00000000e+00 8.24590922e+01] [ 4.25346790e-01 9.05030446e-01 0.00000000e+00 1.55750120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27024778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.250371743 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:82.49, Y:15.59, Z:0.00 [[ 9.05433359e-01 -4.24488436e-01 0.00000000e+00 8.24882158e+01] [ 4.24488436e-01 9.05433359e-01 0.00000000e+00 1.55893584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40064861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280371743 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:82.52, Y:15.60, Z:0.00 [[ 9.05607037e-01 -4.24117784e-01 0.00000000e+00 8.25178888e+01] [ 4.24117784e-01 9.05607037e-01 0.00000000e+00 1.56026401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10712828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.310371743 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:82.55, Y:15.62, Z:0.00 [[ 9.05923189e-01 -4.23442057e-01 0.00000000e+00 8.25456305e+01] [ 4.23442057e-01 9.05923189e-01 0.00000000e+00 1.56158154e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14412575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.340371743 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:82.58, Y:15.63, Z:0.00 [[ 9.06012506e-01 -4.23250917e-01 0.00000000e+00 8.25753860e+01] [ 4.23250917e-01 9.06012506e-01 0.00000000e+00 1.56296758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44867985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37037174299999 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:82.60, Y:15.64, Z:0.00 [[ 9.06390778e-01 -4.22440241e-01 0.00000000e+00 8.26045767e+01] [ 4.22440241e-01 9.06390778e-01 0.00000000e+00 1.56443029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57999473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.400371743 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:82.63, Y:15.66, Z:0.00 [[ 9.06932516e-01 -4.21275932e-01 0.00000000e+00 8.26336413e+01] [ 4.21275932e-01 9.06932516e-01 0.00000000e+00 1.56575978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33032996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.430371743 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:82.66, Y:15.67, Z:0.00 [[ 9.06702397e-01 -4.21770985e-01 0.00000000e+00 8.26618614e+01] [ 4.21770985e-01 9.06702397e-01 0.00000000e+00 1.56731725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65280855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.460371743 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:82.69, Y:15.69, Z:0.00 [[ 9.07074155e-01 -4.20970875e-01 0.00000000e+00 8.26937986e+01] [ 4.20970875e-01 9.07074155e-01 0.00000000e+00 1.56854737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00006994e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.490371743 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:82.72, Y:15.70, Z:0.00 [[ 9.05974218e-01 -4.23332867e-01 0.00000000e+00 8.27160742e+01] [ 4.23332867e-01 9.05974218e-01 0.00000000e+00 1.56988237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73019086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.520371743 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:82.75, Y:15.71, Z:0.00 [[ 9.05355651e-01 -4.24654149e-01 0.00000000e+00 8.27468127e+01] [ 4.24654149e-01 9.05355651e-01 0.00000000e+00 1.57124868e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83647244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.550371743 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:82.78, Y:15.73, Z:0.00 [[ 9.05192543e-01 -4.25001717e-01 0.00000000e+00 8.27769516e+01] [ 4.25001717e-01 9.05192543e-01 0.00000000e+00 1.57265823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92869956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.580371743 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:82.81, Y:15.74, Z:0.00 [[ 9.04762888e-01 -4.25915621e-01 0.00000000e+00 8.28068355e+01] [ 4.25915621e-01 9.04762888e-01 0.00000000e+00 1.57401004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86416475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.610371743 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:82.83, Y:15.75, Z:0.00 [[ 9.04096158e-01 -4.27329073e-01 0.00000000e+00 8.28338967e+01] [ 4.27329073e-01 9.04096158e-01 0.00000000e+00 1.57538916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39579167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.640371743 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:82.86, Y:15.77, Z:0.00 [[ 9.04039119e-01 -4.27449729e-01 0.00000000e+00 8.28645994e+01] [ 4.27449729e-01 9.04039119e-01 0.00000000e+00 1.57671709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20387573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.670371743 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:82.89, Y:15.78, Z:0.00 [[ 9.03964456e-01 -4.27607602e-01 0.00000000e+00 8.28935065e+01] [ 4.27607602e-01 9.03964456e-01 0.00000000e+00 1.57807518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06014356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.700371743 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:82.92, Y:15.79, Z:0.00 [[ 9.04982635e-01 -4.25448506e-01 0.00000000e+00 8.29247146e+01] [ 4.25448506e-01 9.04982635e-01 0.00000000e+00 1.57941440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67676047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.730371743 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:82.95, Y:15.81, Z:0.00 [[ 9.05242111e-01 -4.24896130e-01 0.00000000e+00 8.29539762e+01] [ 4.24896130e-01 9.05242111e-01 0.00000000e+00 1.58074261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72992890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.760371743 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:82.98, Y:15.82, Z:0.01 [[ 9.04696719e-01 -4.26056155e-01 0.00000000e+00 8.29804240e+01] [ 4.26056155e-01 9.04696719e-01 0.00000000e+00 1.58214582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73950531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.790371743 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:83.01, Y:15.83, Z:0.00 [[ 9.06624648e-01 -4.21938086e-01 0.00000000e+00 8.30143618e+01] [ 4.21938086e-01 9.06624648e-01 0.00000000e+00 1.58324937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49846116e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.820371743 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:83.04, Y:15.85, Z:0.00 [[ 9.05647470e-01 -4.24031439e-01 0.00000000e+00 8.30377109e+01] [ 4.24031439e-01 9.05647470e-01 0.00000000e+00 1.58466522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60309664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.850371743 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:83.07, Y:15.86, Z:0.00 [[ 9.05432944e-01 -4.24489322e-01 0.00000000e+00 8.30681118e+01] [ 4.24489322e-01 9.05432944e-01 0.00000000e+00 1.58591697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20032284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.880371743 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:83.10, Y:15.87, Z:0.00 [[ 9.05311726e-01 -4.24747784e-01 0.00000000e+00 8.30963070e+01] [ 4.24747784e-01 9.05311726e-01 0.00000000e+00 1.58711456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57904262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.910371743 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:83.13, Y:15.88, Z:0.00 [[ 9.05130537e-01 -4.25133757e-01 0.00000000e+00 8.31268501e+01] [ 4.25133757e-01 9.05130537e-01 0.00000000e+00 1.58839650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41653254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.940371743 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:83.16, Y:15.90, Z:0.00 [[ 9.05061024e-01 -4.25281721e-01 0.00000000e+00 8.31557219e+01] [ 4.25281721e-01 9.05061024e-01 0.00000000e+00 1.58963144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.37874018e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.970371743 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:83.18, Y:15.91, Z:0.01 [[ 9.04474607e-01 -4.26527473e-01 0.00000000e+00 8.31826517e+01] [ 4.26527473e-01 9.04474607e-01 0.00000000e+00 1.59099743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54991951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.000371743 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:83.20, Y:15.93, Z:0.01 [[ 9.02025198e-01 -4.31683382e-01 0.00000000e+00 8.31996182e+01] [ 4.31683382e-01 9.02025198e-01 0.00000000e+00 1.59260706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91965915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.030371743 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:83.23, Y:15.94, Z:0.01 [[ 9.02186826e-01 -4.31345488e-01 0.00000000e+00 8.32306227e+01] [ 4.31345488e-01 9.02186826e-01 0.00000000e+00 1.59390752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.38102812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.060371743 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:83.27, Y:15.95, Z:0.01 [[ 9.04502715e-01 -4.26467863e-01 0.00000000e+00 8.32706583e+01] [ 4.26467863e-01 9.04502715e-01 0.00000000e+00 1.59480293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73272755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.090371743 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:83.29, Y:15.96, Z:0.01 [[ 9.02041717e-01 -4.31648863e-01 0.00000000e+00 8.32884981e+01] [ 4.31648863e-01 9.02041717e-01 0.00000000e+00 1.59631937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19132596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12037174299999 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:83.33, Y:15.97, Z:0.01 [[ 9.03589086e-01 -4.28400237e-01 0.00000000e+00 8.33259325e+01] [ 4.28400237e-01 9.03589086e-01 0.00000000e+00 1.59725968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.50459210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.150371743 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:83.36, Y:15.99, Z:0.01 [[ 9.03250855e-01 -4.29112914e-01 0.00000000e+00 8.33566656e+01] [ 4.29112914e-01 9.03250855e-01 0.00000000e+00 1.59855301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14000325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.180371743 meters Centerline goodness : 0.994646 Centerline is valid? [True, True] Translation: X:83.38, Y:16.00, Z:0.01 [[ 9.01610068e-01 -4.32549749e-01 0.00000000e+00 8.33841151e+01] [ 4.32549749e-01 9.01610068e-01 0.00000000e+00 1.59975568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84974465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.210371743 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:83.41, Y:16.01, Z:0.01 [[ 9.01369750e-01 -4.33050313e-01 0.00000000e+00 8.34141800e+01] [ 4.33050313e-01 9.01369750e-01 0.00000000e+00 1.60085356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40348444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.240371743 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:83.44, Y:16.02, Z:0.01 [[ 9.01002858e-01 -4.33813150e-01 0.00000000e+00 8.34445266e+01] [ 4.33813150e-01 9.01002858e-01 0.00000000e+00 1.60202628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66702938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.270371743 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:83.47, Y:16.03, Z:0.01 [[ 9.00940399e-01 -4.33942850e-01 0.00000000e+00 8.34745564e+01] [ 4.33942850e-01 9.00940399e-01 0.00000000e+00 1.60329638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66702938e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.300371743 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:83.50, Y:16.04, Z:0.00 [[ 9.00599034e-01 -4.34650872e-01 0.00000000e+00 8.35030341e+01] [ 4.34650872e-01 9.00599034e-01 0.00000000e+00 1.60435384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49982126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.330371743 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:83.53, Y:16.06, Z:0.00 [[ 9.00133050e-01 -4.35615073e-01 0.00000000e+00 8.35326109e+01] [ 4.35615073e-01 9.00133050e-01 0.00000000e+00 1.60561616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30423187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360371743 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:83.56, Y:16.07, Z:0.01 [[ 9.00154783e-01 -4.35570162e-01 0.00000000e+00 8.35648291e+01] [ 4.35570162e-01 9.00154783e-01 0.00000000e+00 1.60687969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29854236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.390371743 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:83.59, Y:16.08, Z:0.01 [[ 9.00102192e-01 -4.35678830e-01 0.00000000e+00 8.35946741e+01] [ 4.35678830e-01 9.00102192e-01 0.00000000e+00 1.60816089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43419369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420371743 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:83.63, Y:16.09, Z:0.01 [[ 9.00368626e-01 -4.35127954e-01 0.00000000e+00 8.36253105e+01] [ 4.35127954e-01 9.00368626e-01 0.00000000e+00 1.60948407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15888909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.450371743 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:83.66, Y:16.11, Z:0.01 [[ 9.00564216e-01 -4.34723006e-01 0.00000000e+00 8.36558288e+01] [ 4.34723006e-01 9.00564216e-01 0.00000000e+00 1.61076769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.94395628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.480371743 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:83.68, Y:16.12, Z:0.01 [[ 9.00683635e-01 -4.34475534e-01 0.00000000e+00 8.36838826e+01] [ 4.34475534e-01 9.00683635e-01 0.00000000e+00 1.61200328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07584642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.510371743 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:83.71, Y:16.13, Z:0.01 [[ 9.00888957e-01 -4.34049636e-01 0.00000000e+00 8.37144265e+01] [ 4.34049636e-01 9.00888957e-01 0.00000000e+00 1.61333276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06345998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.540371743 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:83.74, Y:16.15, Z:0.01 [[ 9.00952855e-01 -4.33916989e-01 0.00000000e+00 8.37433515e+01] [ 4.33916989e-01 9.00952855e-01 0.00000000e+00 1.61461371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04702560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.570371743 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:83.77, Y:16.16, Z:0.01 [[ 9.01403729e-01 -4.32979580e-01 0.00000000e+00 8.37718263e+01] [ 4.32979580e-01 9.01403729e-01 0.00000000e+00 1.61585206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28265520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.600371743 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:83.80, Y:16.17, Z:0.01 [[ 9.02346157e-01 -4.31012081e-01 0.00000000e+00 8.38010201e+01] [ 4.31012081e-01 9.02346157e-01 0.00000000e+00 1.61708362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01342697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.630371743 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:83.83, Y:16.18, Z:0.01 [[ 9.03377690e-01 -4.28845833e-01 0.00000000e+00 8.38317537e+01] [ 4.28845833e-01 9.03377690e-01 0.00000000e+00 1.61832152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.18505440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.660371743 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:83.86, Y:16.20, Z:0.01 [[ 9.04164892e-01 -4.27183624e-01 0.00000000e+00 8.38598153e+01] [ 4.27183624e-01 9.04164892e-01 0.00000000e+00 1.61955456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.51010034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.690371743 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:83.89, Y:16.21, Z:0.01 [[ 9.04183971e-01 -4.27143238e-01 0.00000000e+00 8.38891862e+01] [ 4.27143238e-01 9.04183971e-01 0.00000000e+00 1.62091935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08723386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720371743 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:83.92, Y:16.22, Z:0.01 [[ 9.04157569e-01 -4.27199123e-01 0.00000000e+00 8.39182235e+01] [ 4.27199123e-01 9.04157569e-01 0.00000000e+00 1.62227090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14065621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.750371743 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:83.94, Y:16.24, Z:0.01 [[ 9.02249988e-01 -4.31213356e-01 0.00000000e+00 8.39385429e+01] [ 4.31213356e-01 9.02249988e-01 0.00000000e+00 1.62375514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04525452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780371743 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:83.98, Y:16.25, Z:0.01 [[ 9.03870699e-01 -4.27805750e-01 0.00000000e+00 8.39763173e+01] [ 4.27805750e-01 9.03870699e-01 0.00000000e+00 1.62478198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02247102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.810371743 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:84.00, Y:16.26, Z:0.01 [[ 9.02170705e-01 -4.31379205e-01 0.00000000e+00 8.39968893e+01] [ 4.31379205e-01 9.02170705e-01 0.00000000e+00 1.62606369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14676828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.840371743 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:84.03, Y:16.27, Z:0.01 [[ 9.03640265e-01 -4.28292273e-01 0.00000000e+00 8.40344137e+01] [ 4.28292273e-01 9.03640265e-01 0.00000000e+00 1.62702123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37658859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87037174299999 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:84.06, Y:16.28, Z:0.01 [[ 9.02666642e-01 -4.30340485e-01 0.00000000e+00 8.40613241e+01] [ 4.30340485e-01 9.02666642e-01 0.00000000e+00 1.62836139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.55459312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.900371743 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:84.09, Y:16.30, Z:0.01 [[ 9.02741947e-01 -4.30182493e-01 0.00000000e+00 8.40925438e+01] [ 4.30182493e-01 9.02741947e-01 0.00000000e+00 1.62959823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75215266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.930371743 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:84.12, Y:16.31, Z:0.01 [[ 9.02172744e-01 -4.31374941e-01 0.00000000e+00 8.41203854e+01] [ 4.31374941e-01 9.02172744e-01 0.00000000e+00 1.63091974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74674914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.960371743 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:84.15, Y:16.32, Z:0.01 [[ 9.01841401e-01 -4.32067226e-01 0.00000000e+00 8.41523428e+01] [ 4.32067226e-01 9.01841401e-01 0.00000000e+00 1.63210466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68852474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.990371743 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:84.18, Y:16.33, Z:0.01 [[ 9.01872036e-01 -4.32003276e-01 0.00000000e+00 8.41816566e+01] [ 4.32003276e-01 9.01872036e-01 0.00000000e+00 1.63323477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69189119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.020371743 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:84.21, Y:16.34, Z:0.01 [[ 9.02032759e-01 -4.31667582e-01 0.00000000e+00 8.42122630e+01] [ 4.31667582e-01 9.02032759e-01 0.00000000e+00 1.63438413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76178290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.050371743 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:84.24, Y:16.35, Z:0.01 [[ 9.01505814e-01 -4.32766990e-01 0.00000000e+00 8.42396711e+01] [ 4.32766990e-01 9.01505814e-01 0.00000000e+00 1.63546495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79022671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.080371743 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:84.27, Y:16.37, Z:0.01 [[ 9.00991103e-01 -4.33837564e-01 0.00000000e+00 8.42706473e+01] [ 4.33837564e-01 9.00991103e-01 0.00000000e+00 1.63668122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03717556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.110371743 meters Centerline goodness : 0.993120 Centerline is valid? [True, True] Translation: X:84.30, Y:16.38, Z:0.01 [[ 9.01266564e-01 -4.33265023e-01 0.00000000e+00 8.43002228e+01] [ 4.33265023e-01 9.01266564e-01 0.00000000e+00 1.63782952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66473946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140371743 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:84.33, Y:16.39, Z:0.01 [[ 9.00390129e-01 -4.35083458e-01 0.00000000e+00 8.43300280e+01] [ 4.35083458e-01 9.00390129e-01 0.00000000e+00 1.63908739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63868248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.170371743 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:84.36, Y:16.40, Z:0.01 [[ 8.99331930e-01 -4.37266600e-01 0.00000000e+00 8.43610632e+01] [ 4.37266600e-01 8.99331930e-01 0.00000000e+00 1.64017770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92096556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.200371743 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:84.39, Y:16.41, Z:0.01 [[ 8.98366314e-01 -4.39247044e-01 0.00000000e+00 8.43899321e+01] [ 4.39247044e-01 8.98366314e-01 0.00000000e+00 1.64132354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30388692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.230371743 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:84.42, Y:16.42, Z:0.01 [[ 8.97800356e-01 -4.40402680e-01 0.00000000e+00 8.44203714e+01] [ 4.40402680e-01 8.97800356e-01 0.00000000e+00 1.64227973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81204176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.260371743 meters Centerline goodness : 0.993120 Centerline is valid? [True, True] Translation: X:84.45, Y:16.43, Z:0.01 [[ 8.97587017e-01 -4.40837325e-01 0.00000000e+00 8.44478709e+01] [ 4.40837325e-01 8.97587017e-01 0.00000000e+00 1.64342520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10915320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.290371743 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:84.48, Y:16.45, Z:0.01 [[ 8.96935694e-01 -4.42161013e-01 0.00000000e+00 8.44782966e+01] [ 4.42161013e-01 8.96935694e-01 0.00000000e+00 1.64467768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00512285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.320371743 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:84.50, Y:16.46, Z:0.01 [[ 8.94749612e-01 -4.46568172e-01 0.00000000e+00 8.44980659e+01] [ 4.46568172e-01 8.94749612e-01 0.00000000e+00 1.64608662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.16701055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.350371743 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:84.54, Y:16.47, Z:0.01 [[ 8.96588186e-01 -4.42865245e-01 0.00000000e+00 8.45358371e+01] [ 4.42865245e-01 8.96588186e-01 0.00000000e+00 1.64700649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10000243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.380371743 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:84.57, Y:16.48, Z:0.01 [[ 8.96983045e-01 -4.42064947e-01 0.00000000e+00 8.45659853e+01] [ 4.42064947e-01 8.96983045e-01 0.00000000e+00 1.64812842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.20734526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.410371743 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:84.60, Y:16.49, Z:0.01 [[ 8.96616616e-01 -4.42807682e-01 0.00000000e+00 8.45956688e+01] [ 4.42807682e-01 8.96616616e-01 0.00000000e+00 1.64927432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05469618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.440371743 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:84.62, Y:16.51, Z:0.01 [[ 8.94731000e-01 -4.46605460e-01 0.00000000e+00 8.46156751e+01] [ 4.46605460e-01 8.94731000e-01 0.00000000e+00 1.65071520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05501150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.470371743 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:84.65, Y:16.52, Z:0.01 [[ 8.96725638e-01 -4.42586862e-01 0.00000000e+00 8.46547228e+01] [ 4.42586862e-01 8.96725638e-01 0.00000000e+00 1.65161926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51310142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500371743 meters Centerline goodness : 0.994163 Centerline is valid? [True, True] Translation: X:84.67, Y:16.53, Z:0.01 [[ 8.94542250e-01 -4.46983404e-01 0.00000000e+00 8.46740698e+01] [ 4.46983404e-01 8.94542250e-01 0.00000000e+00 1.65309045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16603083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.530371743 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:84.71, Y:16.54, Z:0.01 [[ 8.96731335e-01 -4.42575319e-01 0.00000000e+00 8.47130883e+01] [ 4.42575319e-01 8.96731335e-01 0.00000000e+00 1.65391527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.77584207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.560371743 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:84.73, Y:16.55, Z:0.01 [[ 8.94691845e-01 -4.46683896e-01 0.00000000e+00 8.47321329e+01] [ 4.46683896e-01 8.94691845e-01 0.00000000e+00 1.65537193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11093851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.590371743 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:84.76, Y:16.57, Z:0.01 [[ 8.94761346e-01 -4.46544661e-01 0.00000000e+00 8.47632307e+01] [ 4.46544661e-01 8.94761346e-01 0.00000000e+00 1.65660636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21217128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62037174299999 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:84.80, Y:16.58, Z:0.01 [[ 8.96823156e-01 -4.42389225e-01 0.00000000e+00 8.48024491e+01] [ 4.42389225e-01 8.96823156e-01 0.00000000e+00 1.65752934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01179215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.650371743 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:84.82, Y:16.59, Z:0.01 [[ 8.94511215e-01 -4.47045508e-01 0.00000000e+00 8.48220245e+01] [ 4.47045508e-01 8.94511215e-01 0.00000000e+00 1.65899546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30732371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.680371743 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:84.85, Y:16.60, Z:0.01 [[ 8.94145233e-01 -4.47777068e-01 0.00000000e+00 8.48528522e+01] [ 4.47777068e-01 8.94145233e-01 0.00000000e+00 1.66007940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18023301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.710371743 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:84.89, Y:16.61, Z:0.01 [[ 8.96002316e-01 -4.44049378e-01 0.00000000e+00 8.48921224e+01] [ 4.44049378e-01 8.96002316e-01 0.00000000e+00 1.66090990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98876389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.740371743 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:84.93, Y:16.62, Z:0.01 [[ 8.96376740e-01 -4.43293064e-01 0.00000000e+00 8.49251244e+01] [ 4.43293064e-01 8.96376740e-01 0.00000000e+00 1.66203006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99637895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.770371743 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:84.94, Y:16.63, Z:0.01 [[ 8.92867630e-01 -4.50319216e-01 0.00000000e+00 8.49414080e+01] [ 4.50319216e-01 8.92867630e-01 0.00000000e+00 1.66341202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.56590549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.800371743 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:84.97, Y:16.65, Z:0.01 [[ 8.92950288e-01 -4.50155288e-01 0.00000000e+00 8.49725973e+01] [ 4.50155288e-01 8.92950288e-01 0.00000000e+00 1.66466772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96187621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.830371743 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:85.00, Y:16.66, Z:0.01 [[ 8.93884880e-01 -4.48296577e-01 0.00000000e+00 8.49986952e+01] [ 4.48296577e-01 8.93884880e-01 0.00000000e+00 1.66570698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.28086656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860371743 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:85.04, Y:16.67, Z:0.01 [[ 8.94704708e-01 -4.46658131e-01 0.00000000e+00 8.50353844e+01] [ 4.46658131e-01 8.94704708e-01 0.00000000e+00 1.66688983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10699014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.890371743 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:85.07, Y:16.68, Z:0.01 [[ 8.95411053e-01 -4.45240437e-01 0.00000000e+00 8.50656596e+01] [ 4.45240437e-01 8.95411053e-01 0.00000000e+00 1.66803490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05026844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920371743 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:85.10, Y:16.69, Z:0.01 [[ 8.96271016e-01 -4.43506783e-01 0.00000000e+00 8.50985898e+01] [ 4.43506783e-01 8.96271016e-01 0.00000000e+00 1.66920237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.48955142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.950371743 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:85.13, Y:16.70, Z:0.01 [[ 8.96688999e-01 -4.42661089e-01 0.00000000e+00 8.51269405e+01] [ 4.42661089e-01 8.96688999e-01 0.00000000e+00 1.67035815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96742883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.980371743 meters Centerline goodness : 0.995021 Centerline is valid? [True, True] Translation: X:85.16, Y:16.72, Z:0.01 [[ 8.95978653e-01 -4.44097121e-01 0.00000000e+00 8.51564490e+01] [ 4.44097121e-01 8.95978653e-01 0.00000000e+00 1.67158111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51342516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.010371743 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:85.19, Y:16.73, Z:0.01 [[ 8.95704405e-01 -4.44649996e-01 0.00000000e+00 8.51869672e+01] [ 4.44649996e-01 8.95704405e-01 0.00000000e+00 1.67279396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06483979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.040371743 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:85.22, Y:16.74, Z:0.01 [[ 8.94982989e-01 -4.46100268e-01 0.00000000e+00 8.52176943e+01] [ 4.46100268e-01 8.94982989e-01 0.00000000e+00 1.67387866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73210431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.070371743 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:85.25, Y:16.75, Z:0.00 [[ 8.95422148e-01 -4.45218123e-01 0.00000000e+00 8.52487371e+01] [ 4.45218123e-01 8.95422148e-01 0.00000000e+00 1.67493135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87151002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.100371743 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:85.28, Y:16.76, Z:0.00 [[ 8.94228516e-01 -4.47610724e-01 0.00000000e+00 8.52773992e+01] [ 4.47610724e-01 8.94228516e-01 0.00000000e+00 1.67611186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14144027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.130371743 meters Centerline goodness : 0.995612 Centerline is valid? [True, True] Translation: X:85.29, Y:16.78, Z:0.01 [[ 8.90596589e-01 -4.54794147e-01 0.00000000e+00 8.52918143e+01] [ 4.54794147e-01 8.90596589e-01 0.00000000e+00 1.67770278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.31021435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.160371743 meters Centerline goodness : 0.995612 Centerline is valid? [True, True] Translation: X:85.32, Y:16.79, Z:0.01 [[ 8.90725565e-01 -4.54541493e-01 0.00000000e+00 8.53227684e+01] [ 4.54541493e-01 8.90725565e-01 0.00000000e+00 1.67901784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.31021435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.190371743 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:85.37, Y:16.80, Z:0.01 [[ 8.93722751e-01 -4.48619710e-01 0.00000000e+00 8.53651251e+01] [ 4.48619710e-01 8.93722751e-01 0.00000000e+00 1.67981123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05987595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220371743 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:85.39, Y:16.81, Z:0.00 [[ 8.94124241e-01 -4.47818984e-01 0.00000000e+00 8.53936117e+01] [ 4.47818984e-01 8.94124241e-01 0.00000000e+00 1.68089205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36080963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.250371743 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:85.42, Y:16.82, Z:0.01 [[ 8.93671502e-01 -4.48721793e-01 0.00000000e+00 8.54226093e+01] [ 4.48721793e-01 8.93671502e-01 0.00000000e+00 1.68215959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27260183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280371743 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:85.45, Y:16.83, Z:0.01 [[ 8.93765080e-01 -4.48535373e-01 0.00000000e+00 8.54505211e+01] [ 4.48535373e-01 8.93765080e-01 0.00000000e+00 1.68341978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50417113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.310371743 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:85.48, Y:16.85, Z:0.01 [[ 8.94368745e-01 -4.47330469e-01 0.00000000e+00 8.54804445e+01] [ 4.47330469e-01 8.94368745e-01 0.00000000e+00 1.68471708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50859906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.340371743 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:85.51, Y:16.86, Z:0.01 [[ 8.94628024e-01 -4.46811704e-01 0.00000000e+00 8.55094501e+01] [ 4.46811704e-01 8.94628024e-01 0.00000000e+00 1.68605121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.93578713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37037174299999 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:85.53, Y:16.87, Z:0.01 [[ 8.93598759e-01 -4.48866638e-01 0.00000000e+00 8.55288257e+01] [ 4.48866638e-01 8.93598759e-01 0.00000000e+00 1.68748010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50943803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.400371743 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:85.56, Y:16.89, Z:0.01 [[ 8.94008137e-01 -4.48050724e-01 0.00000000e+00 8.55597181e+01] [ 4.48050724e-01 8.94008137e-01 0.00000000e+00 1.68876158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.32750590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.430371743 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:85.61, Y:16.90, Z:0.00 [[ 8.97991099e-01 -4.40013620e-01 0.00000000e+00 8.56060098e+01] [ 4.40013620e-01 8.97991099e-01 0.00000000e+00 1.68951316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65308976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.460371743 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:85.62, Y:16.91, Z:0.01 [[ 8.94524299e-01 -4.47019326e-01 0.00000000e+00 8.56160128e+01] [ 4.47019326e-01 8.94524299e-01 0.00000000e+00 1.69105708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03051334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.490371743 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:85.65, Y:16.92, Z:0.01 [[ 8.94890233e-01 -4.46286310e-01 0.00000000e+00 8.56460138e+01] [ 4.46286310e-01 8.94890233e-01 0.00000000e+00 1.69228153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.32544472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.520371743 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:85.68, Y:16.94, Z:0.01 [[ 8.95139863e-01 -4.45785403e-01 0.00000000e+00 8.56762491e+01] [ 4.45785403e-01 8.95139863e-01 0.00000000e+00 1.69355553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11022835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.550371743 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:85.72, Y:16.94, Z:0.01 [[ 8.98841901e-01 -4.38273017e-01 0.00000000e+00 8.57188423e+01] [ 4.38273017e-01 8.98841901e-01 0.00000000e+00 1.69435155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31903605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.580371743 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:85.75, Y:16.96, Z:0.01 [[ 8.99245335e-01 -4.37444657e-01 0.00000000e+00 8.57473020e+01] [ 4.37444657e-01 8.99245335e-01 0.00000000e+00 1.69553944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29569646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.610371743 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:85.78, Y:16.97, Z:0.00 [[ 8.99892374e-01 -4.36112045e-01 0.00000000e+00 8.57782413e+01] [ 4.36112045e-01 8.99892374e-01 0.00000000e+00 1.69663855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17964566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640371743 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:85.81, Y:16.98, Z:0.01 [[ 8.99154806e-01 -4.37630705e-01 0.00000000e+00 8.58068487e+01] [ 4.37630705e-01 8.99154806e-01 0.00000000e+00 1.69789046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40998719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.670371743 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:85.84, Y:16.99, Z:0.01 [[ 8.99324994e-01 -4.37280866e-01 0.00000000e+00 8.58351376e+01] [ 4.37280866e-01 8.99324994e-01 0.00000000e+00 1.69903740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65323683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.700371743 meters Centerline goodness : 0.995127 Centerline is valid? [True, True] Translation: X:85.85, Y:17.01, Z:0.01 [[ 8.97056473e-01 -4.41915925e-01 0.00000000e+00 8.58513326e+01] [ 4.41915925e-01 8.97056473e-01 0.00000000e+00 1.70058446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74616250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.730371743 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:85.89, Y:17.01, Z:0.01 [[ 9.00516164e-01 -4.34822536e-01 0.00000000e+00 8.58919781e+01] [ 4.34822536e-01 9.00516164e-01 0.00000000e+00 1.70135940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55819847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.760371743 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:85.92, Y:17.03, Z:0.01 [[ 9.00377709e-01 -4.35109159e-01 0.00000000e+00 8.59215577e+01] [ 4.35109159e-01 9.00377709e-01 0.00000000e+00 1.70262406e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71028903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.790371743 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:85.95, Y:17.04, Z:0.00 [[ 9.01555789e-01 -4.32662869e-01 0.00000000e+00 8.59507770e+01] [ 4.32662869e-01 9.01555789e-01 0.00000000e+00 1.70373176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91601204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.820371743 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:85.98, Y:17.05, Z:0.01 [[ 9.02451828e-01 -4.30790783e-01 0.00000000e+00 8.59795590e+01] [ 4.30790783e-01 9.02451828e-01 0.00000000e+00 1.70493913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14301726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.850371743 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:86.01, Y:17.06, Z:0.01 [[ 9.02983884e-01 -4.29674417e-01 0.00000000e+00 8.60105626e+01] [ 4.29674417e-01 9.02983884e-01 0.00000000e+00 1.70625203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20856138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.880371743 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:86.04, Y:17.08, Z:0.01 [[ 9.02773198e-01 -4.30116906e-01 0.00000000e+00 8.60390274e+01] [ 4.30116906e-01 9.02773198e-01 0.00000000e+00 1.70758565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.16187832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.910371743 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:86.07, Y:17.09, Z:0.01 [[ 9.03313198e-01 -4.28981662e-01 0.00000000e+00 8.60692098e+01] [ 4.28981662e-01 9.03313198e-01 0.00000000e+00 1.70867508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58332143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.940371743 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:86.10, Y:17.10, Z:0.01 [[ 9.03117212e-01 -4.29394109e-01 0.00000000e+00 8.60998500e+01] [ 4.29394109e-01 9.03117212e-01 0.00000000e+00 1.70989219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48919966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.970371743 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:86.13, Y:17.11, Z:0.01 [[ 9.03152840e-01 -4.29319167e-01 0.00000000e+00 8.61286072e+01] [ 4.29319167e-01 9.03152840e-01 0.00000000e+00 1.71103294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72646705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000371743 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:86.16, Y:17.12, Z:0.01 [[ 9.02547436e-01 -4.30590438e-01 0.00000000e+00 8.61605807e+01] [ 4.30590438e-01 9.02547436e-01 0.00000000e+00 1.71216854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38372736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.030371743 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:86.19, Y:17.13, Z:0.01 [[ 9.01487048e-01 -4.32806078e-01 0.00000000e+00 8.61862769e+01] [ 4.32806078e-01 9.01487048e-01 0.00000000e+00 1.71341794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.73992301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.060371743 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:86.22, Y:17.15, Z:0.01 [[ 8.99819677e-01 -4.36262019e-01 0.00000000e+00 8.62170875e+01] [ 4.36262019e-01 8.99819677e-01 0.00000000e+00 1.71466569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63287355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.090371743 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:86.23, Y:17.16, Z:0.01 [[ 8.96494023e-01 -4.43055828e-01 0.00000000e+00 8.62338378e+01] [ 4.43055828e-01 8.96494023e-01 0.00000000e+00 1.71614024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05891822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12037174299999 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:86.26, Y:17.17, Z:0.01 [[ 8.95819002e-01 -4.44419076e-01 0.00000000e+00 8.62642585e+01] [ 4.44419076e-01 8.95819002e-01 0.00000000e+00 1.71738280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04774650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.150371743 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:86.29, Y:17.19, Z:0.01 [[ 8.95158636e-01 -4.45747706e-01 0.00000000e+00 8.62936610e+01] [ 4.45747706e-01 8.95158636e-01 0.00000000e+00 1.71856171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01377720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.180371743 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:86.34, Y:17.19, Z:0.01 [[ 8.97000152e-01 -4.42030233e-01 0.00000000e+00 8.63379122e+01] [ 4.42030233e-01 8.97000152e-01 0.00000000e+00 1.71940501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36796006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.210371743 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:86.36, Y:17.21, Z:0.01 [[ 8.95098159e-01 -4.45869135e-01 0.00000000e+00 8.63633685e+01] [ 4.45869135e-01 8.95098159e-01 0.00000000e+00 1.72076293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24459974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.240371743 meters Centerline goodness : 0.995296 Centerline is valid? [True, True] Translation: X:86.39, Y:17.22, Z:0.01 [[ 8.94080375e-01 -4.47906557e-01 0.00000000e+00 8.63921574e+01] [ 4.47906557e-01 8.94080375e-01 0.00000000e+00 1.72206508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90395969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.270371743 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:86.42, Y:17.23, Z:0.01 [[ 8.92051047e-01 -4.51934652e-01 0.00000000e+00 8.64186064e+01] [ 4.51934652e-01 8.92051047e-01 0.00000000e+00 1.72342944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37018947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.300371743 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:86.45, Y:17.25, Z:0.01 [[ 8.92484297e-01 -4.51078463e-01 0.00000000e+00 8.64512404e+01] [ 4.51078463e-01 8.92484297e-01 0.00000000e+00 1.72456162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50958486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.330371743 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:86.47, Y:17.26, Z:0.01 [[ 8.88016623e-01 -4.59811349e-01 0.00000000e+00 8.64672674e+01] [ 4.59811349e-01 8.88016623e-01 0.00000000e+00 1.72621886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47035225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360371743 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:86.50, Y:17.28, Z:0.01 [[ 8.87693188e-01 -4.60435451e-01 0.00000000e+00 8.64972989e+01] [ 4.60435451e-01 8.87693188e-01 0.00000000e+00 1.72753104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45439444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.390371743 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:86.54, Y:17.29, Z:0.01 [[ 8.88690740e-01 -4.58507108e-01 0.00000000e+00 8.65352780e+01] [ 4.58507108e-01 8.88690740e-01 0.00000000e+00 1.72854090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18888311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420371743 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:86.56, Y:17.30, Z:0.01 [[ 8.87688588e-01 -4.60444319e-01 0.00000000e+00 8.65636843e+01] [ 4.60444319e-01 8.87688588e-01 0.00000000e+00 1.72993962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24257645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.450371743 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:86.59, Y:17.31, Z:0.01 [[ 8.87698287e-01 -4.60425621e-01 0.00000000e+00 8.65948913e+01] [ 4.60425621e-01 8.87698287e-01 0.00000000e+00 1.73112567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42524142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48037174299999 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:86.62, Y:17.32, Z:0.01 [[ 8.86402559e-01 -4.62915223e-01 0.00000000e+00 8.66230698e+01] [ 4.62915223e-01 8.86402559e-01 0.00000000e+00 1.73242294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12705869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.510371743 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:86.65, Y:17.34, Z:0.01 [[ 8.86059058e-01 -4.63572373e-01 0.00000000e+00 8.66524023e+01] [ 4.63572373e-01 8.86059058e-01 0.00000000e+00 1.73372863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64666717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.540371743 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:86.68, Y:17.35, Z:0.01 [[ 8.85236554e-01 -4.65141100e-01 0.00000000e+00 8.66807001e+01] [ 4.65141100e-01 8.85236554e-01 0.00000000e+00 1.73522911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13571643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.570371743 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:86.71, Y:17.37, Z:0.01 [[ 8.85220922e-01 -4.65170849e-01 0.00000000e+00 8.67112410e+01] [ 4.65170849e-01 8.85220922e-01 0.00000000e+00 1.73662336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99240297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.600371743 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:86.74, Y:17.38, Z:0.01 [[ 8.84994239e-01 -4.65601973e-01 0.00000000e+00 8.67397599e+01] [ 4.65601973e-01 8.84994239e-01 0.00000000e+00 1.73804405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.59834752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.630371743 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:86.77, Y:17.39, Z:0.01 [[ 8.84207274e-01 -4.67094740e-01 0.00000000e+00 8.67690249e+01] [ 4.67094740e-01 8.84207274e-01 0.00000000e+00 1.73949890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17517654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.660371743 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:86.80, Y:17.41, Z:0.01 [[ 8.84384691e-01 -4.66758737e-01 0.00000000e+00 8.67962078e+01] [ 4.66758737e-01 8.84384691e-01 0.00000000e+00 1.74087386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70782792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.690371743 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:86.83, Y:17.42, Z:0.01 [[ 8.84695067e-01 -4.66170181e-01 0.00000000e+00 8.68272936e+01] [ 4.66170181e-01 8.84695067e-01 0.00000000e+00 1.74223623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47324048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720371743 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:86.86, Y:17.44, Z:0.01 [[ 8.85155220e-01 -4.65295859e-01 0.00000000e+00 8.68556524e+01] [ 4.65295859e-01 8.85155220e-01 0.00000000e+00 1.74378769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89807161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.750371743 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:86.89, Y:17.45, Z:0.01 [[ 8.85872247e-01 -4.63929264e-01 0.00000000e+00 8.68853065e+01] [ 4.63929264e-01 8.85872247e-01 0.00000000e+00 1.74524734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03130086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780371743 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:86.91, Y:17.47, Z:0.01 [[ 8.86667844e-01 -4.62406893e-01 0.00000000e+00 8.69121858e+01] [ 4.62406893e-01 8.86667844e-01 0.00000000e+00 1.74665963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03995702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.810371743 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:86.94, Y:17.48, Z:0.01 [[ 8.88031884e-01 -4.59781876e-01 0.00000000e+00 8.69410598e+01] [ 4.59781876e-01 8.88031884e-01 0.00000000e+00 1.74821722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02709091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.840371743 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:86.97, Y:17.50, Z:0.01 [[ 8.88150583e-01 -4.59552545e-01 0.00000000e+00 8.69714371e+01] [ 4.59552545e-01 8.88150583e-01 0.00000000e+00 1.74965792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12645793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87037174299999 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:87.00, Y:17.51, Z:0.01 [[ 8.88049827e-01 -4.59747219e-01 0.00000000e+00 8.70005476e+01] [ 4.59747219e-01 8.88049827e-01 0.00000000e+00 1.75109740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19066445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.900371743 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:87.03, Y:17.52, Z:0.01 [[ 8.88108889e-01 -4.59633116e-01 0.00000000e+00 8.70279201e+01] [ 4.59633116e-01 8.88108889e-01 0.00000000e+00 1.75241410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23846230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.930371743 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:87.06, Y:17.54, Z:0.01 [[ 8.88715192e-01 -4.58459711e-01 0.00000000e+00 8.70600938e+01] [ 4.58459711e-01 8.88715192e-01 0.00000000e+00 1.75366127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.76630926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.960371743 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:87.09, Y:17.55, Z:0.01 [[ 8.86834531e-01 -4.62087129e-01 0.00000000e+00 8.70855810e+01] [ 4.62087129e-01 8.86834531e-01 0.00000000e+00 1.75504005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30251693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.990371743 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:87.10, Y:17.57, Z:0.01 [[ 8.84159717e-01 -4.67184755e-01 0.00000000e+00 8.71032470e+01] [ 4.67184755e-01 8.84159717e-01 0.00000000e+00 1.75665333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36971890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.020371743 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:87.13, Y:17.58, Z:0.01 [[ 8.84176912e-01 -4.67152211e-01 0.00000000e+00 8.71318833e+01] [ 4.67152211e-01 8.84176912e-01 0.00000000e+00 1.75806286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35296251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.050371743 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:87.16, Y:17.59, Z:0.01 [[ 8.84732265e-01 -4.66099581e-01 0.00000000e+00 8.71605847e+01] [ 4.66099581e-01 8.84732265e-01 0.00000000e+00 1.75947065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29632677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.080371743 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:87.19, Y:17.61, Z:0.01 [[ 8.84867426e-01 -4.65842934e-01 0.00000000e+00 8.71914352e+01] [ 4.65842934e-01 8.84867426e-01 0.00000000e+00 1.76081036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29632677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.110371743 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:87.22, Y:17.62, Z:0.01 [[ 8.85220783e-01 -4.65171113e-01 0.00000000e+00 8.72215351e+01] [ 4.65171113e-01 8.85220783e-01 0.00000000e+00 1.76218645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37970730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140371743 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:87.25, Y:17.63, Z:0.01 [[ 8.85708786e-01 -4.64241260e-01 0.00000000e+00 8.72501605e+01] [ 4.64241260e-01 8.85708786e-01 0.00000000e+00 1.76349432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35313484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.170371743 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:87.29, Y:17.65, Z:0.01 [[ 8.88339231e-01 -4.59187772e-01 0.00000000e+00 8.72885436e+01] [ 4.59187772e-01 8.88339231e-01 0.00000000e+00 1.76456161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38079892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.200371743 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:87.31, Y:17.66, Z:0.02 [[ 8.86887881e-01 -4.61984726e-01 0.00000000e+00 8.73064555e+01] [ 4.61984726e-01 8.86887881e-01 0.00000000e+00 1.76632489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52087361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23037174299999 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:87.34, Y:17.68, Z:0.02 [[ 8.87306976e-01 -4.61179283e-01 0.00000000e+00 8.73361373e+01] [ 4.61179283e-01 8.87306976e-01 0.00000000e+00 1.76768685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51592591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.260371743 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:87.37, Y:17.69, Z:0.02 [[ 8.87483497e-01 -4.60839497e-01 0.00000000e+00 8.73663838e+01] [ 4.60839497e-01 8.87483497e-01 0.00000000e+00 1.76904904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52295158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.290371743 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:87.40, Y:17.70, Z:0.02 [[ 8.89340606e-01 -4.57245325e-01 0.00000000e+00 8.74044961e+01] [ 4.57245325e-01 8.89340606e-01 0.00000000e+00 1.77014634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58267340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.320371743 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:87.43, Y:17.71, Z:0.02 [[ 8.88967822e-01 -4.57969663e-01 0.00000000e+00 8.74338899e+01] [ 4.57969663e-01 8.88967822e-01 0.00000000e+00 1.77149871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50575862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.350371743 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:87.46, Y:17.73, Z:0.02 [[ 8.88497184e-01 -4.58882069e-01 0.00000000e+00 8.74617858e+01] [ 4.58882069e-01 8.88497184e-01 0.00000000e+00 1.77280906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58061647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.380371743 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:87.49, Y:17.74, Z:0.02 [[ 8.87732839e-01 -4.60358997e-01 0.00000000e+00 8.74888995e+01] [ 4.60358997e-01 8.87732839e-01 0.00000000e+00 1.77419409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62289008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.410371743 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:87.51, Y:17.76, Z:0.02 [[ 8.85780072e-01 -4.64105230e-01 0.00000000e+00 8.75102177e+01] [ 4.64105230e-01 8.85780072e-01 0.00000000e+00 1.77567348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57792626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.440371743 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:87.54, Y:17.77, Z:0.02 [[ 8.85656529e-01 -4.64340944e-01 0.00000000e+00 8.75411015e+01] [ 4.64340944e-01 8.85656529e-01 0.00000000e+00 1.77700235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53604182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.470371743 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:87.58, Y:17.78, Z:0.01 [[ 8.88474385e-01 -4.58926211e-01 0.00000000e+00 8.75757068e+01] [ 4.58926211e-01 8.88474385e-01 0.00000000e+00 1.77785986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23965075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500371743 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:87.60, Y:17.80, Z:0.02 [[ 8.85679891e-01 -4.64296381e-01 0.00000000e+00 8.75991350e+01] [ 4.64296381e-01 8.85679891e-01 0.00000000e+00 1.77956238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60554666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.530371743 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:87.64, Y:17.81, Z:0.01 [[ 8.87972136e-01 -4.59897255e-01 0.00000000e+00 8.76373161e+01] [ 4.59897255e-01 8.87972136e-01 0.00000000e+00 1.78056399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31644876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.560371743 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:87.67, Y:17.82, Z:0.01 [[ 8.88183139e-01 -4.59489620e-01 0.00000000e+00 8.76674018e+01] [ 4.59489620e-01 8.88183139e-01 0.00000000e+00 1.78182587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19294516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.590371743 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:87.70, Y:17.83, Z:0.01 [[ 8.87864117e-01 -4.60105760e-01 0.00000000e+00 8.76960502e+01] [ 4.60105760e-01 8.87864117e-01 0.00000000e+00 1.78317323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29394191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62037174299999 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:87.73, Y:17.84, Z:0.01 [[ 8.87940593e-01 -4.59958154e-01 0.00000000e+00 8.77256005e+01] [ 4.59958154e-01 8.87940593e-01 0.00000000e+00 1.78439425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15402419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.650371743 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:87.75, Y:17.86, Z:0.01 [[ 8.87655165e-01 -4.60508750e-01 0.00000000e+00 8.77548147e+01] [ 4.60508750e-01 8.87655165e-01 0.00000000e+00 1.78567111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14821043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.680371743 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:87.78, Y:17.87, Z:0.01 [[ 8.87545447e-01 -4.60720174e-01 0.00000000e+00 8.77844054e+01] [ 4.60720174e-01 8.87545447e-01 0.00000000e+00 1.78692168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07930503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.710371743 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:87.82, Y:17.88, Z:0.01 [[ 8.87839524e-01 -4.60153214e-01 0.00000000e+00 8.78150761e+01] [ 4.60153214e-01 8.87839524e-01 0.00000000e+00 1.78823366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01657458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.740371743 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:87.84, Y:17.90, Z:0.01 [[ 8.88458146e-01 -4.58957647e-01 0.00000000e+00 8.78439352e+01] [ 4.58957647e-01 8.88458146e-01 0.00000000e+00 1.78955238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98585472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.770371743 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:87.87, Y:17.91, Z:0.01 [[ 8.88676322e-01 -4.58535052e-01 0.00000000e+00 8.78740499e+01] [ 4.58535052e-01 8.88676322e-01 0.00000000e+00 1.79097045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03569921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.800371743 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:87.89, Y:17.93, Z:0.01 [[ 8.86536949e-01 -4.62657799e-01 0.00000000e+00 8.78914278e+01] [ 4.62657799e-01 8.86536949e-01 0.00000000e+00 1.79258490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26198428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.830371743 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:87.92, Y:17.94, Z:0.01 [[ 8.87184372e-01 -4.61415096e-01 0.00000000e+00 8.79217234e+01] [ 4.61415096e-01 8.87184372e-01 0.00000000e+00 1.79393192e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20616334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860371743 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:87.97, Y:17.95, Z:0.01 [[ 8.91574948e-01 -4.52873174e-01 0.00000000e+00 8.79650847e+01] [ 4.52873174e-01 8.91574948e-01 0.00000000e+00 1.79481532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39671187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.890371743 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:87.99, Y:17.96, Z:0.01 [[ 8.91129709e-01 -4.53748655e-01 0.00000000e+00 8.79935390e+01] [ 4.53748655e-01 8.91129709e-01 0.00000000e+00 1.79622095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86503078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920371743 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:88.02, Y:17.98, Z:0.01 [[ 8.91899057e-01 -4.52234533e-01 0.00000000e+00 8.80224170e+01] [ 4.52234533e-01 8.91899057e-01 0.00000000e+00 1.79760478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53280582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.950371743 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:88.05, Y:17.99, Z:0.01 [[ 8.91600056e-01 -4.52823741e-01 0.00000000e+00 8.80519851e+01] [ 4.52823741e-01 8.91600056e-01 0.00000000e+00 1.79892719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04110022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98037174299999 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:88.08, Y:18.00, Z:0.01 [[ 8.92726714e-01 -4.50598507e-01 0.00000000e+00 8.80797279e+01] [ 4.50598507e-01 8.92726714e-01 0.00000000e+00 1.80005210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70660050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.010371743 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:88.11, Y:18.01, Z:0.01 [[ 8.90844277e-01 -4.54308787e-01 0.00000000e+00 8.81097260e+01] [ 4.54308787e-01 8.90844277e-01 0.00000000e+00 1.80137845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08507879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.040371743 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:88.12, Y:18.03, Z:0.02 [[ 8.87062614e-01 -4.61649130e-01 0.00000000e+00 8.81234765e+01] [ 4.61649130e-01 8.87062614e-01 0.00000000e+00 1.80302278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52268017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.070371743 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:88.17, Y:18.04, Z:0.01 [[ 8.89735464e-01 -4.56476509e-01 0.00000000e+00 8.81664566e+01] [ 4.56476509e-01 8.89735464e-01 0.00000000e+00 1.80381720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02302635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.100371743 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:88.19, Y:18.05, Z:0.01 [[ 8.87050440e-01 -4.61672521e-01 0.00000000e+00 8.81929069e+01] [ 4.61672521e-01 8.87050440e-01 0.00000000e+00 1.80512369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30902630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.130371743 meters Centerline goodness : 0.995259 Centerline is valid? [True, True] Translation: X:88.23, Y:18.06, Z:0.01 [[ 8.86573747e-01 -4.62587280e-01 0.00000000e+00 8.82251466e+01] [ 4.62587280e-01 8.86573747e-01 0.00000000e+00 1.80629759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61786081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.160371743 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:88.25, Y:18.07, Z:0.01 [[ 8.84569550e-01 -4.66408309e-01 0.00000000e+00 8.82534546e+01] [ 4.66408309e-01 8.84569550e-01 0.00000000e+00 1.80739414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10648858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.190371743 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:88.28, Y:18.09, Z:0.01 [[ 8.84014142e-01 -4.67460156e-01 0.00000000e+00 8.82838421e+01] [ 4.67460156e-01 8.84014142e-01 0.00000000e+00 1.80857880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73068874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220371743 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:88.32, Y:18.10, Z:0.00 [[ 8.84462268e-01 -4.66611718e-01 0.00000000e+00 8.83167145e+01] [ 4.66611718e-01 8.84462268e-01 0.00000000e+00 1.80979350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52713864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.250371743 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:88.34, Y:18.11, Z:0.01 [[ 8.83551617e-01 -4.68333791e-01 0.00000000e+00 8.83413723e+01] [ 4.68333791e-01 8.83551617e-01 0.00000000e+00 1.81106145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86891672e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280371743 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:88.36, Y:18.13, Z:0.01 [[ 8.81803570e-01 -4.71616861e-01 0.00000000e+00 8.83593621e+01] [ 4.71616861e-01 8.81803570e-01 0.00000000e+00 1.81268865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00034598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.310371743 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:88.40, Y:18.14, Z:0.01 [[ 8.85763755e-01 -4.64136371e-01 0.00000000e+00 8.84017817e+01] [ 4.64136371e-01 8.85763755e-01 0.00000000e+00 1.81357652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93148372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.340371743 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:88.43, Y:18.15, Z:0.01 [[ 8.85029604e-01 -4.65534746e-01 0.00000000e+00 8.84272501e+01] [ 4.65534746e-01 8.85029604e-01 0.00000000e+00 1.81492751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.37149825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37037174299999 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:88.46, Y:18.16, Z:0.01 [[ 8.87553413e-01 -4.60704828e-01 0.00000000e+00 8.84553045e+01] [ 4.60704828e-01 8.87553413e-01 0.00000000e+00 1.81598692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.70732182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.400371743 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:88.49, Y:18.17, Z:0.01 [[ 8.87510514e-01 -4.60787465e-01 0.00000000e+00 8.84889450e+01] [ 4.60787465e-01 8.87510514e-01 0.00000000e+00 1.81729478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.96418715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.430371743 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:88.51, Y:18.19, Z:0.01 [[ 8.86510038e-01 -4.62709361e-01 0.00000000e+00 8.85146275e+01] [ 4.62709361e-01 8.86510038e-01 0.00000000e+00 1.81865206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.67836285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.460371743 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:88.54, Y:18.20, Z:0.01 [[ 8.86597747e-01 -4.62541278e-01 0.00000000e+00 8.85432450e+01] [ 4.62541278e-01 8.86597747e-01 0.00000000e+00 1.81979452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54952560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.490371743 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:88.57, Y:18.21, Z:0.01 [[ 8.86316666e-01 -4.63079656e-01 0.00000000e+00 8.85730440e+01] [ 4.63079656e-01 8.86316666e-01 0.00000000e+00 1.82107334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99544145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.520371743 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:88.60, Y:18.22, Z:0.00 [[ 8.86238300e-01 -4.63229614e-01 0.00000000e+00 8.86031154e+01] [ 4.63229614e-01 8.86238300e-01 0.00000000e+00 1.82229345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99412786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.550371743 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:88.63, Y:18.24, Z:0.00 [[ 8.86390127e-01 -4.62939027e-01 0.00000000e+00 8.86333066e+01] [ 4.62939027e-01 8.86390127e-01 0.00000000e+00 1.82352655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93863874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.580371743 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:88.65, Y:18.25, Z:0.01 [[ 8.83542350e-01 -4.68351275e-01 0.00000000e+00 8.86496332e+01] [ 4.68351275e-01 8.83542350e-01 0.00000000e+00 1.82508717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84092560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.610371743 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:88.69, Y:18.26, Z:0.00 [[ 8.86897208e-01 -4.61966820e-01 0.00000000e+00 8.86901153e+01] [ 4.61966820e-01 8.86897208e-01 0.00000000e+00 1.82598268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65765009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640371743 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:88.71, Y:18.28, Z:0.01 [[ 8.84277612e-01 -4.66961567e-01 0.00000000e+00 8.87066129e+01] [ 4.66961567e-01 8.84277612e-01 0.00000000e+00 1.82756952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60585711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.670371743 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:88.75, Y:18.29, Z:0.01 [[ 8.87454968e-01 -4.60894435e-01 0.00000000e+00 8.87474982e+01] [ 4.60894435e-01 8.87454968e-01 0.00000000e+00 1.82852460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33376942e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.700371743 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:88.77, Y:18.30, Z:0.01 [[ 8.87476430e-01 -4.60853107e-01 0.00000000e+00 8.87745872e+01] [ 4.60853107e-01 8.87476430e-01 0.00000000e+00 1.82977969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49883236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73037174299999 meters Centerline goodness : 0.995040 Centerline is valid? [True, True] Translation: X:88.80, Y:18.31, Z:0.01 [[ 8.87978296e-01 -4.59885362e-01 0.00000000e+00 8.88038458e+01] [ 4.59885362e-01 8.87978296e-01 0.00000000e+00 1.83091915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.35037543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.760371743 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:88.83, Y:18.32, Z:0.01 [[ 8.87539874e-01 -4.60730911e-01 0.00000000e+00 8.88336329e+01] [ 4.60730911e-01 8.87539874e-01 0.00000000e+00 1.83217348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.85499983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.790371743 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:88.86, Y:18.33, Z:0.01 [[ 8.87260939e-01 -4.61267847e-01 0.00000000e+00 8.88607713e+01] [ 4.61267847e-01 8.87260939e-01 0.00000000e+00 1.83337812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00454701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.820371743 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:88.89, Y:18.35, Z:0.01 [[ 8.86612752e-01 -4.62512517e-01 0.00000000e+00 8.88903289e+01] [ 4.62512517e-01 8.86612752e-01 0.00000000e+00 1.83466340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.29047177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.850371743 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:88.92, Y:18.36, Z:0.01 [[ 8.86086171e-01 -4.63520547e-01 0.00000000e+00 8.89189283e+01] [ 4.63520547e-01 8.86086171e-01 0.00000000e+00 1.83581545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46850455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.880371743 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:88.95, Y:18.37, Z:0.01 [[ 8.86028232e-01 -4.63631288e-01 0.00000000e+00 8.89495264e+01] [ 4.63631288e-01 8.86028232e-01 0.00000000e+00 1.83705287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49359775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.910371743 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:88.98, Y:18.38, Z:0.01 [[ 8.85871266e-01 -4.63931136e-01 0.00000000e+00 8.89794723e+01] [ 4.63931136e-01 8.85871266e-01 0.00000000e+00 1.83830194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68872969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.940371743 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:89.01, Y:18.40, Z:0.01 [[ 8.84577757e-01 -4.66392745e-01 0.00000000e+00 8.90081181e+01] [ 4.66392745e-01 8.84577757e-01 0.00000000e+00 1.83957675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75746438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.970371743 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:89.04, Y:18.41, Z:0.01 [[ 8.84489116e-01 -4.66560826e-01 0.00000000e+00 8.90386271e+01] [ 4.66560826e-01 8.84489116e-01 0.00000000e+00 1.84094512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75746438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.000371743 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:89.07, Y:18.42, Z:0.01 [[ 8.83789017e-01 -4.67885641e-01 0.00000000e+00 8.90690710e+01] [ 4.67885641e-01 8.83789017e-01 0.00000000e+00 1.84224046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61975068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.030371743 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:89.10, Y:18.43, Z:0.01 [[ 8.82406276e-01 -4.70488220e-01 0.00000000e+00 8.90981073e+01] [ 4.70488220e-01 8.82406276e-01 0.00000000e+00 1.84343024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80917699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.060371743 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:89.13, Y:18.45, Z:0.01 [[ 8.81859374e-01 -4.71512508e-01 0.00000000e+00 8.91266226e+01] [ 4.71512508e-01 8.81859374e-01 0.00000000e+00 1.84461731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59471038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.090371743 meters Centerline goodness : 0.995481 Centerline is valid? [True, True] Translation: X:89.16, Y:18.46, Z:0.01 [[ 8.81043494e-01 -4.73035265e-01 0.00000000e+00 8.91561245e+01] [ 4.73035265e-01 8.81043494e-01 0.00000000e+00 1.84593111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43177742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12037174299999 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:89.19, Y:18.47, Z:0.01 [[ 8.79874215e-01 -4.75206656e-01 0.00000000e+00 8.91866446e+01] [ 4.75206656e-01 8.79874215e-01 0.00000000e+00 1.84727617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91375630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.150371743 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:89.22, Y:18.49, Z:0.01 [[ 8.79840662e-01 -4.75268777e-01 0.00000000e+00 8.92164279e+01] [ 4.75268777e-01 8.79840662e-01 0.00000000e+00 1.84859124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.61362600e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.180371743 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:89.25, Y:18.50, Z:0.01 [[ 8.80127021e-01 -4.74738273e-01 0.00000000e+00 8.92463424e+01] [ 4.74738273e-01 8.80127021e-01 0.00000000e+00 1.84992774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74471191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.210371743 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:89.28, Y:18.51, Z:0.01 [[ 8.80185444e-01 -4.74629944e-01 0.00000000e+00 8.92764648e+01] [ 4.74629944e-01 8.80185444e-01 0.00000000e+00 1.85130538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62301844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.240371743 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:89.31, Y:18.53, Z:0.01 [[ 8.81099154e-01 -4.72931581e-01 0.00000000e+00 8.93052051e+01] [ 4.72931581e-01 8.81099154e-01 0.00000000e+00 1.85271843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.31360136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.270371743 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:89.33, Y:18.54, Z:0.01 [[ 8.81811621e-01 -4.71601808e-01 0.00000000e+00 8.93337583e+01] [ 4.71601808e-01 8.81811621e-01 0.00000000e+00 1.85405989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.56986931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.300371743 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:89.36, Y:18.56, Z:0.01 [[ 8.81472481e-01 -4.72235392e-01 0.00000000e+00 8.93593694e+01] [ 4.72235392e-01 8.81472481e-01 0.00000000e+00 1.85555137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23434900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.330371743 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:89.39, Y:18.57, Z:0.01 [[ 8.83077101e-01 -4.69227912e-01 0.00000000e+00 8.93887107e+01] [ 4.69227912e-01 8.83077101e-01 0.00000000e+00 1.85689814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14342707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360371743 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:89.42, Y:18.58, Z:0.01 [[ 8.83970444e-01 -4.67542783e-01 0.00000000e+00 8.94186400e+01] [ 4.67542783e-01 8.83970444e-01 0.00000000e+00 1.85817725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01400871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.390371743 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:89.45, Y:18.60, Z:0.01 [[ 8.84765665e-01 -4.66036176e-01 0.00000000e+00 8.94458654e+01] [ 4.66036176e-01 8.84765665e-01 0.00000000e+00 1.85966463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70231497e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420371743 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:89.47, Y:18.61, Z:0.01 [[ 8.84266922e-01 -4.66981810e-01 0.00000000e+00 8.94684095e+01] [ 4.66981810e-01 8.84266922e-01 0.00000000e+00 1.86119345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98416313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.450371743 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:89.50, Y:18.62, Z:0.01 [[ 8.86356022e-01 -4.63004322e-01 0.00000000e+00 8.95024846e+01] [ 4.63004322e-01 8.86356022e-01 0.00000000e+00 1.86230919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77885120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48037174299999 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:89.53, Y:18.64, Z:0.01 [[ 8.87687338e-01 -4.60446729e-01 0.00000000e+00 8.95333792e+01] [ 4.60446729e-01 8.87687338e-01 0.00000000e+00 1.86375228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98049015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.510371743 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:89.56, Y:18.65, Z:0.01 [[ 8.89007558e-01 -4.57892521e-01 0.00000000e+00 8.95607041e+01] [ 4.57892521e-01 8.89007558e-01 0.00000000e+00 1.86530347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82171752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.540371743 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:89.59, Y:18.67, Z:0.01 [[ 8.90487278e-01 -4.55008140e-01 0.00000000e+00 8.95911546e+01] [ 4.55008140e-01 8.90487278e-01 0.00000000e+00 1.86656621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.28049483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.570371743 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:89.61, Y:18.68, Z:0.01 [[ 8.89649765e-01 -4.56643510e-01 0.00000000e+00 8.96099602e+01] [ 4.56643510e-01 8.89649765e-01 0.00000000e+00 1.86823909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07768780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.600371743 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:89.64, Y:18.70, Z:0.01 [[ 8.90037525e-01 -4.55887271e-01 0.00000000e+00 8.96396298e+01] [ 4.55887271e-01 8.90037525e-01 0.00000000e+00 1.86960921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21267320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.630371743 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:89.68, Y:18.71, Z:0.01 [[ 8.92297092e-01 -4.51448669e-01 0.00000000e+00 8.96777381e+01] [ 4.51448669e-01 8.92297092e-01 0.00000000e+00 1.87065720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09936645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.660371743 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:89.70, Y:18.72, Z:0.01 [[ 8.90435866e-01 -4.55108744e-01 0.00000000e+00 8.96975063e+01] [ 4.55108744e-01 8.90435866e-01 0.00000000e+00 1.87225201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55507763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.690371743 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:89.74, Y:18.73, Z:0.00 [[ 8.93467933e-01 -4.49126989e-01 0.00000000e+00 8.97388913e+01] [ 4.49126989e-01 8.93467933e-01 0.00000000e+00 1.87328860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35312567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720371743 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:89.77, Y:18.75, Z:0.00 [[ 8.93198549e-01 -4.49662486e-01 0.00000000e+00 8.97664803e+01] [ 4.49662486e-01 8.93198549e-01 0.00000000e+00 1.87466000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60401637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.750371743 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:89.80, Y:18.76, Z:0.00 [[ 8.93847161e-01 -4.48371780e-01 0.00000000e+00 8.97979487e+01] [ 4.48371780e-01 8.93847161e-01 0.00000000e+00 1.87600480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05499716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780371743 meters Centerline goodness : 0.993800 Centerline is valid? [True, True] Translation: X:89.81, Y:18.78, Z:0.01 [[ 8.90796155e-01 -4.54403137e-01 0.00000000e+00 8.98111318e+01] [ 4.54403137e-01 8.90796155e-01 0.00000000e+00 1.87787352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30396451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.810371743 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:89.85, Y:18.79, Z:0.00 [[ 8.94236464e-01 -4.47594846e-01 0.00000000e+00 8.98538338e+01] [ 4.47594846e-01 8.94236464e-01 0.00000000e+00 1.87891662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98998764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.840371743 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:89.87, Y:18.81, Z:0.01 [[ 8.91544491e-01 -4.52933131e-01 0.00000000e+00 8.98679351e+01] [ 4.52933131e-01 8.91544491e-01 0.00000000e+00 1.88061881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15152485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87037174299999 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:89.91, Y:18.82, Z:0.01 [[ 8.94736237e-01 -4.46594968e-01 0.00000000e+00 8.99097707e+01] [ 4.46594968e-01 8.94736237e-01 0.00000000e+00 1.88158940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30976276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.900371743 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:89.94, Y:18.83, Z:0.01 [[ 8.94877581e-01 -4.46311679e-01 0.00000000e+00 8.99399479e+01] [ 4.46311679e-01 8.94877581e-01 0.00000000e+00 1.88295818e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49958368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.930371743 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:89.97, Y:18.84, Z:0.01 [[ 8.95155781e-01 -4.45753439e-01 0.00000000e+00 8.99677279e+01] [ 4.45753439e-01 8.95155781e-01 0.00000000e+00 1.88432623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27001535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.960371743 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:89.99, Y:18.86, Z:0.01 [[ 8.94818104e-01 -4.46430914e-01 0.00000000e+00 8.99944474e+01] [ 4.46430914e-01 8.94818104e-01 0.00000000e+00 1.88583411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01852732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.990371743 meters Centerline goodness : 0.993382 Centerline is valid? [True, True] Translation: X:90.02, Y:18.87, Z:0.01 [[ 8.95728309e-01 -4.44601840e-01 0.00000000e+00 9.00238342e+01] [ 4.44601840e-01 8.95728309e-01 0.00000000e+00 1.88717435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.46050440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.020371743 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:90.05, Y:18.88, Z:0.01 [[ 8.96201126e-01 -4.43647993e-01 0.00000000e+00 9.00542029e+01] [ 4.43647993e-01 8.96201126e-01 0.00000000e+00 1.88847307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.82894691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.050371743 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:90.08, Y:18.90, Z:0.01 [[ 8.97004911e-01 -4.42020575e-01 0.00000000e+00 9.00833626e+01] [ 4.42020575e-01 8.97004911e-01 0.00000000e+00 1.88986455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.50316770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.080371743 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:90.10, Y:18.92, Z:0.01 [[ 8.94886322e-01 -4.46294152e-01 0.00000000e+00 9.01007770e+01] [ 4.46294152e-01 8.94886322e-01 0.00000000e+00 1.89152009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.71841995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.110371743 meters Centerline goodness : 0.993715 Centerline is valid? [True, True] Translation: X:90.13, Y:18.93, Z:0.01 [[ 8.95259695e-01 -4.45544699e-01 0.00000000e+00 9.01316159e+01] [ 4.45544699e-01 8.95259695e-01 0.00000000e+00 1.89286126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01833368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140371743 meters Centerline goodness : 0.993219 Centerline is valid? [True, True] Translation: X:90.17, Y:18.94, Z:0.01 [[ 8.96603143e-01 -4.42834963e-01 0.00000000e+00 9.01698411e+01] [ 4.42834963e-01 8.96603143e-01 0.00000000e+00 1.89391294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80426286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.170371743 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:90.20, Y:18.95, Z:0.01 [[ 8.96468763e-01 -4.43106937e-01 0.00000000e+00 9.02002291e+01] [ 4.43106937e-01 8.96468763e-01 0.00000000e+00 1.89511909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12826842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.200371743 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:90.23, Y:18.96, Z:0.01 [[ 8.95057860e-01 -4.45950027e-01 0.00000000e+00 9.02279858e+01] [ 4.45950027e-01 8.95057860e-01 0.00000000e+00 1.89646386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82078683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23037174299999 meters Centerline goodness : 0.992960 Centerline is valid? [True, True] Translation: X:90.26, Y:18.98, Z:0.01 [[ 8.94076458e-01 -4.47914374e-01 0.00000000e+00 9.02561348e+01] [ 4.47914374e-01 8.94076458e-01 0.00000000e+00 1.89771657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60779513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.260371743 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:90.28, Y:18.99, Z:0.01 [[ 8.91861079e-01 -4.52309425e-01 0.00000000e+00 9.02793515e+01] [ 4.52309425e-01 8.91861079e-01 0.00000000e+00 1.89916365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10366593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.290371743 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:90.32, Y:19.00, Z:0.01 [[ 8.91558585e-01 -4.52905387e-01 0.00000000e+00 9.03165734e+01] [ 4.52905387e-01 8.91558585e-01 0.00000000e+00 1.90006951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47383049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.320371743 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:90.35, Y:19.01, Z:0.01 [[ 8.90602051e-01 -4.54783451e-01 0.00000000e+00 9.03469268e+01] [ 4.54783451e-01 8.90602051e-01 0.00000000e+00 1.90134211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.22954358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.350371743 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:90.38, Y:19.03, Z:0.01 [[ 8.89303454e-01 -4.57317578e-01 0.00000000e+00 9.03764522e+01] [ 4.57317578e-01 8.89303454e-01 0.00000000e+00 1.90260086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.51184790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.380371743 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:90.41, Y:19.04, Z:0.01 [[ 8.89006805e-01 -4.57893983e-01 0.00000000e+00 9.04054293e+01] [ 4.57893983e-01 8.89006805e-01 0.00000000e+00 1.90384542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.61101397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.410371743 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:90.43, Y:19.05, Z:0.01 [[ 8.88382812e-01 -4.59103451e-01 0.00000000e+00 9.04341380e+01] [ 4.59103451e-01 8.88382812e-01 0.00000000e+00 1.90518250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27845954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.440371743 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:90.46, Y:19.07, Z:0.01 [[ 8.88269005e-01 -4.59323605e-01 0.00000000e+00 9.04635095e+01] [ 4.59323605e-01 8.88269005e-01 0.00000000e+00 1.90652463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64997682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.470371743 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:90.49, Y:19.08, Z:0.01 [[ 8.88279393e-01 -4.59303517e-01 0.00000000e+00 9.04927299e+01] [ 4.59303517e-01 8.88279393e-01 0.00000000e+00 1.90784304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00218939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500371743 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:90.52, Y:19.09, Z:0.01 [[ 8.87649982e-01 -4.60518740e-01 0.00000000e+00 9.05211108e+01] [ 4.60518740e-01 8.87649982e-01 0.00000000e+00 1.90918483e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91156923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.530371743 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:90.55, Y:19.10, Z:0.01 [[ 8.87692297e-01 -4.60437169e-01 0.00000000e+00 9.05527207e+01] [ 4.60437169e-01 8.87692297e-01 0.00000000e+00 1.91047266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85220501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.560371743 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:90.58, Y:19.12, Z:0.01 [[ 8.87300503e-01 -4.61191737e-01 0.00000000e+00 9.05800321e+01] [ 4.61191737e-01 8.87300503e-01 0.00000000e+00 1.91174090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53513225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.590371743 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:90.61, Y:19.13, Z:0.01 [[ 8.86558515e-01 -4.62616471e-01 0.00000000e+00 9.06092840e+01] [ 4.62616471e-01 8.86558515e-01 0.00000000e+00 1.91310862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.84865981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62037174299999 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:90.64, Y:19.14, Z:0.01 [[ 8.85687134e-01 -4.64282565e-01 0.00000000e+00 9.06379132e+01] [ 4.64282565e-01 8.85687134e-01 0.00000000e+00 1.91449509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23820222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.650371743 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:90.67, Y:19.16, Z:0.01 [[ 8.85272577e-01 -4.65072537e-01 0.00000000e+00 9.06668441e+01] [ 4.65072537e-01 8.85272577e-01 0.00000000e+00 1.91582008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.55093548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.680371743 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:90.70, Y:19.17, Z:0.01 [[ 8.84286056e-01 -4.66945575e-01 0.00000000e+00 9.06966164e+01] [ 4.66945575e-01 8.84286056e-01 0.00000000e+00 1.91726179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.93357234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.710371743 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:90.72, Y:19.19, Z:0.01 [[ 8.83147482e-01 -4.69095432e-01 0.00000000e+00 9.07249583e+01] [ 4.69095432e-01 8.83147482e-01 0.00000000e+00 1.91860065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59931618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.740371743 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:90.75, Y:19.20, Z:0.01 [[ 8.82350905e-01 -4.70592053e-01 0.00000000e+00 9.07535940e+01] [ 4.70592053e-01 8.82350905e-01 0.00000000e+00 1.91994210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.77134370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.770371743 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:90.78, Y:19.21, Z:0.01 [[ 8.81430905e-01 -4.72312989e-01 0.00000000e+00 9.07832666e+01] [ 4.72312989e-01 8.81430905e-01 0.00000000e+00 1.92128718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99899838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.800371743 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:90.81, Y:19.23, Z:0.01 [[ 8.80832914e-01 -4.73427268e-01 0.00000000e+00 9.08110638e+01] [ 4.73427268e-01 8.80832914e-01 0.00000000e+00 1.92261813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.63806962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.830371743 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:90.84, Y:19.24, Z:0.01 [[ 8.80261322e-01 -4.74489205e-01 0.00000000e+00 9.08406183e+01] [ 4.74489205e-01 8.80261322e-01 0.00000000e+00 1.92396642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68937940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860371743 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:90.87, Y:19.25, Z:0.01 [[ 8.79850076e-01 -4.75251348e-01 0.00000000e+00 9.08704908e+01] [ 4.75251348e-01 8.79850076e-01 0.00000000e+00 1.92524266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63009827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.890371743 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:90.90, Y:19.27, Z:0.01 [[ 8.79749074e-01 -4.75438289e-01 0.00000000e+00 9.09001464e+01] [ 4.75438289e-01 8.79749074e-01 0.00000000e+00 1.92659218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63009827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920371743 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:90.93, Y:19.28, Z:0.01 [[ 8.79601182e-01 -4.75711846e-01 0.00000000e+00 9.09303131e+01] [ 4.75711846e-01 8.79601182e-01 0.00000000e+00 1.92796662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.76098592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.950371743 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:90.96, Y:19.29, Z:0.01 [[ 8.79399558e-01 -4.76084465e-01 0.00000000e+00 9.09605300e+01] [ 4.76084465e-01 8.79399558e-01 0.00000000e+00 1.92935512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01430193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98037174299999 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:90.99, Y:19.31, Z:0.01 [[ 8.79514037e-01 -4.75872943e-01 0.00000000e+00 9.09888631e+01] [ 4.75872943e-01 8.79514037e-01 0.00000000e+00 1.93072883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.99185807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.010371743 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:91.02, Y:19.32, Z:0.01 [[ 8.80442350e-01 -4.74153212e-01 0.00000000e+00 9.10164273e+01] [ 4.74153212e-01 8.80442350e-01 0.00000000e+00 1.93216697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.93678548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.040371743 meters Centerline goodness : 0.993713 Centerline is valid? [True, True] Translation: X:91.05, Y:19.34, Z:0.01 [[ 8.81286754e-01 -4.72581906e-01 0.00000000e+00 9.10481231e+01] [ 4.72581906e-01 8.81286754e-01 0.00000000e+00 1.93359466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09214562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.070371743 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:91.08, Y:19.35, Z:0.00 [[ 8.82850779e-01 -4.69653599e-01 0.00000000e+00 9.10766240e+01] [ 4.69653599e-01 8.82850779e-01 0.00000000e+00 1.93489281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85375603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.100371743 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:91.11, Y:19.36, Z:0.00 [[ 8.85516370e-01 -4.64608178e-01 0.00000000e+00 9.11055514e+01] [ 4.64608178e-01 8.85516370e-01 0.00000000e+00 1.93641601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70040361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.130371743 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:91.12, Y:19.38, Z:0.01 [[ 8.84132288e-01 -4.67236661e-01 0.00000000e+00 9.11204523e+01] [ 4.67236661e-01 8.84132288e-01 0.00000000e+00 1.93816840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39491399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.160371743 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:91.15, Y:19.40, Z:0.01 [[ 8.87285354e-01 -4.61220880e-01 0.00000000e+00 9.11494264e+01] [ 4.61220880e-01 8.87285354e-01 0.00000000e+00 1.93973395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.56382737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.190371743 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:91.18, Y:19.41, Z:0.01 [[ 8.88895221e-01 -4.58110562e-01 0.00000000e+00 9.11795515e+01] [ 4.58110562e-01 8.88895221e-01 0.00000000e+00 1.94119821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10663913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220371743 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:91.22, Y:19.42, Z:0.01 [[ 8.93131288e-01 -4.49796068e-01 0.00000000e+00 9.12202440e+01] [ 4.49796068e-01 8.93131288e-01 0.00000000e+00 1.94221735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21647668e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.250371743 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:91.25, Y:19.44, Z:0.01 [[ 8.95256189e-01 -4.45551744e-01 0.00000000e+00 9.12481900e+01] [ 4.45551744e-01 8.95256189e-01 0.00000000e+00 1.94354000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.58491085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280371743 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:91.28, Y:19.45, Z:0.01 [[ 8.95800951e-01 -4.44455460e-01 0.00000000e+00 9.12776897e+01] [ 4.44455460e-01 8.95800951e-01 0.00000000e+00 1.94488166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.93640064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.310371743 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:91.30, Y:19.46, Z:0.01 [[ 8.95811678e-01 -4.44433838e-01 0.00000000e+00 9.13042770e+01] [ 4.44433838e-01 8.95811678e-01 0.00000000e+00 1.94620540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94235659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.340371743 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:91.33, Y:19.48, Z:0.01 [[ 8.95814481e-01 -4.44428189e-01 0.00000000e+00 9.13327214e+01] [ 4.44428189e-01 8.95814481e-01 0.00000000e+00 1.94752438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03333364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37037174299999 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:91.36, Y:19.49, Z:0.01 [[ 8.95619365e-01 -4.44821259e-01 0.00000000e+00 9.13647518e+01] [ 4.44821259e-01 8.95619365e-01 0.00000000e+00 1.94884386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24475206e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.400371743 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:91.38, Y:19.50, Z:0.01 [[ 8.92371545e-01 -4.51301480e-01 0.00000000e+00 9.13799355e+01] [ 4.51301480e-01 8.92371545e-01 0.00000000e+00 1.95034537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21938258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.430371743 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:91.42, Y:19.51, Z:0.01 [[ 8.94606574e-01 -4.46854650e-01 0.00000000e+00 9.14189272e+01] [ 4.46854650e-01 8.94606574e-01 0.00000000e+00 1.95114432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.35345025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.460371743 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:91.45, Y:19.52, Z:0.01 [[ 8.93041494e-01 -4.49974321e-01 0.00000000e+00 9.14493074e+01] [ 4.49974321e-01 8.93041494e-01 0.00000000e+00 1.95232666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14083210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.490371743 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:91.48, Y:19.54, Z:0.01 [[ 8.92521328e-01 -4.51005187e-01 0.00000000e+00 9.14777940e+01] [ 4.51005187e-01 8.92521328e-01 0.00000000e+00 1.95357569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.42067543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.520371743 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:91.51, Y:19.55, Z:0.01 [[ 8.91393868e-01 -4.53229492e-01 0.00000000e+00 9.15087381e+01] [ 4.53229492e-01 8.91393868e-01 0.00000000e+00 1.95478417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78116746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.550371743 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:91.54, Y:19.56, Z:0.01 [[ 8.90502567e-01 -4.54978217e-01 0.00000000e+00 9.15362709e+01] [ 4.54978217e-01 8.90502567e-01 0.00000000e+00 1.95605462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40069332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.580371743 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:91.57, Y:19.57, Z:0.01 [[ 8.89867451e-01 -4.56219158e-01 0.00000000e+00 9.15671478e+01] [ 4.56219158e-01 8.89867451e-01 0.00000000e+00 1.95735119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53624844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.610371743 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:91.60, Y:19.59, Z:0.01 [[ 8.89840576e-01 -4.56271573e-01 0.00000000e+00 9.15967358e+01] [ 4.56271573e-01 8.89840576e-01 0.00000000e+00 1.95860267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86562332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640371743 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:91.63, Y:19.60, Z:0.01 [[ 8.89129079e-01 -4.57656510e-01 0.00000000e+00 9.16261849e+01] [ 4.57656510e-01 8.89129079e-01 0.00000000e+00 1.95997263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38940279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.670371743 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:91.65, Y:19.61, Z:0.01 [[ 8.88872885e-01 -4.58153897e-01 0.00000000e+00 9.16544545e+01] [ 4.58153897e-01 8.88872885e-01 0.00000000e+00 1.96135201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06361342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.700371743 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:91.68, Y:19.63, Z:0.02 [[ 8.87964309e-01 -4.59912368e-01 0.00000000e+00 9.16804509e+01] [ 4.59912368e-01 8.87964309e-01 0.00000000e+00 1.96283376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64654209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73037174299999 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:91.71, Y:19.64, Z:0.01 [[ 8.88018478e-01 -4.59807768e-01 0.00000000e+00 9.17107955e+01] [ 4.59807768e-01 8.88018478e-01 0.00000000e+00 1.96415197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36969266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.760371743 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:91.73, Y:19.66, Z:0.01 [[ 8.85311272e-01 -4.64998874e-01 0.00000000e+00 9.17281413e+01] [ 4.64998874e-01 8.85311272e-01 0.00000000e+00 1.96577723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42226250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.790371743 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:91.77, Y:19.67, Z:0.01 [[ 8.87464012e-01 -4.60877019e-01 0.00000000e+00 9.17681997e+01] [ 4.60877019e-01 8.87464012e-01 0.00000000e+00 1.96681599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27405141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.820371743 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:91.80, Y:19.68, Z:0.01 [[ 8.87898400e-01 -4.60039597e-01 0.00000000e+00 9.18012121e+01] [ 4.60039597e-01 8.87898400e-01 0.00000000e+00 1.96818699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23285892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.850371743 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:91.82, Y:19.69, Z:0.01 [[ 8.87766260e-01 -4.60294545e-01 0.00000000e+00 9.18216653e+01] [ 4.60294545e-01 8.87766260e-01 0.00000000e+00 1.96941937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25904767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.880371743 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:91.84, Y:19.71, Z:0.01 [[ 8.84565333e-01 -4.66416307e-01 0.00000000e+00 9.18425813e+01] [ 4.66416307e-01 8.84565333e-01 0.00000000e+00 1.97123957e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36433405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.910371743 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:91.88, Y:19.72, Z:0.01 [[ 8.88163498e-01 -4.59527584e-01 0.00000000e+00 9.18786550e+01] [ 4.59527584e-01 8.88163498e-01 0.00000000e+00 1.97214451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38341638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.940371743 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:91.91, Y:19.74, Z:0.02 [[ 8.86188208e-01 -4.63325436e-01 0.00000000e+00 9.19083996e+01] [ 4.63325436e-01 8.86188208e-01 0.00000000e+00 1.97373819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56709177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.970371743 meters Centerline goodness : 0.994250 Centerline is valid? [True, True] Translation: X:91.94, Y:19.75, Z:0.02 [[ 8.85870367e-01 -4.63932855e-01 0.00000000e+00 9.19373474e+01] [ 4.63932855e-01 8.85870367e-01 0.00000000e+00 1.97507748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62681871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000371743 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:91.97, Y:19.76, Z:0.01 [[ 8.87100457e-01 -4.61576407e-01 0.00000000e+00 9.19707379e+01] [ 4.61576407e-01 8.87100457e-01 0.00000000e+00 1.97623590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22806315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.030371743 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:91.99, Y:19.78, Z:0.02 [[ 8.83825808e-01 -4.67816141e-01 0.00000000e+00 9.19861907e+01] [ 4.67816141e-01 8.83825808e-01 0.00000000e+00 1.97783034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56834390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.060371743 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:92.02, Y:19.79, Z:0.02 [[ 8.85061630e-01 -4.65473856e-01 0.00000000e+00 9.20244814e+01] [ 4.65473856e-01 8.85061630e-01 0.00000000e+00 1.97889887e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56495544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.090371743 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:92.05, Y:19.80, Z:0.02 [[ 8.84454928e-01 -4.66625632e-01 0.00000000e+00 9.20542049e+01] [ 4.66625632e-01 8.84454928e-01 0.00000000e+00 1.98024450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55900668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12037174299999 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:92.08, Y:19.82, Z:0.01 [[ 8.84217292e-01 -4.67075776e-01 0.00000000e+00 9.20825569e+01] [ 4.67075776e-01 8.84217292e-01 0.00000000e+00 1.98152461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48667024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.150371743 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:92.11, Y:19.83, Z:0.01 [[ 8.83832364e-01 -4.67803754e-01 0.00000000e+00 9.21124982e+01] [ 4.67803754e-01 8.83832364e-01 0.00000000e+00 1.98290009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47095570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.180371743 meters Centerline goodness : 0.994178 Centerline is valid? [True, True] Translation: X:92.14, Y:19.84, Z:0.01 [[ 8.83724750e-01 -4.68007015e-01 0.00000000e+00 9.21414809e+01] [ 4.68007015e-01 8.83724750e-01 0.00000000e+00 1.98424411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36711450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.210371743 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:92.17, Y:19.86, Z:0.01 [[ 8.84107057e-01 -4.67284401e-01 0.00000000e+00 9.21717901e+01] [ 4.67284401e-01 8.84107057e-01 0.00000000e+00 1.98558038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32882042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.240371743 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:92.20, Y:19.87, Z:0.01 [[ 8.84436487e-01 -4.66660584e-01 0.00000000e+00 9.21997341e+01] [ 4.66660584e-01 8.84436487e-01 0.00000000e+00 1.98689796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30952877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.270371743 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:92.22, Y:19.88, Z:0.02 [[ 8.82720441e-01 -4.69898525e-01 0.00000000e+00 9.22182528e+01] [ 4.69898525e-01 8.82720441e-01 0.00000000e+00 1.98845981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54352766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.300371743 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:92.26, Y:19.89, Z:0.01 [[ 8.85380403e-01 -4.64867230e-01 0.00000000e+00 9.22576222e+01] [ 4.64867230e-01 8.85380403e-01 0.00000000e+00 1.98948735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19567169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.330371743 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:92.29, Y:19.91, Z:0.01 [[ 8.86403382e-01 -4.62913647e-01 0.00000000e+00 9.22867832e+01] [ 4.62913647e-01 8.86403382e-01 0.00000000e+00 1.99091217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41369277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360371743 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:92.32, Y:19.92, Z:0.01 [[ 8.87480340e-01 -4.60845577e-01 0.00000000e+00 9.23165420e+01] [ 4.60845577e-01 8.87480340e-01 0.00000000e+00 1.99222343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43983469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.390371743 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:92.35, Y:19.94, Z:0.01 [[ 8.88351872e-01 -4.59163316e-01 0.00000000e+00 9.23467963e+01] [ 4.59163316e-01 8.88351872e-01 0.00000000e+00 1.99357194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42695408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420371743 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:92.37, Y:19.95, Z:0.02 [[ 8.89193960e-01 -4.57530437e-01 0.00000000e+00 9.23741975e+01] [ 4.57530437e-01 8.89193960e-01 0.00000000e+00 1.99492193e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63173558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.450371743 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:92.41, Y:19.96, Z:0.01 [[ 8.90495567e-01 -4.54991917e-01 0.00000000e+00 9.24065807e+01] [ 4.54991917e-01 8.90495567e-01 0.00000000e+00 1.99622487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47401918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48037174299999 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:92.43, Y:19.97, Z:0.02 [[ 8.90256024e-01 -4.55460438e-01 0.00000000e+00 9.24317708e+01] [ 4.55460438e-01 8.90256024e-01 0.00000000e+00 1.99748165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60951801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.510371743 meters Centerline goodness : 0.994361 Centerline is valid? [True, True] Translation: X:92.46, Y:19.99, Z:0.02 [[ 8.90366928e-01 -4.55243598e-01 0.00000000e+00 9.24616193e+01] [ 4.55243598e-01 8.90366928e-01 0.00000000e+00 1.99872850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57639193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.540371743 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:92.50, Y:20.00, Z:0.01 [[ 8.91091676e-01 -4.53823340e-01 0.00000000e+00 9.24953427e+01] [ 4.53823340e-01 8.91091676e-01 0.00000000e+00 1.99993823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42158861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.570371743 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:92.53, Y:20.01, Z:0.01 [[ 8.90268230e-01 -4.55436581e-01 0.00000000e+00 9.25254611e+01] [ 4.55436581e-01 8.90268230e-01 0.00000000e+00 2.00123802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25701907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.600371743 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:92.56, Y:20.03, Z:0.01 [[ 8.89542939e-01 -4.56851574e-01 0.00000000e+00 9.25550663e+01] [ 4.56851574e-01 8.89542939e-01 0.00000000e+00 2.00258640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14467168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.630371743 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:92.58, Y:20.04, Z:0.01 [[ 8.88591777e-01 -4.58698870e-01 0.00000000e+00 9.25836065e+01] [ 4.58698870e-01 8.88591777e-01 0.00000000e+00 2.00392709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03781023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.660371743 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:92.61, Y:20.05, Z:0.01 [[ 8.86764762e-01 -4.62221005e-01 0.00000000e+00 9.26107739e+01] [ 4.62221005e-01 8.86764762e-01 0.00000000e+00 2.00524068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04195902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.690371743 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:92.64, Y:20.06, Z:0.01 [[ 8.85638686e-01 -4.64374975e-01 0.00000000e+00 9.26361360e+01] [ 4.64374975e-01 8.85638686e-01 0.00000000e+00 2.00649977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24818938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720371743 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:92.67, Y:20.08, Z:0.01 [[ 8.85004989e-01 -4.65581538e-01 0.00000000e+00 9.26664200e+01] [ 4.65581538e-01 8.85004989e-01 0.00000000e+00 2.00785820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29779073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.750371743 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:92.70, Y:20.09, Z:0.01 [[ 8.84498582e-01 -4.66542879e-01 0.00000000e+00 9.26957327e+01] [ 4.66542879e-01 8.84498582e-01 0.00000000e+00 2.00915687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33726100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780371743 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:92.72, Y:20.10, Z:0.01 [[ 8.84724811e-01 -4.66113730e-01 0.00000000e+00 9.27246913e+01] [ 4.66113730e-01 8.84724811e-01 0.00000000e+00 2.01048642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33309635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.810371743 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:92.75, Y:20.12, Z:0.01 [[ 8.84611686e-01 -4.66328387e-01 0.00000000e+00 9.27541600e+01] [ 4.66328387e-01 8.84611686e-01 0.00000000e+00 2.01187414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33309635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.840371743 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:92.78, Y:20.13, Z:0.01 [[ 8.84538046e-01 -4.66468054e-01 0.00000000e+00 9.27827165e+01] [ 4.66468054e-01 8.84538046e-01 0.00000000e+00 2.01320901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38561739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87037174299999 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:92.82, Y:20.15, Z:0.01 [[ 8.84992754e-01 -4.65604795e-01 0.00000000e+00 9.28154086e+01] [ 4.65604795e-01 8.84992754e-01 0.00000000e+00 2.01455314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34683671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.900371743 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:92.83, Y:20.16, Z:0.02 [[ 8.81885476e-01 -4.71463686e-01 0.00000000e+00 9.28311816e+01] [ 4.71463686e-01 8.81885476e-01 0.00000000e+00 2.01607933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72320926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.930371743 meters Centerline goodness : 0.994407 Centerline is valid? [True, True] Translation: X:92.87, Y:20.17, Z:0.01 [[ 8.84599046e-01 -4.66352364e-01 0.00000000e+00 9.28707704e+01] [ 4.66352364e-01 8.84599046e-01 0.00000000e+00 2.01706301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45848676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.960371743 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:92.89, Y:20.18, Z:0.02 [[ 8.82264886e-01 -4.70753302e-01 0.00000000e+00 9.28860567e+01] [ 4.70753302e-01 8.82264886e-01 0.00000000e+00 2.01847205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87477792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.990371743 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:92.93, Y:20.20, Z:0.02 [[ 8.84361540e-01 -4.66802599e-01 0.00000000e+00 9.29280801e+01] [ 4.66802599e-01 8.84361540e-01 0.00000000e+00 2.01962175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55632827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.020371743 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:92.96, Y:20.21, Z:0.01 [[ 8.84122585e-01 -4.67255021e-01 0.00000000e+00 9.29589425e+01] [ 4.67255021e-01 8.84122585e-01 0.00000000e+00 2.02089912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42225074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.050371743 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:92.99, Y:20.22, Z:0.01 [[ 8.84293180e-01 -4.66932085e-01 0.00000000e+00 9.29883989e+01] [ 4.66932085e-01 8.84293180e-01 0.00000000e+00 2.02210942e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19673757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.080371743 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:93.02, Y:20.23, Z:0.01 [[ 8.84356924e-01 -4.66811345e-01 0.00000000e+00 9.30196988e+01] [ 4.66811345e-01 8.84356924e-01 0.00000000e+00 2.02341829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03931691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.110371743 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:93.05, Y:20.25, Z:0.01 [[ 8.84499409e-01 -4.66541311e-01 0.00000000e+00 9.30498019e+01] [ 4.66541311e-01 8.84499409e-01 0.00000000e+00 2.02477071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15386088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140371743 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:93.08, Y:20.26, Z:0.01 [[ 8.85208824e-01 -4.65193871e-01 0.00000000e+00 9.30775116e+01] [ 4.65193871e-01 8.85208824e-01 0.00000000e+00 2.02608190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.01743062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.170371743 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:93.11, Y:20.27, Z:0.01 [[ 8.86151852e-01 -4.63394967e-01 0.00000000e+00 9.31056973e+01] [ 4.63394967e-01 8.86151852e-01 0.00000000e+00 2.02740788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62013261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.200371743 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:93.12, Y:20.29, Z:0.01 [[ 8.84868134e-01 -4.65841589e-01 0.00000000e+00 9.31194774e+01] [ 4.65841589e-01 8.84868134e-01 0.00000000e+00 2.02917875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16553269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23037174299999 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:93.15, Y:20.31, Z:0.01 [[ 8.86026199e-01 -4.63635174e-01 0.00000000e+00 9.31480430e+01] [ 4.63635174e-01 8.86026199e-01 0.00000000e+00 2.03057953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19563132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.260371743 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:93.19, Y:20.32, Z:0.01 [[ 8.90948947e-01 -4.54103483e-01 0.00000000e+00 9.31896700e+01] [ 4.54103483e-01 8.90948947e-01 0.00000000e+00 2.03161566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04476380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.290371743 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:93.22, Y:20.33, Z:0.01 [[ 8.91575056e-01 -4.52872962e-01 0.00000000e+00 9.32175492e+01] [ 4.52872962e-01 8.91575056e-01 0.00000000e+00 2.03294163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11015611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.320371743 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:93.23, Y:20.35, Z:0.02 [[ 8.88770628e-01 -4.58352235e-01 0.00000000e+00 9.32324937e+01] [ 4.58352235e-01 8.88770628e-01 0.00000000e+00 2.03459253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69378794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.350371743 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:93.27, Y:20.35, Z:0.01 [[ 8.91964940e-01 -4.52104574e-01 0.00000000e+00 9.32745897e+01] [ 4.52104574e-01 8.91964940e-01 0.00000000e+00 2.03545699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36844319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.380371743 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:93.30, Y:20.37, Z:0.01 [[ 8.91054414e-01 -4.53896499e-01 0.00000000e+00 9.33035276e+01] [ 4.53896499e-01 8.91054414e-01 0.00000000e+00 2.03671956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39405675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.410371743 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:93.33, Y:20.38, Z:0.01 [[ 8.91225330e-01 -4.53560813e-01 0.00000000e+00 9.33347238e+01] [ 4.53560813e-01 8.91225330e-01 0.00000000e+00 2.03794903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23551704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.440371743 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:93.35, Y:20.39, Z:0.02 [[ 8.85460484e-01 -4.64714677e-01 0.00000000e+00 9.33471454e+01] [ 4.64714677e-01 8.85460484e-01 0.00000000e+00 2.03942690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56716171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.470371743 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:93.39, Y:20.40, Z:0.01 [[ 8.87765255e-01 -4.60296483e-01 0.00000000e+00 9.33898668e+01] [ 4.60296483e-01 8.87765255e-01 0.00000000e+00 2.04030030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00738406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500371743 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:93.42, Y:20.41, Z:0.01 [[ 8.86315839e-01 -4.63081238e-01 0.00000000e+00 9.34211339e+01] [ 4.63081238e-01 8.86315839e-01 0.00000000e+00 2.04144112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48179373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.530371743 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:93.45, Y:20.43, Z:0.01 [[ 8.83795143e-01 -4.67874069e-01 0.00000000e+00 9.34466383e+01] [ 4.67874069e-01 8.83795143e-01 0.00000000e+00 2.04287115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03485715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.560371743 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:93.48, Y:20.44, Z:0.01 [[ 8.83007075e-01 -4.69359675e-01 0.00000000e+00 9.34790396e+01] [ 4.69359675e-01 8.83007075e-01 0.00000000e+00 2.04415990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33885043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.590371743 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:93.50, Y:20.46, Z:0.01 [[ 8.80820254e-01 -4.73450822e-01 0.00000000e+00 9.35045252e+01] [ 4.73450822e-01 8.80820254e-01 0.00000000e+00 2.04560507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75256523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62037174299999 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:93.54, Y:20.47, Z:0.01 [[ 8.80348985e-01 -4.74326538e-01 0.00000000e+00 9.35375541e+01] [ 4.74326538e-01 8.80348985e-01 0.00000000e+00 2.04697224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14452745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.650371743 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:93.56, Y:20.48, Z:0.01 [[ 8.78495402e-01 -4.77750802e-01 0.00000000e+00 9.35595915e+01] [ 4.77750802e-01 8.78495402e-01 0.00000000e+00 2.04839606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42339390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.680371743 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:93.59, Y:20.50, Z:0.01 [[ 8.77626736e-01 -4.79344670e-01 0.00000000e+00 9.35880228e+01] [ 4.79344670e-01 8.77626736e-01 0.00000000e+00 2.04992034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09071614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.710371743 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:93.62, Y:20.51, Z:0.01 [[ 8.78980178e-01 -4.76858308e-01 0.00000000e+00 9.36227536e+01] [ 4.76858308e-01 8.78980178e-01 0.00000000e+00 2.05127800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47039357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.740371743 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:93.65, Y:20.53, Z:0.01 [[ 8.77578962e-01 -4.79432128e-01 0.00000000e+00 9.36473289e+01] [ 4.79432128e-01 8.77578962e-01 0.00000000e+00 2.05278104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04198563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.770371743 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:93.66, Y:20.54, Z:0.01 [[ 8.74126918e-01 -4.85697571e-01 0.00000000e+00 9.36624022e+01] [ 4.85697571e-01 8.74126918e-01 0.00000000e+00 2.05449438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48562024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.800371743 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:93.70, Y:20.56, Z:0.01 [[ 8.76464250e-01 -4.81466944e-01 0.00000000e+00 9.37035013e+01] [ 4.81466944e-01 8.76464250e-01 0.00000000e+00 2.05562931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21956139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.830371743 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:93.73, Y:20.57, Z:0.01 [[ 8.75430596e-01 -4.83343844e-01 0.00000000e+00 9.37328081e+01] [ 4.83343844e-01 8.75430596e-01 0.00000000e+00 2.05709463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29928482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860371743 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:93.76, Y:20.58, Z:0.01 [[ 8.74025167e-01 -4.85880652e-01 0.00000000e+00 9.37594446e+01] [ 4.85880652e-01 8.74025167e-01 0.00000000e+00 2.05847868e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31007390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.890371743 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:93.79, Y:20.60, Z:0.01 [[ 8.73370861e-01 -4.87055786e-01 0.00000000e+00 9.37912668e+01] [ 4.87055786e-01 8.73370861e-01 0.00000000e+00 2.05990768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22582194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920371743 meters Centerline goodness : 0.995013 Centerline is valid? [True, True] Translation: X:93.80, Y:20.61, Z:0.01 [[ 8.69157378e-01 -4.94535593e-01 0.00000000e+00 9.38047197e+01] [ 4.94535593e-01 8.69157378e-01 0.00000000e+00 2.06132038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20776889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.950371743 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:93.84, Y:20.63, Z:0.01 [[ 8.68087554e-01 -4.96411118e-01 0.00000000e+00 9.38360818e+01] [ 4.96411118e-01 8.68087554e-01 0.00000000e+00 2.06271680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06244341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98037174299999 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:93.87, Y:20.64, Z:0.01 [[ 8.69279943e-01 -4.94320119e-01 0.00000000e+00 9.38734149e+01] [ 4.94320119e-01 8.69279943e-01 0.00000000e+00 2.06391082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10021900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.010371743 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:93.91, Y:20.65, Z:0.01 [[ 8.69821631e-01 -4.93366325e-01 0.00000000e+00 9.39055558e+01] [ 4.93366325e-01 8.69821631e-01 0.00000000e+00 2.06528718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81600132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.040371743 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:93.93, Y:20.67, Z:0.01 [[ 8.67588129e-01 -4.97283458e-01 0.00000000e+00 9.39255774e+01] [ 4.97283458e-01 8.67588129e-01 0.00000000e+00 2.06677250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.66215158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.070371743 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:93.96, Y:20.68, Z:0.01 [[ 8.67595650e-01 -4.97270338e-01 0.00000000e+00 9.39551546e+01] [ 4.97270338e-01 8.67595650e-01 0.00000000e+00 2.06825890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33589174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.100371743 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:93.98, Y:20.70, Z:0.01 [[ 8.67908839e-01 -4.96723511e-01 0.00000000e+00 9.39828607e+01] [ 4.96723511e-01 8.67908839e-01 0.00000000e+00 2.06973671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74676678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.130371743 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:94.01, Y:20.71, Z:0.01 [[ 8.69656659e-01 -4.93657062e-01 0.00000000e+00 9.40122289e+01] [ 4.93657062e-01 8.69656659e-01 0.00000000e+00 2.07133034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03912763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.160371743 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:94.04, Y:20.73, Z:0.01 [[ 8.70962992e-01 -4.91348621e-01 0.00000000e+00 9.40384717e+01] [ 4.91348621e-01 8.70962992e-01 0.00000000e+00 2.07303020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19602907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.190371743 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:94.07, Y:20.75, Z:0.01 [[ 8.72125655e-01 -4.89281965e-01 0.00000000e+00 9.40683465e+01] [ 4.89281965e-01 8.72125655e-01 0.00000000e+00 2.07454117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33079955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220371743 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:94.10, Y:20.76, Z:0.01 [[ 8.72937328e-01 -4.87832371e-01 0.00000000e+00 9.40977937e+01] [ 4.87832371e-01 8.72937328e-01 0.00000000e+00 2.07602466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46829729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.250371743 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:94.13, Y:20.77, Z:0.01 [[ 8.73398067e-01 -4.87006998e-01 0.00000000e+00 9.41256734e+01] [ 4.87006998e-01 8.73398067e-01 0.00000000e+00 2.07747077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47861993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280371743 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:94.15, Y:20.79, Z:0.01 [[ 8.73336846e-01 -4.87116776e-01 0.00000000e+00 9.41528484e+01] [ 4.87116776e-01 8.73336846e-01 0.00000000e+00 2.07898919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42526092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.310371743 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:94.18, Y:20.80, Z:0.01 [[ 8.72793751e-01 -4.88089201e-01 0.00000000e+00 9.41798351e+01] [ 4.88089201e-01 8.72793751e-01 0.00000000e+00 2.08034415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33415807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.340371743 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:94.21, Y:20.82, Z:0.01 [[ 8.71986991e-01 -4.89529047e-01 0.00000000e+00 9.42103209e+01] [ 4.89529047e-01 8.71986991e-01 0.00000000e+00 2.08163133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28855797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37037174299999 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:94.24, Y:20.83, Z:0.01 [[ 8.70924763e-01 -4.91416379e-01 0.00000000e+00 9.42384459e+01] [ 4.91416379e-01 8.70924763e-01 0.00000000e+00 2.08305846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19567943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.400371743 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:94.27, Y:20.84, Z:0.01 [[ 8.70062325e-01 -4.92941731e-01 0.00000000e+00 9.42653970e+01] [ 4.92941731e-01 8.70062325e-01 0.00000000e+00 2.08445047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08183980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.430371743 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:94.29, Y:20.86, Z:0.01 [[ 8.69682531e-01 -4.93611483e-01 0.00000000e+00 9.42941133e+01] [ 4.93611483e-01 8.69682531e-01 0.00000000e+00 2.08583791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52985712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.460371743 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:94.32, Y:20.87, Z:0.01 [[ 8.68952883e-01 -4.94894825e-01 0.00000000e+00 9.43203383e+01] [ 4.94894825e-01 8.68952883e-01 0.00000000e+00 2.08732849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10961116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.490371743 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:94.35, Y:20.89, Z:0.01 [[ 8.69604496e-01 -4.93748946e-01 0.00000000e+00 9.43482437e+01] [ 4.93748946e-01 8.69604496e-01 0.00000000e+00 2.08860458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19000454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.520371743 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:94.37, Y:20.90, Z:0.01 [[ 8.71069103e-01 -4.91160481e-01 0.00000000e+00 9.43738471e+01] [ 4.91160481e-01 8.71069103e-01 0.00000000e+00 2.08988310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03182860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.550371743 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:94.40, Y:20.91, Z:0.01 [[ 8.71179065e-01 -4.90965413e-01 0.00000000e+00 9.44045474e+01] [ 4.90965413e-01 8.71179065e-01 0.00000000e+00 2.09146461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05972947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.580371743 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:94.43, Y:20.93, Z:0.01 [[ 8.73209056e-01 -4.87345816e-01 0.00000000e+00 9.44329083e+01] [ 4.87345816e-01 8.73209056e-01 0.00000000e+00 2.09304865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25631606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.610371743 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:94.46, Y:20.94, Z:0.01 [[ 8.74336056e-01 -4.85320987e-01 0.00000000e+00 9.44611702e+01] [ 4.85320987e-01 8.74336056e-01 0.00000000e+00 2.09449315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24685464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640371743 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:94.49, Y:20.96, Z:0.01 [[ 8.75456828e-01 -4.83296329e-01 0.00000000e+00 9.44905713e+01] [ 4.83296329e-01 8.75456828e-01 0.00000000e+00 2.09596188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35097528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.670371743 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:94.52, Y:20.97, Z:0.01 [[ 8.77235085e-01 -4.80061044e-01 0.00000000e+00 9.45180247e+01] [ 4.80061044e-01 8.77235085e-01 0.00000000e+00 2.09746375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40292072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.700371743 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:94.55, Y:20.99, Z:0.01 [[ 8.78042589e-01 -4.78582503e-01 0.00000000e+00 9.45476943e+01] [ 4.78582503e-01 8.78042589e-01 0.00000000e+00 2.09893992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34978421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73037174299999 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:94.58, Y:21.00, Z:0.01 [[ 8.78144343e-01 -4.78395771e-01 0.00000000e+00 9.45772034e+01] [ 4.78395771e-01 8.78144343e-01 0.00000000e+00 2.10032677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34978421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.760371743 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:94.60, Y:21.02, Z:0.01 [[ 8.78682256e-01 -4.77407051e-01 0.00000000e+00 9.46034182e+01] [ 4.77407051e-01 8.78682256e-01 0.00000000e+00 2.10174019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32067112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.790371743 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:94.63, Y:21.03, Z:0.01 [[ 8.78853923e-01 -4.77090958e-01 0.00000000e+00 9.46321629e+01] [ 4.77090958e-01 8.78853923e-01 0.00000000e+00 2.10306847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28642701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.820371743 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:94.67, Y:21.04, Z:0.01 [[ 8.80195071e-01 -4.74612091e-01 0.00000000e+00 9.46696954e+01] [ 4.74612091e-01 8.80195071e-01 0.00000000e+00 2.10436705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43232995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.850371743 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:94.70, Y:21.06, Z:0.01 [[ 8.80078741e-01 -4.74827769e-01 0.00000000e+00 9.47001010e+01] [ 4.74827769e-01 8.80078741e-01 0.00000000e+00 2.10576975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31478708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.880371743 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:94.72, Y:21.07, Z:0.01 [[ 8.78193084e-01 -4.78306291e-01 0.00000000e+00 9.47211035e+01] [ 4.78306291e-01 8.78193084e-01 0.00000000e+00 2.10728057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30858292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.910371743 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:94.76, Y:21.08, Z:0.01 [[ 8.80351410e-01 -4.74322038e-01 0.00000000e+00 9.47610989e+01] [ 4.74322038e-01 8.80351410e-01 0.00000000e+00 2.10844103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03983618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.940371743 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:94.78, Y:21.10, Z:0.01 [[ 8.78280139e-01 -4.78146419e-01 0.00000000e+00 9.47786956e+01] [ 4.78146419e-01 8.78280139e-01 0.00000000e+00 2.10988660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08244165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.970371743 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:94.82, Y:21.11, Z:0.01 [[ 8.81350954e-01 -4.72462163e-01 0.00000000e+00 9.48197065e+01] [ 4.72462163e-01 8.81350954e-01 0.00000000e+00 2.11110833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.66221096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000371743 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:94.84, Y:21.13, Z:0.01 [[ 8.79180545e-01 -4.76488793e-01 0.00000000e+00 9.48350062e+01] [ 4.76488793e-01 8.79180545e-01 0.00000000e+00 2.11261736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12712562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.030371743 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:94.88, Y:21.14, Z:0.00 [[ 8.83848624e-01 -4.67773033e-01 0.00000000e+00 9.48820816e+01] [ 4.67773033e-01 8.83848624e-01 0.00000000e+00 2.11366816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96482956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.060371743 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:94.89, Y:21.15, Z:0.01 [[ 8.79784581e-01 -4.75372581e-01 0.00000000e+00 9.48883433e+01] [ 4.75372581e-01 8.79784581e-01 0.00000000e+00 2.11524050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15136643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.090371743 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:94.93, Y:21.16, Z:0.01 [[ 8.82799498e-01 -4.69749982e-01 0.00000000e+00 9.49298919e+01] [ 4.69749982e-01 8.82799498e-01 0.00000000e+00 2.11632750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23472142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12037174299999 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:94.96, Y:21.18, Z:0.01 [[ 8.82461151e-01 -4.70385286e-01 0.00000000e+00 9.49586173e+01] [ 4.70385286e-01 8.82461151e-01 0.00000000e+00 2.11773767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00996522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.150371743 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:94.98, Y:21.19, Z:0.01 [[ 8.82157810e-01 -4.70953924e-01 0.00000000e+00 9.49843720e+01] [ 4.70953924e-01 8.82157810e-01 0.00000000e+00 2.11909600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28939316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.180371743 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:95.01, Y:21.21, Z:0.01 [[ 8.81687507e-01 -4.71833805e-01 0.00000000e+00 9.50123788e+01] [ 4.71833805e-01 8.81687507e-01 0.00000000e+00 2.12051233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31381860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.210371743 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:95.04, Y:21.22, Z:0.01 [[ 8.81350857e-01 -4.72462345e-01 0.00000000e+00 9.50425470e+01] [ 4.72462345e-01 8.81350857e-01 0.00000000e+00 2.12191625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33762910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.240371743 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:95.07, Y:21.23, Z:0.01 [[ 8.80465465e-01 -4.74110289e-01 0.00000000e+00 9.50690633e+01] [ 4.74110289e-01 8.80465465e-01 0.00000000e+00 2.12325066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19067024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.270371743 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:95.09, Y:21.25, Z:0.01 [[ 8.78713594e-01 -4.77349368e-01 0.00000000e+00 9.50884931e+01] [ 4.77349368e-01 8.78713594e-01 0.00000000e+00 2.12473899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07623284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.300371743 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:95.12, Y:21.26, Z:0.01 [[ 8.78507229e-01 -4.77729053e-01 0.00000000e+00 9.51184244e+01] [ 4.77729053e-01 8.78507229e-01 0.00000000e+00 2.12615500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16335006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.330371743 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:95.16, Y:21.27, Z:0.01 [[ 8.81657974e-01 -4.71888989e-01 0.00000000e+00 9.51605826e+01] [ 4.71888989e-01 8.81657974e-01 0.00000000e+00 2.12724713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72915929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360371743 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:95.17, Y:21.29, Z:0.01 [[ 8.78627016e-01 -4.77508708e-01 0.00000000e+00 9.51740115e+01] [ 4.77508708e-01 8.78627016e-01 0.00000000e+00 2.12890917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19123183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.390371743 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:95.20, Y:21.30, Z:0.01 [[ 8.79059539e-01 -4.76711996e-01 0.00000000e+00 9.52031931e+01] [ 4.76711996e-01 8.79059539e-01 0.00000000e+00 2.13042866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44224642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420371743 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:95.23, Y:21.32, Z:0.01 [[ 8.79274357e-01 -4.76315657e-01 0.00000000e+00 9.52330454e+01] [ 4.76315657e-01 8.79274357e-01 0.00000000e+00 2.13187829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47442462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.450371743 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:95.26, Y:21.33, Z:0.01 [[ 8.79539977e-01 -4.75824998e-01 0.00000000e+00 9.52616143e+01] [ 4.75824998e-01 8.79539977e-01 0.00000000e+00 2.13327370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47215505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48037174299999 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:95.29, Y:21.35, Z:0.01 [[ 8.79547261e-01 -4.75811535e-01 0.00000000e+00 9.52901839e+01] [ 4.75811535e-01 8.79547261e-01 0.00000000e+00 2.13464243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44331680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.510371743 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:95.32, Y:21.36, Z:0.01 [[ 8.79469871e-01 -4.75954562e-01 0.00000000e+00 9.53198594e+01] [ 4.75954562e-01 8.79469871e-01 0.00000000e+00 2.13605861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49381814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.540371743 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:95.35, Y:21.37, Z:0.01 [[ 8.79569804e-01 -4.75769860e-01 0.00000000e+00 9.53500727e+01] [ 4.75769860e-01 8.79569804e-01 0.00000000e+00 2.13748172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46625933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.570371743 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:95.39, Y:21.39, Z:0.01 [[ 8.82737315e-01 -4.69866825e-01 0.00000000e+00 9.53909739e+01] [ 4.69866825e-01 8.82737315e-01 0.00000000e+00 2.13862078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64129143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.600371743 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:95.42, Y:21.40, Z:0.01 [[ 8.82166313e-01 -4.70937997e-01 0.00000000e+00 9.54178597e+01] [ 4.70937997e-01 8.82166313e-01 0.00000000e+00 2.14010976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07560909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.630371743 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:95.44, Y:21.42, Z:0.01 [[ 8.82161860e-01 -4.70946338e-01 0.00000000e+00 9.54443704e+01] [ 4.70946338e-01 8.82161860e-01 0.00000000e+00 2.14157075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17150355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.660371743 meters Centerline goodness : 0.993138 Centerline is valid? [True, True] Translation: X:95.47, Y:21.43, Z:0.01 [[ 8.82046921e-01 -4.71161575e-01 0.00000000e+00 9.54718230e+01] [ 4.71161575e-01 8.82046921e-01 0.00000000e+00 2.14297436e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11516419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.690371743 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:95.49, Y:21.45, Z:0.01 [[ 8.80446659e-01 -4.74145210e-01 0.00000000e+00 9.54902051e+01] [ 4.74145210e-01 8.80446659e-01 0.00000000e+00 2.14459298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31441168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720371743 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:95.53, Y:21.46, Z:0.01 [[ 8.82147130e-01 -4.70973928e-01 0.00000000e+00 9.55268277e+01] [ 4.70973928e-01 8.82147130e-01 0.00000000e+00 2.14585289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33839470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.750371743 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:95.55, Y:21.47, Z:0.01 [[ 8.81447987e-01 -4.72281109e-01 0.00000000e+00 9.55546986e+01] [ 4.72281109e-01 8.81447987e-01 0.00000000e+00 2.14744725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35121201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780371743 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:95.58, Y:21.49, Z:0.01 [[ 8.81420447e-01 -4.72332506e-01 0.00000000e+00 9.55823627e+01] [ 4.72332506e-01 8.81420447e-01 0.00000000e+00 2.14883646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28819437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.810371743 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:95.61, Y:21.50, Z:0.01 [[ 8.81342092e-01 -4.72478694e-01 0.00000000e+00 9.56121766e+01] [ 4.72478694e-01 8.81342092e-01 0.00000000e+00 2.15033893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24039770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.840371743 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:95.64, Y:21.52, Z:0.01 [[ 8.81553031e-01 -4.72085006e-01 0.00000000e+00 9.56410429e+01] [ 4.72085006e-01 8.81553031e-01 0.00000000e+00 2.15188242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29334458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87037174299999 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:95.67, Y:21.53, Z:0.01 [[ 8.82012613e-01 -4.71225795e-01 0.00000000e+00 9.56677173e+01] [ 4.71225795e-01 8.82012613e-01 0.00000000e+00 2.15327610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41569342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.900371743 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:95.70, Y:21.55, Z:0.01 [[ 8.83674547e-01 -4.68101799e-01 0.00000000e+00 9.56957602e+01] [ 4.68101799e-01 8.83674547e-01 0.00000000e+00 2.15487669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33353395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.930371743 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:95.72, Y:21.56, Z:0.01 [[ 8.84464574e-01 -4.66607348e-01 0.00000000e+00 9.57243481e+01] [ 4.66607348e-01 8.84464574e-01 0.00000000e+00 2.15641776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48836796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.960371743 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:95.75, Y:21.58, Z:0.01 [[ 8.85461361e-01 -4.64713007e-01 0.00000000e+00 9.57534407e+01] [ 4.64713007e-01 8.85461361e-01 0.00000000e+00 2.15790941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48611818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.990371743 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:95.77, Y:21.60, Z:0.02 [[ 8.84866277e-01 -4.65845116e-01 0.00000000e+00 9.57739769e+01] [ 4.65845116e-01 8.84866277e-01 0.00000000e+00 2.15954709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61581957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.020371743 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:95.81, Y:21.61, Z:0.02 [[ 8.86592280e-01 -4.62551758e-01 0.00000000e+00 9.58099641e+01] [ 4.62551758e-01 8.86592280e-01 0.00000000e+00 2.16078650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72981573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.050371743 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:95.84, Y:21.62, Z:0.02 [[ 8.86506893e-01 -4.62715386e-01 0.00000000e+00 9.58386217e+01] [ 4.62715386e-01 8.86506893e-01 0.00000000e+00 2.16214770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61647119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.080371743 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:95.87, Y:21.63, Z:0.01 [[ 8.86616805e-01 -4.62504747e-01 0.00000000e+00 9.58677592e+01] [ 4.62504747e-01 8.86616805e-01 0.00000000e+00 2.16347912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48290746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.110371743 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:95.90, Y:21.65, Z:0.01 [[ 8.86660602e-01 -4.62420779e-01 0.00000000e+00 9.58978957e+01] [ 4.62420779e-01 8.86660602e-01 0.00000000e+00 2.16478835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28485359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140371743 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:95.93, Y:21.66, Z:0.01 [[ 8.86957489e-01 -4.61851073e-01 0.00000000e+00 9.59270726e+01] [ 4.61851073e-01 8.86957489e-01 0.00000000e+00 2.16607342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02422439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.170371743 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:95.96, Y:21.67, Z:0.01 [[ 8.86979300e-01 -4.61809183e-01 0.00000000e+00 9.59566375e+01] [ 4.61809183e-01 8.86979300e-01 0.00000000e+00 2.16747651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80551894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.200371743 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:95.97, Y:21.69, Z:0.01 [[ 8.84749319e-01 -4.66067209e-01 0.00000000e+00 9.59744569e+01] [ 4.66067209e-01 8.84749319e-01 0.00000000e+00 2.16912901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26717635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23037174299999 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:96.02, Y:21.70, Z:0.01 [[ 8.88211286e-01 -4.59435210e-01 0.00000000e+00 9.60156600e+01] [ 4.59435210e-01 8.88211286e-01 0.00000000e+00 2.17012271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32061021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.260371743 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:96.03, Y:21.72, Z:0.01 [[ 8.85090205e-01 -4.65419520e-01 0.00000000e+00 9.60300017e+01] [ 4.65419520e-01 8.85090205e-01 0.00000000e+00 2.17182591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39840337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.290371743 meters Centerline goodness : 0.994281 Centerline is valid? [True, True] Translation: X:96.06, Y:21.73, Z:0.01 [[ 8.85223551e-01 -4.65165846e-01 0.00000000e+00 9.60584522e+01] [ 4.65165846e-01 8.85223551e-01 0.00000000e+00 2.17315596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44939784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.320371743 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:96.10, Y:21.74, Z:0.01 [[ 8.88265147e-01 -4.59331066e-01 0.00000000e+00 9.60996379e+01] [ 4.59331066e-01 8.88265147e-01 0.00000000e+00 2.17416124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25480524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.350371743 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:96.12, Y:21.76, Z:0.02 [[ 8.84948052e-01 -4.65689752e-01 0.00000000e+00 9.61150476e+01] [ 4.65689752e-01 8.84948052e-01 0.00000000e+00 2.17575718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51172189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.380371743 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:96.15, Y:21.77, Z:0.02 [[ 8.86675599e-01 -4.62392021e-01 0.00000000e+00 9.61526913e+01] [ 4.62392021e-01 8.86675599e-01 0.00000000e+00 2.17678935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58988887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.410371743 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:96.18, Y:21.78, Z:0.02 [[ 8.86340634e-01 -4.63033779e-01 0.00000000e+00 9.61829710e+01] [ 4.63033779e-01 8.86340634e-01 0.00000000e+00 2.17815405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63507402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.440371743 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:96.21, Y:21.79, Z:0.02 [[ 8.85980074e-01 -4.63723311e-01 0.00000000e+00 9.62116578e+01] [ 4.63723311e-01 8.85980074e-01 0.00000000e+00 2.17947658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67285649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.470371743 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:96.24, Y:21.81, Z:0.02 [[ 8.86361372e-01 -4.62994080e-01 0.00000000e+00 9.62426892e+01] [ 4.62994080e-01 8.86361372e-01 0.00000000e+00 2.18073127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86592573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500371743 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:96.27, Y:21.82, Z:0.02 [[ 8.85071312e-01 -4.65455446e-01 0.00000000e+00 9.62678598e+01] [ 4.65455446e-01 8.85071312e-01 0.00000000e+00 2.18208419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78908043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.530371743 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:96.30, Y:21.83, Z:0.02 [[ 8.85872522e-01 -4.63928739e-01 0.00000000e+00 9.62959309e+01] [ 4.63928739e-01 8.85872522e-01 0.00000000e+00 2.18327873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81289248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.560371743 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:96.33, Y:21.85, Z:0.02 [[ 8.85565158e-01 -4.64515178e-01 0.00000000e+00 9.63308895e+01] [ 4.64515178e-01 8.85565158e-01 0.00000000e+00 2.18460723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59005733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.590371743 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:96.36, Y:21.86, Z:0.01 [[ 8.85926655e-01 -4.63825357e-01 0.00000000e+00 9.63587897e+01] [ 4.63825357e-01 8.85926655e-01 0.00000000e+00 2.18580798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44742939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62037174299999 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:96.39, Y:21.87, Z:0.01 [[ 8.85793302e-01 -4.64079978e-01 0.00000000e+00 9.63881731e+01] [ 4.64079978e-01 8.85793302e-01 0.00000000e+00 2.18720761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44742939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.650371743 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:96.42, Y:21.89, Z:0.01 [[ 8.86531067e-01 -4.62669070e-01 0.00000000e+00 9.64190058e+01] [ 4.62669070e-01 8.86531067e-01 0.00000000e+00 2.18850544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24632120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.680371743 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:96.44, Y:21.90, Z:0.01 [[ 8.88388410e-01 -4.59092619e-01 0.00000000e+00 9.64427732e+01] [ 4.59092619e-01 8.88388410e-01 0.00000000e+00 2.18971347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21347998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.710371743 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:96.48, Y:21.91, Z:0.01 [[ 8.88163074e-01 -4.59528403e-01 0.00000000e+00 9.64770176e+01] [ 4.59528403e-01 8.88163074e-01 0.00000000e+00 2.19127690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10080639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.740371743 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:96.51, Y:21.93, Z:0.01 [[ 8.88407317e-01 -4.59056031e-01 0.00000000e+00 9.65050009e+01] [ 4.59056031e-01 8.88407317e-01 0.00000000e+00 2.19267901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24971775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.770371743 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:96.53, Y:21.94, Z:0.01 [[ 8.91594007e-01 -4.52835651e-01 0.00000000e+00 9.65306803e+01] [ 4.52835651e-01 8.91594007e-01 0.00000000e+00 2.19372705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32476486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.800371743 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:96.56, Y:21.95, Z:0.01 [[ 8.90846929e-01 -4.54303586e-01 0.00000000e+00 9.65642587e+01] [ 4.54303586e-01 8.90846929e-01 0.00000000e+00 2.19526937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09691879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.830371743 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:96.59, Y:21.97, Z:0.02 [[ 8.90900116e-01 -4.54199277e-01 0.00000000e+00 9.65870993e+01] [ 4.54199277e-01 8.90900116e-01 0.00000000e+00 2.19660624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61225107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860371743 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:96.61, Y:21.98, Z:0.01 [[ 8.89955480e-01 -4.56047413e-01 0.00000000e+00 9.66082805e+01] [ 4.56047413e-01 8.89955480e-01 0.00000000e+00 2.19813579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49236849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.890371743 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:96.64, Y:21.99, Z:0.01 [[ 8.90842850e-01 -4.54311586e-01 0.00000000e+00 9.66377979e+01] [ 4.54311586e-01 8.90842850e-01 0.00000000e+00 2.19944471e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33259034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920371743 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:96.68, Y:22.00, Z:0.01 [[ 8.94548566e-01 -4.46970762e-01 0.00000000e+00 9.66761718e+01] [ 4.46970762e-01 8.94548566e-01 0.00000000e+00 2.20038673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31475948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.950371743 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:96.70, Y:22.02, Z:0.01 [[ 8.93415406e-01 -4.49231468e-01 0.00000000e+00 9.66959887e+01] [ 4.49231468e-01 8.93415406e-01 0.00000000e+00 2.20188276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45860265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98037174299999 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:96.73, Y:22.03, Z:0.01 [[ 8.98557600e-01 -4.38855603e-01 0.00000000e+00 9.67335780e+01] [ 4.38855603e-01 8.98557600e-01 0.00000000e+00 2.20250100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32706326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.010371743 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:96.77, Y:22.04, Z:0.01 [[ 8.98917972e-01 -4.38116970e-01 0.00000000e+00 9.67670718e+01] [ 4.38116970e-01 8.98917972e-01 0.00000000e+00 2.20383815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05692036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.040371743 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:96.78, Y:22.05, Z:0.02 [[ 8.96195939e-01 -4.43658470e-01 0.00000000e+00 9.67835250e+01] [ 4.43658470e-01 8.96195939e-01 0.00000000e+00 2.20545274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67530286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.070371743 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:96.81, Y:22.07, Z:0.02 [[ 8.96281701e-01 -4.43485189e-01 0.00000000e+00 9.68142393e+01] [ 4.43485189e-01 8.96281701e-01 0.00000000e+00 2.20671565e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70906669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.100371743 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:96.85, Y:22.08, Z:0.02 [[ 8.95644066e-01 -4.44771522e-01 0.00000000e+00 9.68461674e+01] [ 4.44771522e-01 8.95644066e-01 0.00000000e+00 2.20767165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66682620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.130371743 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:96.89, Y:22.08, Z:0.01 [[ 8.98390614e-01 -4.39197342e-01 0.00000000e+00 9.68914358e+01] [ 4.39197342e-01 8.98390614e-01 0.00000000e+00 2.20827126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13529925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.160371743 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:96.91, Y:22.10, Z:0.02 [[ 8.92260590e-01 -4.51520808e-01 0.00000000e+00 9.69062980e+01] [ 4.51520808e-01 8.92260590e-01 0.00000000e+00 2.20950716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67823657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.190371743 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:96.95, Y:22.10, Z:0.01 [[ 8.94010900e-01 -4.48045211e-01 0.00000000e+00 9.69494471e+01] [ 4.48045211e-01 8.94010900e-01 0.00000000e+00 2.21028173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20019573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220371743 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:96.97, Y:22.12, Z:0.02 [[ 8.89924518e-01 -4.56107830e-01 0.00000000e+00 9.69652577e+01] [ 4.56107830e-01 8.89924518e-01 0.00000000e+00 2.21168080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71516914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.250371743 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:97.01, Y:22.12, Z:0.01 [[ 8.91413267e-01 -4.53191336e-01 0.00000000e+00 9.70141716e+01] [ 4.53191336e-01 8.91413267e-01 0.00000000e+00 2.21208166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85644968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280371743 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:97.02, Y:22.13, Z:0.02 [[ 8.86324400e-01 -4.63064854e-01 0.00000000e+00 9.70248554e+01] [ 4.63064854e-01 8.86324400e-01 0.00000000e+00 2.21348134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53180964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.310371743 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:97.08, Y:22.14, Z:0.01 [[ 8.88462336e-01 -4.58949537e-01 0.00000000e+00 9.70752220e+01] [ 4.58949537e-01 8.88462336e-01 0.00000000e+00 2.21378175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77339768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.340371743 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:97.10, Y:22.15, Z:0.01 [[ 8.86256561e-01 -4.63194676e-01 0.00000000e+00 9.70989605e+01] [ 4.63194676e-01 8.86256561e-01 0.00000000e+00 2.21490348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72140450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37037174299999 meters Centerline goodness : 0.995857 Centerline is valid? [True, True] Translation: X:97.12, Y:22.16, Z:0.01 [[ 8.82295338e-01 -4.70696225e-01 0.00000000e+00 9.71154250e+01] [ 4.70696225e-01 8.82295338e-01 0.00000000e+00 2.21637314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37103210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.400371743 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:97.15, Y:22.17, Z:0.02 [[ 8.80572530e-01 -4.73911405e-01 0.00000000e+00 9.71471130e+01] [ 4.73911405e-01 8.80572530e-01 0.00000000e+00 2.21722599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50785568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.430371743 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:97.18, Y:22.18, Z:0.02 [[ 8.79736815e-01 -4.75460972e-01 0.00000000e+00 9.71777615e+01] [ 4.75460972e-01 8.79736815e-01 0.00000000e+00 2.21838811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56639212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.460371743 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:97.21, Y:22.19, Z:0.01 [[ 8.78359198e-01 -4.78001172e-01 0.00000000e+00 9.72089652e+01] [ 4.78001172e-01 8.78359198e-01 0.00000000e+00 2.21928585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47024072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.490371743 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:97.25, Y:22.20, Z:0.01 [[ 8.81396845e-01 -4.72376547e-01 0.00000000e+00 9.72545988e+01] [ 4.72376547e-01 8.81396845e-01 0.00000000e+00 2.22007353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85592052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.520371743 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:97.28, Y:22.21, Z:0.01 [[ 8.79365243e-01 -4.76147844e-01 0.00000000e+00 9.72784684e+01] [ 4.76147844e-01 8.79365243e-01 0.00000000e+00 2.22127536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19872411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.550371743 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:97.31, Y:22.22, Z:0.01 [[ 8.78084386e-01 -4.78505812e-01 0.00000000e+00 9.73086319e+01] [ 4.78505812e-01 8.78084386e-01 0.00000000e+00 2.22229253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23316898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.580371743 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:97.34, Y:22.24, Z:0.01 [[ 8.77477549e-01 -4.79617713e-01 0.00000000e+00 9.73393961e+01] [ 4.79617713e-01 8.77477549e-01 0.00000000e+00 2.22353969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19571344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.610371743 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:97.37, Y:22.25, Z:0.01 [[ 8.76585062e-01 -4.81246952e-01 0.00000000e+00 9.73667342e+01] [ 4.81246952e-01 8.76585062e-01 0.00000000e+00 2.22461836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40316226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.640371743 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:97.40, Y:22.26, Z:0.01 [[ 8.76633966e-01 -4.81157863e-01 0.00000000e+00 9.73957819e+01] [ 4.81157863e-01 8.76633966e-01 0.00000000e+00 2.22587501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34066333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.670371743 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:97.43, Y:22.27, Z:0.01 [[ 8.76576866e-01 -4.81261881e-01 0.00000000e+00 9.74260266e+01] [ 4.81261881e-01 8.76576866e-01 0.00000000e+00 2.22728212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37231698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.700371743 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:97.45, Y:22.29, Z:0.02 [[ 8.76371667e-01 -4.81635444e-01 0.00000000e+00 9.74544875e+01] [ 4.81635444e-01 8.76371667e-01 0.00000000e+00 2.22861742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51593323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73037174299999 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:97.48, Y:22.30, Z:0.01 [[ 8.76893870e-01 -4.80684035e-01 0.00000000e+00 9.74834327e+01] [ 4.80684035e-01 8.76893870e-01 0.00000000e+00 2.22990740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48138235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.760371743 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:97.51, Y:22.31, Z:0.02 [[ 8.77181470e-01 -4.80159003e-01 0.00000000e+00 9.75135900e+01] [ 4.80159003e-01 8.77181470e-01 0.00000000e+00 2.23126624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50426204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.790371743 meters Centerline goodness : 0.995862 Centerline is valid? [True, True] Translation: X:97.55, Y:22.33, Z:0.01 [[ 8.78549924e-01 -4.77650533e-01 0.00000000e+00 9.75459628e+01] [ 4.77650533e-01 8.78549924e-01 0.00000000e+00 2.23268829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41297183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.820371743 meters Centerline goodness : 0.995991 Centerline is valid? [True, True] Translation: X:97.56, Y:22.34, Z:0.02 [[ 8.76538882e-01 -4.81331059e-01 0.00000000e+00 9.75619999e+01] [ 4.81331059e-01 8.76538882e-01 0.00000000e+00 2.23432342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69149267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.850371743 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:97.60, Y:22.35, Z:0.01 [[ 8.80919063e-01 -4.73266949e-01 0.00000000e+00 9.76047381e+01] [ 4.73266949e-01 8.80919063e-01 0.00000000e+00 2.23533274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22560756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.880371743 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:97.63, Y:22.37, Z:0.01 [[ 8.80930290e-01 -4.73246050e-01 0.00000000e+00 9.76320102e+01] [ 4.73246050e-01 8.80930290e-01 0.00000000e+00 2.23673652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29133874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.910371743 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:97.65, Y:22.38, Z:0.02 [[ 8.78501793e-01 -4.77739049e-01 0.00000000e+00 9.76474512e+01] [ 4.77739049e-01 8.78501793e-01 0.00000000e+00 2.23838364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72688882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.940371743 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:97.69, Y:22.39, Z:0.01 [[ 8.81470789e-01 -4.72238550e-01 0.00000000e+00 9.76877880e+01] [ 4.72238550e-01 8.81470789e-01 0.00000000e+00 2.23939665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40829337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.970371743 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:97.71, Y:22.41, Z:0.02 [[ 8.78957084e-01 -4.76900875e-01 0.00000000e+00 9.77054006e+01] [ 4.76900875e-01 8.78957084e-01 0.00000000e+00 2.24095480e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66229592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000371743 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:97.75, Y:22.42, Z:0.01 [[ 8.81797909e-01 -4.71627446e-01 0.00000000e+00 9.77465901e+01] [ 4.71627446e-01 8.81797909e-01 0.00000000e+00 2.24186208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23946455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.030371743 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:97.78, Y:22.43, Z:0.01 [[ 8.80454412e-01 -4.74130813e-01 0.00000000e+00 9.77752608e+01] [ 4.74130813e-01 8.80454412e-01 0.00000000e+00 2.24339000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45114449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.060371743 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:97.79, Y:22.45, Z:0.02 [[ 8.77722518e-01 -4.79169262e-01 0.00000000e+00 9.77924112e+01] [ 4.79169262e-01 8.77722518e-01 0.00000000e+00 2.24500061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73128647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.090371743 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:97.83, Y:22.46, Z:0.01 [[ 8.80836426e-01 -4.73420734e-01 0.00000000e+00 9.78329008e+01] [ 4.73420734e-01 8.80836426e-01 0.00000000e+00 2.24597340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21030077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12037174299999 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:97.86, Y:22.47, Z:0.01 [[ 8.81655181e-01 -4.71894206e-01 0.00000000e+00 9.78646735e+01] [ 4.71894206e-01 8.81655181e-01 0.00000000e+00 2.24728040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05744116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.150371743 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:97.88, Y:22.49, Z:0.02 [[ 8.78678790e-01 -4.77413431e-01 0.00000000e+00 9.78803578e+01] [ 4.77413431e-01 8.78678790e-01 0.00000000e+00 2.24897867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54186953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.180371743 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:97.91, Y:22.50, Z:0.02 [[ 8.80640317e-01 -4.73785427e-01 0.00000000e+00 9.79100249e+01] [ 4.73785427e-01 8.80640317e-01 0.00000000e+00 2.25036781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57799974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.210371743 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:97.95, Y:22.51, Z:0.01 [[ 8.85558136e-01 -4.64528565e-01 0.00000000e+00 9.79514647e+01] [ 4.64528565e-01 8.85558136e-01 0.00000000e+00 2.25134935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04105711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.240371743 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:97.98, Y:22.53, Z:0.01 [[ 8.88162963e-01 -4.59528619e-01 0.00000000e+00 9.79789987e+01] [ 4.59528619e-01 8.88162963e-01 0.00000000e+00 2.25288949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06106762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.270371743 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:98.00, Y:22.54, Z:0.01 [[ 8.88908671e-01 -4.58084462e-01 0.00000000e+00 9.80034077e+01] [ 4.58084462e-01 8.88908671e-01 0.00000000e+00 2.25430811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06535720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.300371743 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:98.03, Y:22.56, Z:0.01 [[ 8.89794161e-01 -4.56362084e-01 0.00000000e+00 9.80334993e+01] [ 4.56362084e-01 8.89794161e-01 0.00000000e+00 2.25575360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02656360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.330371743 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:98.06, Y:22.57, Z:0.01 [[ 8.90006197e-01 -4.55948428e-01 0.00000000e+00 9.80602270e+01] [ 4.55948428e-01 8.90006197e-01 0.00000000e+00 2.25719968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03253103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360371743 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:98.09, Y:22.59, Z:0.01 [[ 8.90490371e-01 -4.55002087e-01 0.00000000e+00 9.80910337e+01] [ 4.55002087e-01 8.90490371e-01 0.00000000e+00 2.25865268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70951927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.390371743 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:98.12, Y:22.60, Z:0.01 [[ 8.90353041e-01 -4.55270758e-01 0.00000000e+00 9.81193849e+01] [ 4.55270758e-01 8.90353041e-01 0.00000000e+00 2.26005499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21047940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420371743 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:98.15, Y:22.61, Z:0.01 [[ 8.90266254e-01 -4.55440442e-01 0.00000000e+00 9.81511798e+01] [ 4.55440442e-01 8.90266254e-01 0.00000000e+00 2.26148865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38961560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.450371743 meters Centerline goodness : 0.996388 Centerline is valid? [True, True] Translation: X:98.18, Y:22.63, Z:0.01 [[ 8.89171589e-01 -4.57573913e-01 0.00000000e+00 9.81791090e+01] [ 4.57573913e-01 8.89171589e-01 0.00000000e+00 2.26294690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85516288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48037174299999 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:98.19, Y:22.65, Z:0.02 [[ 8.83470699e-01 -4.68486418e-01 0.00000000e+00 9.81908088e+01] [ 4.68486418e-01 8.83470699e-01 0.00000000e+00 2.26465610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53475800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.510371743 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:98.22, Y:22.66, Z:0.02 [[ 8.83605686e-01 -4.68231772e-01 0.00000000e+00 9.82211385e+01] [ 4.68231772e-01 8.83605686e-01 0.00000000e+00 2.26610642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53475800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.540371743 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:98.27, Y:22.67, Z:0.01 [[ 8.87075270e-01 -4.61624811e-01 0.00000000e+00 9.82658694e+01] [ 4.61624811e-01 8.87075270e-01 0.00000000e+00 2.26712356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92061798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.570371743 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:98.28, Y:22.69, Z:0.01 [[ 8.81805777e-01 -4.71612735e-01 0.00000000e+00 9.82753678e+01] [ 4.71612735e-01 8.81805777e-01 0.00000000e+00 2.26875323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43011255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.600371743 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:98.32, Y:22.70, Z:0.01 [[ 8.85253947e-01 -4.65107998e-01 0.00000000e+00 9.83230818e+01] [ 4.65107998e-01 8.85253947e-01 0.00000000e+00 2.26982148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.28894529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.630371743 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:98.33, Y:22.72, Z:0.01 [[ 8.79219226e-01 -4.76417413e-01 0.00000000e+00 9.83291021e+01] [ 4.76417413e-01 8.79219226e-01 0.00000000e+00 2.27155393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38749094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.660371743 meters Centerline goodness : 0.995945 Centerline is valid? [True, True] Translation: X:98.37, Y:22.73, Z:0.01 [[ 8.81405287e-01 -4.72360794e-01 0.00000000e+00 9.83730344e+01] [ 4.72360794e-01 8.81405287e-01 0.00000000e+00 2.27260145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98890543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.690371743 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:98.40, Y:22.74, Z:0.01 [[ 8.80419745e-01 -4.74195184e-01 0.00000000e+00 9.84028908e+01] [ 4.74195184e-01 8.80419745e-01 0.00000000e+00 2.27404487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06308965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720371743 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:98.41, Y:22.76, Z:0.02 [[ 8.75551657e-01 -4.83124514e-01 0.00000000e+00 9.84141253e+01] [ 4.83124514e-01 8.75551657e-01 0.00000000e+00 2.27578376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58394835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.750371743 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:98.44, Y:22.77, Z:0.02 [[ 8.74156927e-01 -4.85643560e-01 0.00000000e+00 9.84422303e+01] [ 4.85643560e-01 8.74156927e-01 0.00000000e+00 2.27725864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62494195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780371743 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:98.49, Y:22.78, Z:0.01 [[ 8.77766426e-01 -4.79088824e-01 0.00000000e+00 9.84873335e+01] [ 4.79088824e-01 8.77766426e-01 0.00000000e+00 2.27827795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13692272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.810371743 meters Centerline goodness : 0.995734 Centerline is valid? [True, True] Translation: X:98.50, Y:22.80, Z:0.02 [[ 8.71998630e-01 -4.89508313e-01 0.00000000e+00 9.84967307e+01] [ 4.89508313e-01 8.71998630e-01 0.00000000e+00 2.28010541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55766342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.840371743 meters Centerline goodness : 0.995674 Centerline is valid? [True, True] Translation: X:98.53, Y:22.82, Z:0.02 [[ 8.71463330e-01 -4.90460665e-01 0.00000000e+00 9.85263228e+01] [ 4.90460665e-01 8.71463330e-01 0.00000000e+00 2.28157091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54699753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87037174299999 meters Centerline goodness : 0.996134 Centerline is valid? [True, True] Translation: X:98.55, Y:22.83, Z:0.02 [[ 8.71322261e-01 -4.90711236e-01 0.00000000e+00 9.85547302e+01] [ 4.90711236e-01 8.71322261e-01 0.00000000e+00 2.28302078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53050183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.900371743 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:98.58, Y:22.85, Z:0.02 [[ 8.71279920e-01 -4.90786410e-01 0.00000000e+00 9.85841920e+01] [ 4.90786410e-01 8.71279920e-01 0.00000000e+00 2.28460176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52632805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.930371743 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:98.61, Y:22.86, Z:0.02 [[ 8.72104201e-01 -4.89320205e-01 0.00000000e+00 9.86130684e+01] [ 4.89320205e-01 8.72104201e-01 0.00000000e+00 2.28633337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63402675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.960371743 meters Centerline goodness : 0.996019 Centerline is valid? [True, True] Translation: X:98.64, Y:22.88, Z:0.02 [[ 8.72702474e-01 -4.88252386e-01 0.00000000e+00 9.86424289e+01] [ 4.88252386e-01 8.72702474e-01 0.00000000e+00 2.28790693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66364562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.990371743 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:98.67, Y:22.90, Z:0.02 [[ 8.73998223e-01 -4.85929116e-01 0.00000000e+00 9.86716322e+01] [ 4.85929116e-01 8.73998223e-01 0.00000000e+00 2.28957196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71418157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.020371743 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:98.70, Y:22.91, Z:0.02 [[ 8.74834926e-01 -4.84421153e-01 0.00000000e+00 9.87010488e+01] [ 4.84421153e-01 8.74834926e-01 0.00000000e+00 2.29113456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80804086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.050371743 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:98.73, Y:22.93, Z:0.02 [[ 8.75598150e-01 -4.83040246e-01 0.00000000e+00 9.87289240e+01] [ 4.83040246e-01 8.75598150e-01 0.00000000e+00 2.29264042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81733691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.080371743 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:98.76, Y:22.94, Z:0.02 [[ 8.77150496e-01 -4.80215585e-01 0.00000000e+00 9.87577579e+01] [ 4.80215585e-01 8.77150496e-01 0.00000000e+00 2.29431919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87728310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.110371743 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:98.79, Y:22.96, Z:0.02 [[ 8.77769640e-01 -4.79082935e-01 0.00000000e+00 9.87865145e+01] [ 4.79082935e-01 8.77769640e-01 0.00000000e+00 2.29584120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82053864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140371743 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:98.83, Y:22.97, Z:0.01 [[ 8.83393245e-01 -4.68632451e-01 0.00000000e+00 9.88319405e+01] [ 4.68632451e-01 8.83393245e-01 0.00000000e+00 2.29685141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12544131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.170371743 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:98.86, Y:22.98, Z:0.01 [[ 8.83713362e-01 -4.68028518e-01 0.00000000e+00 9.88617069e+01] [ 4.68028518e-01 8.83713362e-01 0.00000000e+00 2.29837341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03588309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.200371743 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:98.89, Y:23.00, Z:0.01 [[ 8.83401442e-01 -4.68617000e-01 0.00000000e+00 9.88877542e+01] [ 4.68617000e-01 8.83401442e-01 0.00000000e+00 2.29989563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07670608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23037174299999 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:98.90, Y:23.02, Z:0.02 [[ 8.79591070e-01 -4.75730542e-01 0.00000000e+00 9.88965977e+01] [ 4.75730542e-01 8.79591070e-01 0.00000000e+00 2.30186481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65159922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.260371743 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:98.95, Y:23.03, Z:0.01 [[ 8.84808205e-01 -4.65955406e-01 0.00000000e+00 9.89454632e+01] [ 4.65955406e-01 8.84808205e-01 0.00000000e+00 2.30259418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55338839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.290371743 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:98.95, Y:23.05, Z:0.02 [[ 8.80094061e-01 -4.74799372e-01 0.00000000e+00 9.89501343e+01] [ 4.74799372e-01 8.80094061e-01 0.00000000e+00 2.30452378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61930308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.320371743 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:98.98, Y:23.06, Z:0.02 [[ 8.80214917e-01 -4.74575285e-01 0.00000000e+00 9.89800667e+01] [ 4.74575285e-01 8.80214917e-01 0.00000000e+00 2.30602410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61906650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.350371743 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:99.03, Y:23.07, Z:0.01 [[ 8.85087805e-01 -4.65424084e-01 0.00000000e+00 9.90282573e+01] [ 4.65424084e-01 8.85087805e-01 0.00000000e+00 2.30696662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72817564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.380371743 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:99.06, Y:23.08, Z:0.01 [[ 8.84647263e-01 -4.66260893e-01 0.00000000e+00 9.90583153e+01] [ 4.66260893e-01 8.84647263e-01 0.00000000e+00 2.30838472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.83687915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.410371743 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:99.08, Y:23.10, Z:0.01 [[ 8.83170964e-01 -4.69051222e-01 0.00000000e+00 9.90830490e+01] [ 4.69051222e-01 8.83170964e-01 0.00000000e+00 2.30981976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06811171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.440371743 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:99.09, Y:23.11, Z:0.02 [[ 8.78027874e-01 -4.78609499e-01 0.00000000e+00 9.90870695e+01] [ 4.78609499e-01 8.78027874e-01 0.00000000e+00 2.31140544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62590637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.470371743 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:99.14, Y:23.12, Z:0.01 [[ 8.81819500e-01 -4.71587076e-01 0.00000000e+00 9.91399722e+01] [ 4.71587076e-01 8.81819500e-01 0.00000000e+00 2.31248290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06291520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.500371743 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:99.15, Y:23.14, Z:0.02 [[ 8.75461734e-01 -4.83287442e-01 0.00000000e+00 9.91453883e+01] [ 4.83287442e-01 8.75461734e-01 0.00000000e+00 2.31441805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57798097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.530371743 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:99.20, Y:23.15, Z:0.01 [[ 8.80870833e-01 -4.73356711e-01 0.00000000e+00 9.91975712e+01] [ 4.73356711e-01 8.80870833e-01 0.00000000e+00 2.31515284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44711678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.560371743 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:99.20, Y:23.17, Z:0.02 [[ 8.74290146e-01 -4.85403688e-01 0.00000000e+00 9.91993613e+01] [ 4.85403688e-01 8.74290146e-01 0.00000000e+00 2.31718296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64766298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.590371743 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:99.25, Y:23.18, Z:0.01 [[ 8.78431798e-01 -4.77867739e-01 0.00000000e+00 9.92456775e+01] [ 4.77867739e-01 8.78431798e-01 0.00000000e+00 2.31816801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79535576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62037174299999 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:99.27, Y:23.20, Z:0.01 [[ 8.78017207e-01 -4.78629068e-01 0.00000000e+00 9.92741523e+01] [ 4.78629068e-01 8.78017207e-01 0.00000000e+00 2.31978146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.20434084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.650371743 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:99.30, Y:23.21, Z:0.01 [[ 8.80076161e-01 -4.74832551e-01 0.00000000e+00 9.93045066e+01] [ 4.74832551e-01 8.80076161e-01 0.00000000e+00 2.32109313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64243363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.680371743 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:99.33, Y:23.23, Z:0.01 [[ 8.79079914e-01 -4.76674423e-01 0.00000000e+00 9.93285036e+01] [ 4.76674423e-01 8.79079914e-01 0.00000000e+00 2.32266237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43742240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.710371743 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:99.36, Y:23.24, Z:0.01 [[ 8.79758093e-01 -4.75421599e-01 0.00000000e+00 9.93572023e+01] [ 4.75421599e-01 8.79758093e-01 0.00000000e+00 2.32418134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.41359129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.740371743 meters Centerline goodness : 0.993111 Centerline is valid? [True, True] Translation: X:99.36, Y:23.26, Z:0.02 [[ 8.77502710e-01 -4.79571677e-01 0.00000000e+00 9.93643755e+01] [ 4.79571677e-01 8.77502710e-01 0.00000000e+00 2.32634226e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70972125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.770371743 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:99.39, Y:23.28, Z:0.02 [[ 8.79270336e-01 -4.76323079e-01 0.00000000e+00 9.93927471e+01] [ 4.76323079e-01 8.79270336e-01 0.00000000e+00 2.32789882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68833922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.800371743 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:99.44, Y:23.29, Z:0.01 [[ 8.88260865e-01 -4.59339347e-01 0.00000000e+00 9.94417735e+01] [ 4.59339347e-01 8.88260865e-01 0.00000000e+00 2.32897806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.37313526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.830371743 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:99.45, Y:23.31, Z:0.02 [[ 8.84869330e-01 -4.65839316e-01 0.00000000e+00 9.94456431e+01] [ 4.65839316e-01 8.84869330e-01 0.00000000e+00 2.33101175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75729890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.860371743 meters Centerline goodness : 0.993192 Centerline is valid? [True, True] Translation: X:99.50, Y:23.32, Z:0.01 [[ 8.91878575e-01 -4.52274925e-01 0.00000000e+00 9.94952356e+01] [ 4.52274925e-01 8.91878575e-01 0.00000000e+00 2.33185763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63679854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.890371743 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:99.50, Y:23.34, Z:0.02 [[ 8.87617203e-01 -4.60581915e-01 0.00000000e+00 9.94986035e+01] [ 4.60581915e-01 8.87617203e-01 0.00000000e+00 2.33385747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74424148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920371743 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:99.55, Y:23.35, Z:0.01 [[ 8.95061558e-01 -4.45942605e-01 0.00000000e+00 9.95506011e+01] [ 4.45942605e-01 8.95061558e-01 0.00000000e+00 2.33472724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21071799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.950371743 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:99.58, Y:23.36, Z:0.01 [[ 8.94598922e-01 -4.46869968e-01 0.00000000e+00 9.95767763e+01] [ 4.46869968e-01 8.94598922e-01 0.00000000e+00 2.33613030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66795331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98037174299999 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:99.61, Y:23.37, Z:0.01 [[ 8.93759011e-01 -4.48547467e-01 0.00000000e+00 9.96060837e+01] [ 4.48547467e-01 8.93759011e-01 0.00000000e+00 2.33746097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03828609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.010371743 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:99.63, Y:23.39, Z:0.01 [[ 8.92726380e-01 -4.50599168e-01 0.00000000e+00 9.96341833e+01] [ 4.50599168e-01 8.92726380e-01 0.00000000e+00 2.33885451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13110895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.040371743 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:99.66, Y:23.40, Z:0.01 [[ 8.92433440e-01 -4.51179071e-01 0.00000000e+00 9.96637223e+01] [ 4.51179071e-01 8.92433440e-01 0.00000000e+00 2.34017322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02698880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.070371743 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:99.69, Y:23.42, Z:0.01 [[ 8.89451106e-01 -4.57030337e-01 0.00000000e+00 9.96874002e+01] [ 4.57030337e-01 8.89451106e-01 0.00000000e+00 2.34153520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17534384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.100371743 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:99.72, Y:23.43, Z:0.01 [[ 8.89571657e-01 -4.56795652e-01 0.00000000e+00 9.97212968e+01] [ 4.56795652e-01 8.89571657e-01 0.00000000e+00 2.34283082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00743002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.130371743 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:99.75, Y:23.44, Z:0.01 [[ 8.87348962e-01 -4.61098492e-01 0.00000000e+00 9.97474842e+01] [ 4.61098492e-01 8.87348962e-01 0.00000000e+00 2.34403582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08181354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.160371743 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:99.78, Y:23.45, Z:0.01 [[ 8.85654268e-01 -4.64345256e-01 0.00000000e+00 9.97757480e+01] [ 4.64345256e-01 8.85654268e-01 0.00000000e+00 2.34545975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20619016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.190371743 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:99.78, Y:23.47, Z:0.02 [[ 8.78739573e-01 -4.77301543e-01 0.00000000e+00 9.97798875e+01] [ 4.77301543e-01 8.78739573e-01 0.00000000e+00 2.34725195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92987105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220371743 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:99.81, Y:23.49, Z:0.02 [[ 8.76695856e-01 -4.81045087e-01 0.00000000e+00 9.98102095e+01] [ 4.81045087e-01 8.76695856e-01 0.00000000e+00 2.34855451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09424840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.250371743 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:99.85, Y:23.49, Z:0.02 [[ 8.79006548e-01 -4.76809698e-01 0.00000000e+00 9.98533094e+01] [ 4.76809698e-01 8.79006548e-01 0.00000000e+00 2.34945579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80444977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280371743 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:99.88, Y:23.51, Z:0.02 [[ 8.75408301e-01 -4.83384222e-01 0.00000000e+00 9.98808763e+01] [ 4.83384222e-01 8.75408301e-01 0.00000000e+00 2.35058387e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81954444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.310371743 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:99.91, Y:23.52, Z:0.02 [[ 8.73230979e-01 -4.87306534e-01 0.00000000e+00 9.99104342e+01] [ 4.87306534e-01 8.73230979e-01 0.00000000e+00 2.35192720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89229146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.340371743 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:99.94, Y:23.53, Z:0.02 [[ 8.71420907e-01 -4.90536036e-01 0.00000000e+00 9.99385875e+01] [ 4.90536036e-01 8.71420907e-01 0.00000000e+00 2.35318857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92980784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37037174299999 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:99.97, Y:23.55, Z:0.02 [[ 8.69103459e-01 -4.94630344e-01 0.00000000e+00 9.99680167e+01] [ 4.94630344e-01 8.69103459e-01 0.00000000e+00 2.35452597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89454576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.400371743 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:100.00, Y:23.56, Z:0.02 [[ 8.68990026e-01 -4.94829602e-01 0.00000000e+00 9.99978391e+01] [ 4.94829602e-01 8.68990026e-01 0.00000000e+00 2.35603596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89454576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.430371743 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:100.03, Y:23.57, Z:0.02 [[ 8.68161469e-01 -4.96281840e-01 0.00000000e+00 1.00027291e+02] [ 4.96281840e-01 8.68161469e-01 0.00000000e+00 2.35744178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82194022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.460371743 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:100.06, Y:23.59, Z:0.02 [[ 8.67033021e-01 -4.98250680e-01 0.00000000e+00 1.00055426e+02] [ 4.98250680e-01 8.67033021e-01 0.00000000e+00 2.35884405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89965610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.490371743 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:100.08, Y:23.60, Z:0.02 [[ 8.67295095e-01 -4.97794353e-01 0.00000000e+00 1.00084034e+02] [ 4.97794353e-01 8.67295095e-01 0.00000000e+00 2.36020323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76554561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.520371743 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:100.11, Y:23.62, Z:0.02 [[ 8.67562867e-01 -4.97327531e-01 0.00000000e+00 1.00111759e+02] [ 4.97327531e-01 8.67562867e-01 0.00000000e+00 2.36161144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75933958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.550371743 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:100.14, Y:23.63, Z:0.02 [[ 8.68192864e-01 -4.96226914e-01 0.00000000e+00 1.00140430e+02] [ 4.96226914e-01 8.68192864e-01 0.00000000e+00 2.36310958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81822311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.580371743 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:100.16, Y:23.65, Z:0.02 [[ 8.66199918e-01 -4.99697611e-01 0.00000000e+00 1.00156951e+02] [ 4.99697611e-01 8.66199918e-01 0.00000000e+00 2.36477852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93879182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.610371743 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:100.20, Y:23.66, Z:0.02 [[ 8.70404481e-01 -4.92337323e-01 0.00000000e+00 1.00198309e+02] [ 4.92337323e-01 8.70404481e-01 0.00000000e+00 2.36596611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75521372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640371743 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:100.23, Y:23.67, Z:0.02 [[ 8.70981456e-01 -4.91315889e-01 0.00000000e+00 1.00225756e+02] [ 4.91315889e-01 8.70981456e-01 0.00000000e+00 2.36739391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72740782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.670371743 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:100.24, Y:23.69, Z:0.02 [[ 8.68515020e-01 -4.95662850e-01 0.00000000e+00 1.00240424e+02] [ 4.95662850e-01 8.68515020e-01 0.00000000e+00 2.36914156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90494496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.700371743 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:100.27, Y:23.71, Z:0.02 [[ 8.69988318e-01 -4.93072334e-01 0.00000000e+00 1.00269908e+02] [ 4.93072334e-01 8.69988318e-01 0.00000000e+00 2.37068431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96775305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73037174299999 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:100.31, Y:23.72, Z:0.01 [[ 8.74971369e-01 -4.84174661e-01 0.00000000e+00 1.00314362e+02] [ 4.84174661e-01 8.74971369e-01 0.00000000e+00 2.37177902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39714629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.760371743 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:100.33, Y:23.74, Z:0.02 [[ 8.73031277e-01 -4.87664219e-01 0.00000000e+00 1.00325085e+02] [ 4.87664219e-01 8.73031277e-01 0.00000000e+00 2.37366076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89052461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.790371743 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:100.37, Y:23.75, Z:0.01 [[ 8.77823774e-01 -4.78983739e-01 0.00000000e+00 1.00367699e+02] [ 4.78983739e-01 8.77823774e-01 0.00000000e+00 2.37475756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40891637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.820371743 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:100.38, Y:23.77, Z:0.02 [[ 8.75680478e-01 -4.82890982e-01 0.00000000e+00 1.00381472e+02] [ 4.82890982e-01 8.75680478e-01 0.00000000e+00 2.37655123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78911857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.850371743 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:100.41, Y:23.78, Z:0.02 [[ 8.78553562e-01 -4.77643841e-01 0.00000000e+00 1.00410881e+02] [ 4.77643841e-01 8.78553562e-01 0.00000000e+00 2.37808245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70453461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.880371743 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:100.45, Y:23.79, Z:0.01 [[ 8.83405534e-01 -4.68609286e-01 0.00000000e+00 1.00453390e+02] [ 4.68609286e-01 8.83405534e-01 0.00000000e+00 2.37923386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23852166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.910371743 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:100.48, Y:23.81, Z:0.01 [[ 8.84124755e-01 -4.67250916e-01 0.00000000e+00 1.00481248e+02] [ 4.67250916e-01 8.84124755e-01 0.00000000e+00 2.38075931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30591972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.940371743 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:100.51, Y:23.82, Z:0.01 [[ 8.85552339e-01 -4.64539617e-01 0.00000000e+00 1.00509531e+02] [ 4.64539617e-01 8.85552339e-01 0.00000000e+00 2.38219195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33519545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.970371743 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:100.54, Y:23.84, Z:0.01 [[ 8.86018547e-01 -4.63649797e-01 0.00000000e+00 1.00539296e+02] [ 4.63649797e-01 8.86018547e-01 0.00000000e+00 2.38362886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39439519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000371743 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:100.57, Y:23.85, Z:0.02 [[ 8.85476901e-01 -4.64683394e-01 0.00000000e+00 1.00565242e+02] [ 4.64683394e-01 8.85476901e-01 0.00000000e+00 2.38503910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55549628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.030371743 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:100.60, Y:23.86, Z:0.02 [[ 8.85239048e-01 -4.65136354e-01 0.00000000e+00 1.00595604e+02] [ 4.65136354e-01 8.85239048e-01 0.00000000e+00 2.38645531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52403368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.060371743 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:100.63, Y:23.88, Z:0.01 [[ 8.84468677e-01 -4.66599570e-01 0.00000000e+00 1.00625003e+02] [ 4.66599570e-01 8.84468677e-01 0.00000000e+00 2.38786466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45076422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.090371743 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:100.64, Y:23.90, Z:0.02 [[ 8.78750217e-01 -4.77281946e-01 0.00000000e+00 1.00637245e+02] [ 4.77281946e-01 8.78750217e-01 0.00000000e+00 2.38953455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89184055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12037174299999 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:100.67, Y:23.91, Z:0.02 [[ 8.77944130e-01 -4.78763098e-01 0.00000000e+00 1.00667349e+02] [ 4.78763098e-01 8.77944130e-01 0.00000000e+00 2.39099793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84980266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.150371743 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:100.71, Y:23.92, Z:0.01 [[ 8.79691051e-01 -4.75545639e-01 0.00000000e+00 1.00710481e+02] [ 4.75545639e-01 8.79691051e-01 0.00000000e+00 2.39199504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27557035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.180371743 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:100.74, Y:23.93, Z:0.01 [[ 8.78632884e-01 -4.77497910e-01 0.00000000e+00 1.00740428e+02] [ 4.77497910e-01 8.78632884e-01 0.00000000e+00 2.39341363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20547198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.210371743 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:100.75, Y:23.95, Z:0.02 [[ 8.73047359e-01 -4.87635427e-01 0.00000000e+00 1.00752192e+02] [ 4.87635427e-01 8.73047359e-01 0.00000000e+00 2.39514523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58873249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.240371743 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:100.79, Y:23.96, Z:0.01 [[ 8.73881185e-01 -4.86139563e-01 0.00000000e+00 1.00794854e+02] [ 4.86139563e-01 8.73881185e-01 0.00000000e+00 2.39617228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27235552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.270371743 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:100.81, Y:23.98, Z:0.02 [[ 8.68596470e-01 -4.95520103e-01 0.00000000e+00 1.00807886e+02] [ 4.95520103e-01 8.68596470e-01 0.00000000e+00 2.39789068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84688700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.300371743 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:100.85, Y:23.99, Z:0.01 [[ 8.70557116e-01 -4.92067382e-01 0.00000000e+00 1.00850390e+02] [ 4.92067382e-01 8.70557116e-01 0.00000000e+00 2.39897944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37796156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.330371743 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:100.86, Y:24.01, Z:0.02 [[ 8.64358078e-01 -5.02876836e-01 0.00000000e+00 1.00863836e+02] [ 5.02876836e-01 8.64358078e-01 0.00000000e+00 2.40059077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90155457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.360371743 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:100.90, Y:24.02, Z:0.02 [[ 8.65759265e-01 -5.00460683e-01 0.00000000e+00 1.00902276e+02] [ 5.00460683e-01 8.65759265e-01 0.00000000e+00 2.40175091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64326441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.390371743 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:100.93, Y:24.03, Z:0.02 [[ 8.64185064e-01 -5.03174099e-01 0.00000000e+00 1.00929629e+02] [ 5.03174099e-01 8.64185064e-01 0.00000000e+00 2.40319974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64717352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.420371743 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:100.96, Y:24.05, Z:0.02 [[ 8.63651538e-01 -5.04089298e-01 0.00000000e+00 1.00957448e+02] [ 5.04089298e-01 8.63651538e-01 0.00000000e+00 2.40472717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64819320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.450371743 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:100.99, Y:24.06, Z:0.02 [[ 8.63645732e-01 -5.04099246e-01 0.00000000e+00 1.00988173e+02] [ 5.04099246e-01 8.63645732e-01 0.00000000e+00 2.40622220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52216346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48037174299999 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:101.00, Y:24.08, Z:0.02 [[ 8.60076215e-01 -5.10165566e-01 0.00000000e+00 1.01003684e+02] [ 5.10165566e-01 8.60076215e-01 0.00000000e+00 2.40792055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83556376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.510371743 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:101.04, Y:24.09, Z:0.01 [[ 8.62925469e-01 -5.05331214e-01 0.00000000e+00 1.01042780e+02] [ 5.05331214e-01 8.62925469e-01 0.00000000e+00 2.40907999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42336100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.540371743 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:101.06, Y:24.11, Z:0.02 [[ 8.60430861e-01 -5.09567202e-01 0.00000000e+00 1.01058555e+02] [ 5.09567202e-01 8.60430861e-01 0.00000000e+00 2.41083622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86348089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.570371743 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:101.09, Y:24.12, Z:0.02 [[ 8.60995437e-01 -5.08612680e-01 0.00000000e+00 1.01086755e+02] [ 5.08612680e-01 8.60995437e-01 0.00000000e+00 2.41237224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88091926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.600371743 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:101.12, Y:24.14, Z:0.02 [[ 8.61942554e-01 -5.07005950e-01 0.00000000e+00 1.01116130e+02] [ 5.07005950e-01 8.61942554e-01 0.00000000e+00 2.41399230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91635343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.630371743 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:101.14, Y:24.16, Z:0.02 [[ 8.62921912e-01 -5.05337286e-01 0.00000000e+00 1.01144036e+02] [ 5.05337286e-01 8.62921912e-01 0.00000000e+00 2.41557392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94014053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.660371743 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:101.17, Y:24.17, Z:0.02 [[ 8.65878930e-01 -5.00253615e-01 0.00000000e+00 1.01171702e+02] [ 5.00253615e-01 8.65878930e-01 0.00000000e+00 2.41726249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88579027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.690371743 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:101.21, Y:24.19, Z:0.01 [[ 8.73635149e-01 -4.86581573e-01 0.00000000e+00 1.01214581e+02] [ 4.86581573e-01 8.73635149e-01 0.00000000e+00 2.41857135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32703390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.720371743 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:101.22, Y:24.20, Z:0.02 [[ 8.71175417e-01 -4.90971887e-01 0.00000000e+00 1.01224693e+02] [ 4.90971887e-01 8.71175417e-01 0.00000000e+00 2.42043945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93314131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.750371743 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:101.25, Y:24.22, Z:0.02 [[ 8.73369970e-01 -4.87057384e-01 0.00000000e+00 1.01253674e+02] [ 4.87057384e-01 8.73369970e-01 0.00000000e+00 2.42203629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92179382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780371743 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:101.29, Y:24.23, Z:0.01 [[ 8.80553156e-01 -4.73947401e-01 0.00000000e+00 1.01294941e+02] [ 4.73947401e-01 8.80553156e-01 0.00000000e+00 2.42333647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41710776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.810371743 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:101.31, Y:24.25, Z:0.02 [[ 8.78546029e-01 -4.77657697e-01 0.00000000e+00 1.01306880e+02] [ 4.77657697e-01 8.78546029e-01 0.00000000e+00 2.42515870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91151640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.840371743 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:101.35, Y:24.26, Z:0.01 [[ 8.85135125e-01 -4.65334085e-01 0.00000000e+00 1.01352285e+02] [ 4.65334085e-01 8.85135125e-01 0.00000000e+00 2.42633536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30788047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87037174299999 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:101.38, Y:24.28, Z:0.01 [[ 8.85540703e-01 -4.64561796e-01 0.00000000e+00 1.01381139e+02] [ 4.64561796e-01 8.85540703e-01 0.00000000e+00 2.42785040e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34509028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.900371743 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:101.39, Y:24.30, Z:0.02 [[ 8.81468388e-01 -4.72243032e-01 0.00000000e+00 1.01389699e+02] [ 4.72243032e-01 8.81468388e-01 0.00000000e+00 2.42962103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90558305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.930371743 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:101.44, Y:24.31, Z:0.01 [[ 8.86829418e-01 -4.62096942e-01 0.00000000e+00 1.01438189e+02] [ 4.62096942e-01 8.86829418e-01 0.00000000e+00 2.43053727e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19871181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.960371743 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:101.44, Y:24.32, Z:0.02 [[ 8.81651485e-01 -4.71901111e-01 0.00000000e+00 1.01443333e+02] [ 4.71901111e-01 8.81651485e-01 0.00000000e+00 2.43230591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86861048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.990371743 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:101.49, Y:24.33, Z:0.01 [[ 8.85837164e-01 -4.63996248e-01 0.00000000e+00 1.01491431e+02] [ 4.63996248e-01 8.85837164e-01 0.00000000e+00 2.43308733e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30247415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.020371743 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:101.50, Y:24.35, Z:0.02 [[ 8.80067601e-01 -4.74848416e-01 0.00000000e+00 1.01498529e+02] [ 4.74848416e-01 8.80067601e-01 0.00000000e+00 2.43484366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01572693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.050371743 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:101.53, Y:24.36, Z:0.02 [[ 8.79519601e-01 -4.75862660e-01 0.00000000e+00 1.01527644e+02] [ 4.75862660e-01 8.79519601e-01 0.00000000e+00 2.43615133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89860305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.080371743 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:101.57, Y:24.37, Z:0.01 [[ 8.82207422e-01 -4.70860982e-01 0.00000000e+00 1.01574677e+02] [ 4.70860982e-01 8.82207422e-01 0.00000000e+00 2.43686555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26419975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.110371743 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:101.59, Y:24.39, Z:0.02 [[ 8.77191845e-01 -4.80140050e-01 0.00000000e+00 1.01586371e+02] [ 4.80140050e-01 8.77191845e-01 0.00000000e+00 2.43873793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89489943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.140371743 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:101.63, Y:24.40, Z:0.01 [[ 8.81064641e-01 -4.72995875e-01 0.00000000e+00 1.01632021e+02] [ 4.72995875e-01 8.81064641e-01 0.00000000e+00 2.43955057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23788771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.170371743 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:101.66, Y:24.41, Z:0.01 [[ 8.79995598e-01 -4.74981838e-01 0.00000000e+00 1.01661017e+02] [ 4.74981838e-01 8.79995598e-01 0.00000000e+00 2.44068143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17440372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.200371743 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:101.69, Y:24.42, Z:0.01 [[ 8.78254699e-01 -4.78193144e-01 0.00000000e+00 1.01690172e+02] [ 4.78193144e-01 8.78254699e-01 0.00000000e+00 2.44188827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28916765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23037174299999 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:101.70, Y:24.44, Z:0.02 [[ 8.73046796e-01 -4.87636435e-01 0.00000000e+00 1.01700982e+02] [ 4.87636435e-01 8.73046796e-01 0.00000000e+00 2.44359653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89648744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.260371743 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:101.75, Y:24.44, Z:0.01 [[ 8.76415713e-01 -4.81555291e-01 0.00000000e+00 1.01745657e+02] [ 4.81555291e-01 8.76415713e-01 0.00000000e+00 2.44440241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34400743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.290371743 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:101.78, Y:24.46, Z:0.01 [[ 8.73565218e-01 -4.86707108e-01 0.00000000e+00 1.01776124e+02] [ 4.86707108e-01 8.73565218e-01 0.00000000e+00 2.44563132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34751423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.320371743 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:101.80, Y:24.47, Z:0.01 [[ 8.73395001e-01 -4.87012497e-01 0.00000000e+00 1.01804101e+02] [ 4.87012497e-01 8.73395001e-01 0.00000000e+00 2.44709229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34751423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.350371743 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:101.82, Y:24.49, Z:0.02 [[ 8.67653435e-01 -4.97169506e-01 0.00000000e+00 1.01816730e+02] [ 4.97169506e-01 8.67653435e-01 0.00000000e+00 2.44877991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78965638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.380371743 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:101.86, Y:24.50, Z:0.01 [[ 8.69403014e-01 -4.94103633e-01 0.00000000e+00 1.01861455e+02] [ 4.94103633e-01 8.69403014e-01 0.00000000e+00 2.44956944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26240246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.410371743 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:101.87, Y:24.51, Z:0.02 [[ 8.64560294e-01 -5.02529102e-01 0.00000000e+00 1.01873539e+02] [ 5.02529102e-01 8.64560294e-01 0.00000000e+00 2.45130250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74331945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.440371743 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:101.90, Y:24.53, Z:0.02 [[ 8.64053554e-01 -5.03399896e-01 0.00000000e+00 1.01902042e+02] [ 5.03399896e-01 8.64053554e-01 0.00000000e+00 2.45267960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72037909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.470371743 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:101.94, Y:24.54, Z:0.01 [[ 8.67195190e-01 -4.97968376e-01 0.00000000e+00 1.01943845e+02] [ 4.97968376e-01 8.67195190e-01 0.00000000e+00 2.45376886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37981367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500371743 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:101.97, Y:24.55, Z:0.01 [[ 8.66413603e-01 -4.99327016e-01 0.00000000e+00 1.01970278e+02] [ 4.99327016e-01 8.66413603e-01 0.00000000e+00 2.45533165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38595345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.530371743 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:102.00, Y:24.57, Z:0.01 [[ 8.65829870e-01 -5.00338522e-01 0.00000000e+00 1.01999030e+02] [ 5.00338522e-01 8.65829870e-01 0.00000000e+00 2.45687489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42025803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.560371743 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:102.03, Y:24.58, Z:0.01 [[ 8.66036777e-01 -4.99980300e-01 0.00000000e+00 1.02029191e+02] [ 4.99980300e-01 8.66036777e-01 0.00000000e+00 2.45833230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29743404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59037174299999 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:102.05, Y:24.60, Z:0.01 [[ 8.65032464e-01 -5.01715891e-01 0.00000000e+00 1.02054360e+02] [ 5.01715891e-01 8.65032464e-01 0.00000000e+00 2.45983814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42383735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62037174299999 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:102.08, Y:24.61, Z:0.01 [[ 8.64534926e-01 -5.02572742e-01 0.00000000e+00 1.02083409e+02] [ 5.02572742e-01 8.64534926e-01 0.00000000e+00 2.46139449e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41769317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.650371743 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:102.10, Y:24.63, Z:0.02 [[ 8.60543687e-01 -5.09376642e-01 0.00000000e+00 1.02097920e+02] [ 5.09376642e-01 8.60543687e-01 0.00000000e+00 2.46332149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75090992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.680371743 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:102.13, Y:24.65, Z:0.02 [[ 8.60418528e-01 -5.09588026e-01 0.00000000e+00 1.02127200e+02] [ 5.09588026e-01 8.60418528e-01 0.00000000e+00 2.46490195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72408806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.710371743 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:102.17, Y:24.66, Z:0.01 [[ 8.62736686e-01 -5.05653450e-01 0.00000000e+00 1.02167000e+02] [ 5.05653450e-01 8.62736686e-01 0.00000000e+00 2.46613772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36409242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.740371743 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:102.18, Y:24.68, Z:0.02 [[ 8.59300987e-01 -5.11470247e-01 0.00000000e+00 1.02182072e+02] [ 5.11470247e-01 8.59300987e-01 0.00000000e+00 2.46797781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74262211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.770371743 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:102.21, Y:24.70, Z:0.02 [[ 8.59234160e-01 -5.11582503e-01 0.00000000e+00 1.02210993e+02] [ 5.11582503e-01 8.59234160e-01 0.00000000e+00 2.46953919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79155597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.800371743 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:102.24, Y:24.71, Z:0.02 [[ 8.59012168e-01 -5.11955169e-01 0.00000000e+00 1.02238907e+02] [ 5.11955169e-01 8.59012168e-01 0.00000000e+00 2.47114931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80922400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.830371743 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:102.27, Y:24.73, Z:0.02 [[ 8.59038916e-01 -5.11910286e-01 0.00000000e+00 1.02268241e+02] [ 5.11910286e-01 8.59038916e-01 0.00000000e+00 2.47273652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86797782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860371743 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:102.31, Y:24.74, Z:0.01 [[ 8.62888961e-01 -5.05393550e-01 0.00000000e+00 1.02309577e+02] [ 5.05393550e-01 8.62888961e-01 0.00000000e+00 2.47391704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39980690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.890371743 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:102.32, Y:24.76, Z:0.02 [[ 8.59738021e-01 -5.10735288e-01 0.00000000e+00 1.02322816e+02] [ 5.10735288e-01 8.59738021e-01 0.00000000e+00 2.47583068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79318696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.920371743 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:102.35, Y:24.77, Z:0.02 [[ 8.60572439e-01 -5.09328064e-01 0.00000000e+00 1.02351841e+02] [ 5.09328064e-01 8.60572439e-01 0.00000000e+00 2.47744899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76320764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.950371743 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:102.39, Y:24.79, Z:0.02 [[ 8.65532484e-01 -5.00852793e-01 0.00000000e+00 1.02390432e+02] [ 5.00852793e-01 8.65532484e-01 0.00000000e+00 2.47892383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50129691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98037174299999 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:102.42, Y:24.80, Z:0.01 [[ 8.68304974e-01 -4.96030717e-01 0.00000000e+00 1.02421400e+02] [ 4.96030717e-01 8.68304974e-01 0.00000000e+00 2.48040892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30279674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.010371743 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:102.45, Y:24.82, Z:0.01 [[ 8.69219902e-01 -4.94425688e-01 0.00000000e+00 1.02449417e+02] [ 4.94425688e-01 8.69219902e-01 0.00000000e+00 2.48205576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35540242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.040371743 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:102.47, Y:24.84, Z:0.01 [[ 8.72016829e-01 -4.89475893e-01 0.00000000e+00 1.02474712e+02] [ 4.89475893e-01 8.72016829e-01 0.00000000e+00 2.48367298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32954029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.070371743 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:102.50, Y:24.85, Z:0.01 [[ 8.71839770e-01 -4.89791195e-01 0.00000000e+00 1.02501570e+02] [ 4.89791195e-01 8.71839770e-01 0.00000000e+00 2.48530489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37961978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.100371743 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:102.53, Y:24.87, Z:0.01 [[ 8.75323691e-01 -4.83537419e-01 0.00000000e+00 1.02531341e+02] [ 4.83537419e-01 8.75323691e-01 0.00000000e+00 2.48683122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22166291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.130371743 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:102.54, Y:24.89, Z:0.02 [[ 8.71768581e-01 -4.89917893e-01 0.00000000e+00 1.02540919e+02] [ 4.89917893e-01 8.71768581e-01 0.00000000e+00 2.48870825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74021169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.160371743 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:102.58, Y:24.90, Z:0.01 [[ 8.76464103e-01 -4.81467211e-01 0.00000000e+00 1.02584077e+02] [ 4.81467211e-01 8.76464103e-01 0.00000000e+00 2.48998621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17938955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.190371743 meters Centerline goodness : 0.993261 Centerline is valid? [True, True] Translation: X:102.61, Y:24.91, Z:0.01 [[ 8.77069403e-01 -4.80363678e-01 0.00000000e+00 1.02609674e+02] [ 4.80363678e-01 8.77069403e-01 0.00000000e+00 2.49149513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16996345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220371743 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:102.62, Y:24.93, Z:0.02 [[ 8.74560007e-01 -4.84917307e-01 0.00000000e+00 1.02617904e+02] [ 4.84917307e-01 8.74560007e-01 0.00000000e+00 2.49301767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69597159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.250371743 meters Centerline goodness : 0.992849 Centerline is valid? [True, True] Translation: X:102.66, Y:24.94, Z:0.01 [[ 8.78247883e-01 -4.78205663e-01 0.00000000e+00 1.02664062e+02] [ 4.78205663e-01 8.78247883e-01 0.00000000e+00 2.49407086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34868835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280371743 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:102.68, Y:24.96, Z:0.02 [[ 8.72546453e-01 -4.88531154e-01 0.00000000e+00 1.02679450e+02] [ 4.88531154e-01 8.72546453e-01 0.00000000e+00 2.49603423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61850678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.310371743 meters Centerline goodness : 0.993472 Centerline is valid? [True, True] Translation: X:102.71, Y:24.98, Z:0.02 [[ 8.72003322e-01 -4.89499956e-01 0.00000000e+00 1.02708793e+02] [ 4.89499956e-01 8.72003322e-01 0.00000000e+00 2.49752240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66802888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34037174299999 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:102.75, Y:24.99, Z:0.01 [[ 8.74079249e-01 -4.85783354e-01 0.00000000e+00 1.02751292e+02] [ 4.85783354e-01 8.74079249e-01 0.00000000e+00 2.49869070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37301334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37037174299999 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:102.78, Y:25.00, Z:0.01 [[ 8.73624540e-01 -4.86600620e-01 0.00000000e+00 1.02781305e+02] [ 4.86600620e-01 8.73624540e-01 0.00000000e+00 2.50014200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37488400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.400371743 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:102.81, Y:25.02, Z:0.01 [[ 8.72404161e-01 -4.88785208e-01 0.00000000e+00 1.02810125e+02] [ 4.88785208e-01 8.72404161e-01 0.00000000e+00 2.50153086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31506147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.430371743 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:102.83, Y:25.03, Z:0.01 [[ 8.69775229e-01 -4.93448124e-01 0.00000000e+00 1.02834384e+02] [ 4.93448124e-01 8.69775229e-01 0.00000000e+00 2.50300199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44009304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.460371743 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:102.86, Y:25.04, Z:0.01 [[ 8.68610615e-01 -4.95495308e-01 0.00000000e+00 1.02863510e+02] [ 4.95495308e-01 8.68610615e-01 0.00000000e+00 2.50447917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41704057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.490371743 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:102.88, Y:25.06, Z:0.02 [[ 8.63426660e-01 -5.04474383e-01 0.00000000e+00 1.02880412e+02] [ 5.04474383e-01 8.63426660e-01 0.00000000e+00 2.50600556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63522415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.520371743 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:102.91, Y:25.07, Z:0.02 [[ 8.62103164e-01 -5.06732803e-01 0.00000000e+00 1.02910419e+02] [ 5.06732803e-01 8.62103164e-01 0.00000000e+00 2.50749364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65333945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.550371743 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:102.95, Y:25.09, Z:0.01 [[ 8.63071047e-01 -5.05082536e-01 0.00000000e+00 1.02952276e+02] [ 5.05082536e-01 8.63071047e-01 0.00000000e+00 2.50854548e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25959923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.580371743 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:102.97, Y:25.10, Z:0.02 [[ 8.58817997e-01 -5.12280830e-01 0.00000000e+00 1.02967023e+02] [ 5.12280830e-01 8.58817997e-01 0.00000000e+00 2.51017352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57501886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.610371743 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:103.01, Y:25.11, Z:0.01 [[ 8.62081850e-01 -5.06769064e-01 0.00000000e+00 1.03011602e+02] [ 5.06769064e-01 8.62081850e-01 0.00000000e+00 2.51126792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01359031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640371743 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:103.02, Y:25.13, Z:0.01 [[ 8.57701722e-01 -5.14147602e-01 0.00000000e+00 1.03022097e+02] [ 5.14147602e-01 8.57701722e-01 0.00000000e+00 2.51295341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46295901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.670371743 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:103.06, Y:25.14, Z:0.01 [[ 8.61532469e-01 -5.07702476e-01 0.00000000e+00 1.03064369e+02] [ 5.07702476e-01 8.61532469e-01 0.00000000e+00 2.51418073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07907190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.700371743 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:103.09, Y:25.16, Z:0.01 [[ 8.61955076e-01 -5.06984662e-01 0.00000000e+00 1.03091926e+02] [ 5.06984662e-01 8.61955076e-01 0.00000000e+00 2.51579307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18993299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73037174299999 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:103.12, Y:25.17, Z:0.01 [[ 8.62412661e-01 -5.06205890e-01 0.00000000e+00 1.03117660e+02] [ 5.06205890e-01 8.62412661e-01 0.00000000e+00 2.51734921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23128485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.760371743 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:103.15, Y:25.19, Z:0.01 [[ 8.64063617e-01 -5.03382624e-01 0.00000000e+00 1.03146309e+02] [ 5.03382624e-01 8.64063617e-01 0.00000000e+00 2.51903199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16937136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.790371743 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:103.17, Y:25.21, Z:0.01 [[ 8.65325861e-01 -5.01209691e-01 0.00000000e+00 1.03174171e+02] [ 5.01209691e-01 8.65325861e-01 0.00000000e+00 2.52059274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05834584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.820371743 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:103.20, Y:25.22, Z:0.01 [[ 8.66723764e-01 -4.98788449e-01 0.00000000e+00 1.03200816e+02] [ 4.98788449e-01 8.66723764e-01 0.00000000e+00 2.52240665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08306527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.850371743 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:103.23, Y:25.24, Z:0.01 [[ 8.67940846e-01 -4.96667583e-01 0.00000000e+00 1.03228147e+02] [ 4.96667583e-01 8.67940846e-01 0.00000000e+00 2.52400898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00998841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.880371743 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:103.25, Y:25.26, Z:0.01 [[ 8.66522273e-01 -4.99138408e-01 0.00000000e+00 1.03245128e+02] [ 4.99138408e-01 8.66522273e-01 0.00000000e+00 2.52588563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36651980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.910371743 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:103.28, Y:25.27, Z:0.01 [[ 8.71276938e-01 -4.90791705e-01 0.00000000e+00 1.03282480e+02] [ 4.90791705e-01 8.71276938e-01 0.00000000e+00 2.52736889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01565469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.940371743 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:103.31, Y:25.29, Z:0.01 [[ 8.72581616e-01 -4.88468344e-01 0.00000000e+00 1.03309138e+02] [ 4.88468344e-01 8.72581616e-01 0.00000000e+00 2.52908537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10274781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.970371743 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:103.33, Y:25.31, Z:0.02 [[ 8.70550150e-01 -4.92079705e-01 0.00000000e+00 1.03325640e+02] [ 4.92079705e-01 8.70550150e-01 0.00000000e+00 2.53089916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51668466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.000371743 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:103.37, Y:25.32, Z:0.01 [[ 8.74316563e-01 -4.85356104e-01 0.00000000e+00 1.03365456e+02] [ 4.85356104e-01 8.74316563e-01 0.00000000e+00 2.53219231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03325655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.030371743 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:103.39, Y:25.34, Z:0.01 [[ 8.74645636e-01 -4.84762841e-01 0.00000000e+00 1.03393019e+02] [ 4.84762841e-01 8.74645636e-01 0.00000000e+00 2.53384651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13500086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.060371743 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:103.41, Y:25.36, Z:0.02 [[ 8.72687102e-01 -4.88279861e-01 0.00000000e+00 1.03407951e+02] [ 4.88279861e-01 8.72687102e-01 0.00000000e+00 2.53575065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60024981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09037174299999 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:103.44, Y:25.37, Z:0.02 [[ 8.73091856e-01 -4.87555752e-01 0.00000000e+00 1.03436967e+02] [ 4.87555752e-01 8.73091856e-01 0.00000000e+00 2.53728391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62909885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12037174299999 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:103.48, Y:25.39, Z:0.01 [[ 8.75950616e-01 -4.82400787e-01 0.00000000e+00 1.03476411e+02] [ 4.82400787e-01 8.75950616e-01 0.00000000e+00 2.53851893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17352936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.150371743 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:103.51, Y:25.40, Z:0.01 [[ 8.76251291e-01 -4.81854414e-01 0.00000000e+00 1.03506973e+02] [ 4.81854414e-01 8.76251291e-01 0.00000000e+00 2.54009853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13771076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.180371743 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:103.54, Y:25.42, Z:0.01 [[ 8.75904687e-01 -4.82484175e-01 0.00000000e+00 1.03535600e+02] [ 4.82484175e-01 8.75904687e-01 0.00000000e+00 2.54167030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16030264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.210371743 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:103.56, Y:25.43, Z:0.01 [[ 8.75796016e-01 -4.82681404e-01 0.00000000e+00 1.03564259e+02] [ 4.82681404e-01 8.75796016e-01 0.00000000e+00 2.54318700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16030264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.240371743 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:103.59, Y:25.45, Z:0.01 [[ 8.74657885e-01 -4.84740739e-01 0.00000000e+00 1.03593813e+02] [ 4.84740739e-01 8.74657885e-01 0.00000000e+00 2.54469241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26527479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.270371743 meters Centerline goodness : 0.993619 Centerline is valid? [True, True] Translation: X:103.62, Y:25.46, Z:0.01 [[ 8.73914020e-01 -4.86080534e-01 0.00000000e+00 1.03619505e+02] [ 4.86080534e-01 8.73914020e-01 0.00000000e+00 2.54611898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28825748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.300371743 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:103.65, Y:25.48, Z:0.01 [[ 8.72757933e-01 -4.88153244e-01 0.00000000e+00 1.03649543e+02] [ 4.88153244e-01 8.72757933e-01 0.00000000e+00 2.54750178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21572266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.330371743 meters Centerline goodness : 0.993881 Centerline is valid? [True, True] Translation: X:103.68, Y:25.49, Z:0.01 [[ 8.71897855e-01 -4.89687789e-01 0.00000000e+00 1.03678349e+02] [ 4.89687789e-01 8.71897855e-01 0.00000000e+00 2.54895484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21162490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360371743 meters Centerline goodness : 0.993224 Centerline is valid? [True, True] Translation: X:103.71, Y:25.50, Z:0.01 [[ 8.71561936e-01 -4.90285419e-01 0.00000000e+00 1.03706626e+02] [ 4.90285419e-01 8.71561936e-01 0.00000000e+00 2.55028111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85107935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.390371743 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:103.74, Y:25.52, Z:0.01 [[ 8.71780527e-01 -4.89896635e-01 0.00000000e+00 1.03739189e+02] [ 4.89896635e-01 8.71780527e-01 0.00000000e+00 2.55172626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.25603210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420371743 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:103.77, Y:25.53, Z:0.01 [[ 8.69378547e-01 -4.94146681e-01 0.00000000e+00 1.03765623e+02] [ 4.94146681e-01 8.69378547e-01 0.00000000e+00 2.55318054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02477808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.450371743 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:103.80, Y:25.55, Z:0.01 [[ 8.69780932e-01 -4.93438072e-01 0.00000000e+00 1.03797539e+02] [ 4.93438072e-01 8.69780932e-01 0.00000000e+00 2.55454452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.04349653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48037174299999 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:103.80, Y:25.56, Z:0.02 [[ 8.64031040e-01 -5.03438539e-01 0.00000000e+00 1.03804610e+02] [ 5.03438539e-01 8.64031040e-01 0.00000000e+00 2.55631102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58003427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.510371743 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:103.85, Y:25.57, Z:0.01 [[ 8.67978932e-01 -4.96601021e-01 0.00000000e+00 1.03851762e+02] [ 4.96601021e-01 8.67978932e-01 0.00000000e+00 2.55729239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02445731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.540371743 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:103.87, Y:25.59, Z:0.01 [[ 8.65213612e-01 -5.01403436e-01 0.00000000e+00 1.03874835e+02] [ 5.01403436e-01 8.65213612e-01 0.00000000e+00 2.55866255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26804122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.570371743 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:103.91, Y:25.60, Z:0.01 [[ 8.65961277e-01 -5.00111054e-01 0.00000000e+00 1.03906340e+02] [ 5.00111054e-01 8.65961277e-01 0.00000000e+00 2.55999330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03873764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.600371743 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:103.93, Y:25.61, Z:0.01 [[ 8.64912280e-01 -5.01923050e-01 0.00000000e+00 1.03934425e+02] [ 5.01923050e-01 8.64912280e-01 0.00000000e+00 2.56145166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00808476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.630371743 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:103.96, Y:25.63, Z:0.01 [[ 8.64708990e-01 -5.02273195e-01 0.00000000e+00 1.03964671e+02] [ 5.02273195e-01 8.64708990e-01 0.00000000e+00 2.56284552e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05066648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.660371743 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:103.97, Y:25.65, Z:0.01 [[ 8.59813067e-01 -5.10608940e-01 0.00000000e+00 1.03973144e+02] [ 5.10608940e-01 8.59813067e-01 0.00000000e+00 2.56460929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28048490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.690371743 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:104.01, Y:25.66, Z:0.01 [[ 8.63660172e-01 -5.04074506e-01 0.00000000e+00 1.04014053e+02] [ 5.04074506e-01 8.63660172e-01 0.00000000e+00 2.56577880e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00610127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720371743 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:104.04, Y:25.67, Z:0.01 [[ 8.64464261e-01 -5.02694282e-01 0.00000000e+00 1.04042685e+02] [ 5.02694282e-01 8.64464261e-01 0.00000000e+00 2.56724756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.81751680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.750371743 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:104.07, Y:25.69, Z:0.01 [[ 8.65689480e-01 -5.00581386e-01 0.00000000e+00 1.04072158e+02] [ 5.00581386e-01 8.65689480e-01 0.00000000e+00 2.56877735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97884387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780371743 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:104.10, Y:25.70, Z:0.01 [[ 8.66339763e-01 -4.99455118e-01 0.00000000e+00 1.04101669e+02] [ 4.99455118e-01 8.66339763e-01 0.00000000e+00 2.57035402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.56737245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.810371743 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:104.13, Y:25.72, Z:0.01 [[ 8.67134909e-01 -4.98073338e-01 0.00000000e+00 1.04130475e+02] [ 4.98073338e-01 8.67134909e-01 0.00000000e+00 2.57189299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40232904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84037174299999 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:104.16, Y:25.73, Z:0.01 [[ 8.69263184e-01 -4.94349589e-01 0.00000000e+00 1.04157489e+02] [ 4.94349589e-01 8.69263184e-01 0.00000000e+00 2.57339819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18303524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87037174299999 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:104.19, Y:25.75, Z:0.01 [[ 8.70288855e-01 -4.92541683e-01 0.00000000e+00 1.04189155e+02] [ 4.92541683e-01 8.70288855e-01 0.00000000e+00 2.57493370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16592689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.900371743 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:104.21, Y:25.76, Z:0.01 [[ 8.70342010e-01 -4.92447749e-01 0.00000000e+00 1.04210181e+02] [ 4.92447749e-01 8.70342010e-01 0.00000000e+00 2.57643263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37864858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.930371743 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:104.22, Y:25.78, Z:0.01 [[ 8.66278148e-01 -4.99561978e-01 0.00000000e+00 1.04220535e+02] [ 4.99561978e-01 8.66278148e-01 0.00000000e+00 2.57841859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26382645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.960371743 meters Centerline goodness : 0.992413 Centerline is valid? [True, True] Translation: X:104.27, Y:25.80, Z:0.01 [[ 8.70769959e-01 -4.91690633e-01 0.00000000e+00 1.04265072e+02] [ 4.91690633e-01 8.70769959e-01 0.00000000e+00 2.57954743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57711211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.990371743 meters Centerline goodness : 0.992483 Centerline is valid? [True, True] Translation: X:104.29, Y:25.81, Z:0.01 [[ 8.69874434e-01 -4.93273219e-01 0.00000000e+00 1.04291834e+02] [ 4.93273219e-01 8.69874434e-01 0.00000000e+00 2.58115284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.83339786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.020371743 meters Centerline goodness : 0.992737 Centerline is valid? [True, True] Translation: X:104.30, Y:25.83, Z:0.01 [[ 8.65552082e-01 -5.00818923e-01 0.00000000e+00 1.04301717e+02] [ 5.00818923e-01 8.65552082e-01 0.00000000e+00 2.58293799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19154154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.050371743 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:104.33, Y:25.84, Z:0.01 [[ 8.63977566e-01 -5.03530303e-01 0.00000000e+00 1.04331395e+02] [ 5.03530303e-01 8.63977566e-01 0.00000000e+00 2.58441279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18088895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.080371743 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:104.36, Y:25.86, Z:0.01 [[ 8.62906063e-01 -5.05364351e-01 0.00000000e+00 1.04360896e+02] [ 5.05364351e-01 8.62906063e-01 0.00000000e+00 2.58591705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22036681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.110371743 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:104.41, Y:25.87, Z:0.01 [[ 8.63945879e-01 -5.03584669e-01 0.00000000e+00 1.04405143e+02] [ 5.03584669e-01 8.63945879e-01 0.00000000e+00 2.58711156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16914495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140371743 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:104.43, Y:25.89, Z:0.01 [[ 8.62290912e-01 -5.06413253e-01 0.00000000e+00 1.04431490e+02] [ 5.06413253e-01 8.62290912e-01 0.00000000e+00 2.58855546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23100415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.170371743 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:104.46, Y:25.90, Z:0.01 [[ 8.57289973e-01 -5.14833859e-01 0.00000000e+00 1.04457135e+02] [ 5.14833859e-01 8.57289973e-01 0.00000000e+00 2.59004695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45267739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.200371743 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:104.48, Y:25.91, Z:0.01 [[ 8.55855071e-01 -5.17215716e-01 0.00000000e+00 1.04483913e+02] [ 5.17215716e-01 8.55855071e-01 0.00000000e+00 2.59144095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37141555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23037174299999 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:104.51, Y:25.93, Z:0.01 [[ 8.52656849e-01 -5.22471336e-01 0.00000000e+00 1.04512009e+02] [ 5.22471336e-01 8.52656849e-01 0.00000000e+00 2.59289745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29606191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.260371743 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:104.54, Y:25.94, Z:0.01 [[ 8.52011883e-01 -5.23522446e-01 0.00000000e+00 1.04541968e+02] [ 5.23522446e-01 8.52011883e-01 0.00000000e+00 2.59436046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36065216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.290371743 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:104.57, Y:25.96, Z:0.01 [[ 8.51399033e-01 -5.24518529e-01 0.00000000e+00 1.04571074e+02] [ 5.24518529e-01 8.51399033e-01 0.00000000e+00 2.59596698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40881007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.320371743 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:104.60, Y:25.97, Z:0.02 [[ 8.52016746e-01 -5.23514532e-01 0.00000000e+00 1.04599409e+02] [ 5.23514532e-01 8.52016746e-01 0.00000000e+00 2.59748571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53465027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.350371743 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:104.63, Y:25.99, Z:0.02 [[ 8.52186668e-01 -5.23237884e-01 0.00000000e+00 1.04627815e+02] [ 5.23237884e-01 8.52186668e-01 0.00000000e+00 2.59908130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54009337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.380371743 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:104.66, Y:26.01, Z:0.02 [[ 8.54038090e-01 -5.20210477e-01 0.00000000e+00 1.04655141e+02] [ 5.20210477e-01 8.54038090e-01 0.00000000e+00 2.60065859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56821654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.410371743 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:104.68, Y:26.02, Z:0.01 [[ 8.55338455e-01 -5.18069617e-01 0.00000000e+00 1.04684189e+02] [ 5.18069617e-01 8.55338455e-01 0.00000000e+00 2.60217021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32010486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.440371743 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:104.71, Y:26.04, Z:0.01 [[ 8.57691119e-01 -5.14165288e-01 0.00000000e+00 1.04713248e+02] [ 5.14165288e-01 8.57691119e-01 0.00000000e+00 2.60376635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14320429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.470371743 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:104.74, Y:26.05, Z:0.01 [[ 8.59094227e-01 -5.11817457e-01 0.00000000e+00 1.04742287e+02] [ 5.11817457e-01 8.59094227e-01 0.00000000e+00 2.60531128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02184991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500371743 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:104.77, Y:26.07, Z:0.01 [[ 8.62353073e-01 -5.06307394e-01 0.00000000e+00 1.04770701e+02] [ 5.06307394e-01 8.62353073e-01 0.00000000e+00 2.60696210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.79303900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.530371743 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:104.81, Y:26.09, Z:0.01 [[ 8.64729038e-01 -5.02238679e-01 0.00000000e+00 1.04805393e+02] [ 5.02238679e-01 8.64729038e-01 0.00000000e+00 2.60851564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01700595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.560371743 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:104.83, Y:26.10, Z:0.00 [[ 8.65344906e-01 -5.01176810e-01 0.00000000e+00 1.04825108e+02] [ 5.01176810e-01 8.65344906e-01 0.00000000e+00 2.61009309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49607630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59037174299999 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:104.83, Y:26.12, Z:0.01 [[ 8.61238592e-01 -5.08200834e-01 0.00000000e+00 1.04831376e+02] [ 5.08200834e-01 8.61238592e-01 0.00000000e+00 2.61204751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80447884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62037174299999 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:104.86, Y:26.14, Z:0.01 [[ 8.62668369e-01 -5.05769993e-01 0.00000000e+00 1.04858715e+02] [ 5.05769993e-01 8.62668369e-01 0.00000000e+00 2.61367228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71243369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.650371743 meters Centerline goodness : 0.992699 Centerline is valid? [True, True] Translation: X:104.89, Y:26.15, Z:0.01 [[ 8.63231418e-01 -5.04808398e-01 0.00000000e+00 1.04887307e+02] [ 5.04808398e-01 8.63231418e-01 0.00000000e+00 2.61534045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99982926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.680371743 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:104.92, Y:26.17, Z:0.01 [[ 8.63719324e-01 -5.03973143e-01 0.00000000e+00 1.04916388e+02] [ 5.03973143e-01 8.63719324e-01 0.00000000e+00 2.61700257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.35094692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.710371743 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:104.98, Y:26.18, Z:-0.00 [[ 8.72716920e-01 -4.88226563e-01 0.00000000e+00 1.04977460e+02] [ 4.88226563e-01 8.72716920e-01 0.00000000e+00 2.61792635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50143083e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.740371743 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:104.97, Y:26.20, Z:0.01 [[ 8.63200411e-01 -5.04861417e-01 0.00000000e+00 1.04966908e+02] [ 5.04861417e-01 8.63200411e-01 0.00000000e+00 2.61993627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08067936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.770371743 meters Centerline goodness : 0.992861 Centerline is valid? [True, True] Translation: X:105.03, Y:26.21, Z:0.00 [[ 8.70986680e-01 -4.91306629e-01 0.00000000e+00 1.05030594e+02] [ 4.91306629e-01 8.70986680e-01 0.00000000e+00 2.62067794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46628413e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.800371743 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:105.06, Y:26.22, Z:0.00 [[ 8.69247591e-01 -4.94377008e-01 0.00000000e+00 1.05055556e+02] [ 4.94377008e-01 8.69247591e-01 0.00000000e+00 2.62215240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61993268e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.830371743 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:105.08, Y:26.24, Z:0.00 [[ 8.65710142e-01 -5.00545652e-01 0.00000000e+00 1.05080141e+02] [ 5.00545652e-01 8.65710142e-01 0.00000000e+00 2.62368106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46942122e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.860371743 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:105.11, Y:26.25, Z:0.00 [[ 8.63935649e-01 -5.03602218e-01 0.00000000e+00 1.05109545e+02] [ 5.03602218e-01 8.63935649e-01 0.00000000e+00 2.62523685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20632504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.890371743 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:105.13, Y:26.27, Z:0.01 [[ 8.59920497e-01 -5.10427997e-01 0.00000000e+00 1.05134292e+02] [ 5.10427997e-01 8.59920497e-01 0.00000000e+00 2.62681238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22704671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.920371743 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:105.15, Y:26.28, Z:0.01 [[ 8.57026348e-01 -5.15272587e-01 0.00000000e+00 1.05152176e+02] [ 5.15272587e-01 8.57026348e-01 0.00000000e+00 2.62823697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84550562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.950371743 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:105.18, Y:26.30, Z:0.01 [[ 8.56101229e-01 -5.16808171e-01 0.00000000e+00 1.05181880e+02] [ 5.16808171e-01 8.56101229e-01 0.00000000e+00 2.62970423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56309211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98037174299999 meters Centerline goodness : 0.993448 Centerline is valid? [True, True] Translation: X:105.21, Y:26.31, Z:0.00 [[ 8.53576992e-01 -5.20966715e-01 0.00000000e+00 1.05205187e+02] [ 5.20966715e-01 8.53576992e-01 0.00000000e+00 2.63105938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61402821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.010371743 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:105.23, Y:26.32, Z:0.00 [[ 8.50934471e-01 -5.25271859e-01 0.00000000e+00 1.05233385e+02] [ 5.25271859e-01 8.50934471e-01 0.00000000e+00 2.63247808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50504160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.040371743 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:105.26, Y:26.34, Z:0.00 [[ 8.50397978e-01 -5.26139981e-01 0.00000000e+00 1.05259558e+02] [ 5.26139981e-01 8.50397978e-01 0.00000000e+00 2.63392488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25262755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.070371743 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:105.29, Y:26.36, Z:0.00 [[ 8.51249208e-01 -5.24761646e-01 0.00000000e+00 1.05291076e+02] [ 5.24761646e-01 8.51249208e-01 0.00000000e+00 2.63552745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97020962e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.100371743 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:105.31, Y:26.37, Z:0.00 [[ 8.50243365e-01 -5.26389799e-01 0.00000000e+00 1.05309529e+02] [ 5.26389799e-01 8.50243365e-01 0.00000000e+00 2.63703692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04862501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.130371743 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:105.34, Y:26.39, Z:0.00 [[ 8.49985890e-01 -5.26805454e-01 0.00000000e+00 1.05337856e+02] [ 5.26805454e-01 8.49985890e-01 0.00000000e+00 2.63862601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04862501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.160371743 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:105.37, Y:26.40, Z:0.00 [[ 8.51368374e-01 -5.24568291e-01 0.00000000e+00 1.05367529e+02] [ 5.24568291e-01 8.51368374e-01 0.00000000e+00 2.64026679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19868390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.190371743 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:105.39, Y:26.42, Z:0.01 [[ 8.54512267e-01 -5.19431214e-01 0.00000000e+00 1.05391178e+02] [ 5.19431214e-01 8.54512267e-01 0.00000000e+00 2.64200124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42615423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.220371743 meters Centerline goodness : 0.993737 Centerline is valid? [True, True] Translation: X:105.42, Y:26.44, Z:0.01 [[ 8.59157277e-01 -5.11711611e-01 0.00000000e+00 1.05420835e+02] [ 5.11711611e-01 8.59157277e-01 0.00000000e+00 2.64365349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03526995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.250371743 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:105.45, Y:26.45, Z:0.01 [[ 8.61291224e-01 -5.08111628e-01 0.00000000e+00 1.05449629e+02] [ 5.08111628e-01 8.61291224e-01 0.00000000e+00 2.64531642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83474797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280371743 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:105.48, Y:26.47, Z:0.01 [[ 8.63064617e-01 -5.05093522e-01 0.00000000e+00 1.05478174e+02] [ 5.05093522e-01 8.63064617e-01 0.00000000e+00 2.64697366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30346388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.310371743 meters Centerline goodness : 0.993221 Centerline is valid? [True, True] Translation: X:105.51, Y:26.49, Z:0.01 [[ 8.65577888e-01 -5.00774320e-01 0.00000000e+00 1.05505044e+02] [ 5.00774320e-01 8.65577888e-01 0.00000000e+00 2.64858775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57447020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34037174299999 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:105.53, Y:26.50, Z:0.01 [[ 8.66593835e-01 -4.99014153e-01 0.00000000e+00 1.05533442e+02] [ 4.99014153e-01 8.66593835e-01 0.00000000e+00 2.65021920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39521472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37037174299999 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:105.56, Y:26.52, Z:0.00 [[ 8.68308616e-01 -4.96024341e-01 0.00000000e+00 1.05561213e+02] [ 4.96024341e-01 8.68308616e-01 0.00000000e+00 2.65182708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61155537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.400371743 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:105.59, Y:26.53, Z:0.01 [[ 8.67614811e-01 -4.97236905e-01 0.00000000e+00 1.05589194e+02] [ 4.97236905e-01 8.67614811e-01 0.00000000e+00 2.65341983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59614403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.430371743 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:105.59, Y:26.55, Z:0.01 [[ 8.62068429e-01 -5.06791894e-01 0.00000000e+00 1.05594550e+02] [ 5.06791894e-01 8.62068429e-01 0.00000000e+00 2.65523023e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33575616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.460371743 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:105.62, Y:26.57, Z:0.01 [[ 8.62143916e-01 -5.06663466e-01 0.00000000e+00 1.05623833e+02] [ 5.06663466e-01 8.62143916e-01 0.00000000e+00 2.65677744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88125117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.490371743 meters Centerline goodness : 0.993693 Centerline is valid? [True, True] Translation: X:105.65, Y:26.58, Z:0.01 [[ 8.62102224e-01 -5.06734404e-01 0.00000000e+00 1.05653451e+02] [ 5.06734404e-01 8.62102224e-01 0.00000000e+00 2.65833668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12033203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.520371743 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:105.68, Y:26.60, Z:0.01 [[ 8.61144307e-01 -5.08360583e-01 0.00000000e+00 1.05682001e+02] [ 5.08360583e-01 8.61144307e-01 0.00000000e+00 2.65979328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.42893963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.550371743 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:105.71, Y:26.61, Z:0.01 [[ 8.60304731e-01 -5.09780119e-01 0.00000000e+00 1.05711419e+02] [ 5.09780119e-01 8.60304731e-01 0.00000000e+00 2.66138864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14995507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.580371743 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:105.77, Y:26.62, Z:0.00 [[ 8.65909782e-01 -5.00200209e-01 0.00000000e+00 1.05768930e+02] [ 5.00200209e-01 8.65909782e-01 0.00000000e+00 2.66221086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93493910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.610371743 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:105.80, Y:26.64, Z:0.00 [[ 8.63539073e-01 -5.04281934e-01 0.00000000e+00 1.05796324e+02] [ 5.04281934e-01 8.63539073e-01 0.00000000e+00 2.66375008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06950979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640371743 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:105.82, Y:26.65, Z:0.00 [[ 8.61878597e-01 -5.07114666e-01 0.00000000e+00 1.05822021e+02] [ 5.07114666e-01 8.61878597e-01 0.00000000e+00 2.66513256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21948476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.670371743 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:105.84, Y:26.67, Z:0.01 [[ 8.55256272e-01 -5.18205277e-01 0.00000000e+00 1.05840174e+02] [ 5.18205277e-01 8.55256272e-01 0.00000000e+00 2.66655233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.30535361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.700371743 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:105.87, Y:26.68, Z:0.01 [[ 8.51267492e-01 -5.24731986e-01 0.00000000e+00 1.05869955e+02] [ 5.24731986e-01 8.51267492e-01 0.00000000e+00 2.66790404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15521852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73037174299999 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:105.90, Y:26.69, Z:0.01 [[ 8.47759411e-01 -5.30380977e-01 0.00000000e+00 1.05898468e+02] [ 5.30380977e-01 8.47759411e-01 0.00000000e+00 2.66925742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67208008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.760371743 meters Centerline goodness : 0.994234 Centerline is valid? [True, True] Translation: X:105.93, Y:26.71, Z:0.01 [[ 8.45877588e-01 -5.33377078e-01 0.00000000e+00 1.05927313e+02] [ 5.33377078e-01 8.45877588e-01 0.00000000e+00 2.67078898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89210889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.790371743 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:105.95, Y:26.72, Z:0.01 [[ 8.42682357e-01 -5.38411037e-01 0.00000000e+00 1.05953154e+02] [ 5.38411037e-01 8.42682357e-01 0.00000000e+00 2.67230824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91206276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.820371743 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:105.98, Y:26.74, Z:0.01 [[ 8.41840338e-01 -5.39726639e-01 0.00000000e+00 1.05981782e+02] [ 5.39726639e-01 8.41840338e-01 0.00000000e+00 2.67388325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71692348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.850371743 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:106.00, Y:26.75, Z:0.01 [[ 8.39722785e-01 -5.43015326e-01 0.00000000e+00 1.06003641e+02] [ 5.43015326e-01 8.39722785e-01 0.00000000e+00 2.67549576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22822839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.880371743 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:106.03, Y:26.77, Z:0.01 [[ 8.40083800e-01 -5.42456642e-01 0.00000000e+00 1.06033443e+02] [ 5.42456642e-01 8.40083800e-01 0.00000000e+00 2.67702188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.76357155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.910371743 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:106.06, Y:26.79, Z:0.01 [[ 8.40619710e-01 -5.41625796e-01 0.00000000e+00 1.06061062e+02] [ 5.41625796e-01 8.40619710e-01 0.00000000e+00 2.67858499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63239995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.940371743 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:106.09, Y:26.80, Z:0.01 [[ 8.40884743e-01 -5.41214235e-01 0.00000000e+00 1.06089621e+02] [ 5.41214235e-01 8.40884743e-01 0.00000000e+00 2.68026661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.47052724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.970371743 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:106.12, Y:26.82, Z:0.01 [[ 8.42263391e-01 -5.39066211e-01 0.00000000e+00 1.06116996e+02] [ 5.39066211e-01 8.42263391e-01 0.00000000e+00 2.68190719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93581637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.000371743 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:106.14, Y:26.84, Z:0.01 [[ 8.42752837e-01 -5.38300711e-01 0.00000000e+00 1.06143717e+02] [ 5.38300711e-01 8.42752837e-01 0.00000000e+00 2.68359224e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54830664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.030371743 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:106.17, Y:26.85, Z:0.01 [[ 8.43361899e-01 -5.37345985e-01 0.00000000e+00 1.06171080e+02] [ 5.37345985e-01 8.43361899e-01 0.00000000e+00 2.68534288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15695353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.060371743 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:106.20, Y:26.87, Z:0.01 [[ 8.46778079e-01 -5.31946318e-01 0.00000000e+00 1.06203179e+02] [ 5.31946318e-01 8.46778079e-01 0.00000000e+00 2.68711809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47666583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09037174299999 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:106.21, Y:26.89, Z:0.01 [[ 8.42252035e-01 -5.39083955e-01 0.00000000e+00 1.06208412e+02] [ 5.39083955e-01 8.42252035e-01 0.00000000e+00 2.68895809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23841346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12037174299999 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:106.25, Y:26.90, Z:0.01 [[ 8.47688007e-01 -5.30495093e-01 0.00000000e+00 1.06250174e+02] [ 5.30495093e-01 8.47688007e-01 0.00000000e+00 2.69036205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09153839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.150371743 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:106.28, Y:26.92, Z:0.01 [[ 8.48473044e-01 -5.29238598e-01 0.00000000e+00 1.06278849e+02] [ 5.29238598e-01 8.48473044e-01 0.00000000e+00 2.69201637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14910109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.180371743 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:106.31, Y:26.94, Z:0.01 [[ 8.51939294e-01 -5.23640563e-01 0.00000000e+00 1.06306753e+02] [ 5.23640563e-01 8.51939294e-01 0.00000000e+00 2.69361742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61917871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.210371743 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:106.34, Y:26.95, Z:0.01 [[ 8.52358174e-01 -5.22958453e-01 0.00000000e+00 1.06336938e+02] [ 5.22958453e-01 8.52358174e-01 0.00000000e+00 2.69538210e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22616613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.240371743 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:106.36, Y:26.97, Z:0.01 [[ 8.52666992e-01 -5.22454784e-01 0.00000000e+00 1.06362666e+02] [ 5.22454784e-01 8.52666992e-01 0.00000000e+00 2.69708220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09862605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.270371743 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:106.39, Y:26.99, Z:0.00 [[ 8.55091182e-01 -5.18477646e-01 0.00000000e+00 1.06390616e+02] [ 5.18477646e-01 8.55091182e-01 0.00000000e+00 2.69867264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33793151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.300371743 meters Centerline goodness : 0.992778 Centerline is valid? [True, True] Translation: X:106.41, Y:27.00, Z:0.01 [[ 8.57175847e-01 -5.15023851e-01 0.00000000e+00 1.06414956e+02] [ 5.15023851e-01 8.57175847e-01 0.00000000e+00 2.70021183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54674121e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.330371743 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:106.45, Y:27.02, Z:0.00 [[ 8.57438670e-01 -5.14586171e-01 0.00000000e+00 1.06446351e+02] [ 5.14586171e-01 8.57438670e-01 0.00000000e+00 2.70194262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28238280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360371743 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:106.47, Y:27.04, Z:0.01 [[ 8.55350598e-01 -5.18049568e-01 0.00000000e+00 1.06470045e+02] [ 5.18049568e-01 8.55350598e-01 0.00000000e+00 2.70383132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61542346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.390371743 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:106.50, Y:27.05, Z:0.01 [[ 8.54685850e-01 -5.19145546e-01 0.00000000e+00 1.06496989e+02] [ 5.19145546e-01 8.54685850e-01 0.00000000e+00 2.70544672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70322808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420371743 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:106.52, Y:27.07, Z:0.01 [[ 8.53068112e-01 -5.21799575e-01 0.00000000e+00 1.06521233e+02] [ 5.21799575e-01 8.53068112e-01 0.00000000e+00 2.70709909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64339444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.450371743 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:106.55, Y:27.09, Z:0.01 [[ 8.51629310e-01 -5.24144559e-01 0.00000000e+00 1.06549922e+02] [ 5.24144559e-01 8.51629310e-01 0.00000000e+00 2.70882019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42046766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48037174299999 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:106.57, Y:27.10, Z:0.01 [[ 8.49501930e-01 -5.27585511e-01 0.00000000e+00 1.06572875e+02] [ 5.27585511e-01 8.49501930e-01 0.00000000e+00 2.71043951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54791874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.510371743 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:106.59, Y:27.12, Z:0.01 [[ 8.44431466e-01 -5.35663607e-01 0.00000000e+00 1.06594825e+02] [ 5.35663607e-01 8.44431466e-01 0.00000000e+00 2.71217713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.93884093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.540371743 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:106.62, Y:27.14, Z:0.01 [[ 8.39909197e-01 -5.42726948e-01 0.00000000e+00 1.06619199e+02] [ 5.42726948e-01 8.39909197e-01 0.00000000e+00 2.71385442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12934178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.570371743 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:106.65, Y:27.15, Z:0.01 [[ 8.38254200e-01 -5.45279650e-01 0.00000000e+00 1.06647633e+02] [ 5.45279650e-01 8.38254200e-01 0.00000000e+00 2.71547627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14466005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.600371743 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:106.67, Y:27.17, Z:0.01 [[ 8.36218570e-01 -5.48396302e-01 0.00000000e+00 1.06672845e+02] [ 5.48396302e-01 8.36218570e-01 0.00000000e+00 2.71712181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22120966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.630371743 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:106.70, Y:27.19, Z:0.01 [[ 8.33748860e-01 -5.52143856e-01 0.00000000e+00 1.06698820e+02] [ 5.52143856e-01 8.33748860e-01 0.00000000e+00 2.71880373e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37111786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.660371743 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:106.73, Y:27.21, Z:0.01 [[ 8.33484166e-01 -5.52543342e-01 0.00000000e+00 1.06727494e+02] [ 5.52543342e-01 8.33484166e-01 0.00000000e+00 2.72054116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45162580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.690371743 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:106.75, Y:27.22, Z:0.01 [[ 8.32721845e-01 -5.53691547e-01 0.00000000e+00 1.06754010e+02] [ 5.53691547e-01 8.32721845e-01 0.00000000e+00 2.72237890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45748274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.720371743 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:106.78, Y:27.24, Z:0.01 [[ 8.33488764e-01 -5.52536406e-01 0.00000000e+00 1.06781648e+02] [ 5.52536406e-01 8.33488764e-01 0.00000000e+00 2.72397432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41317821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.750371743 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:106.81, Y:27.26, Z:0.01 [[ 8.33170355e-01 -5.53016419e-01 0.00000000e+00 1.06807570e+02] [ 5.53016419e-01 8.33170355e-01 0.00000000e+00 2.72572569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25138547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.780371743 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:106.83, Y:27.28, Z:0.01 [[ 8.33633491e-01 -5.52318026e-01 0.00000000e+00 1.06833708e+02] [ 5.52318026e-01 8.33633491e-01 0.00000000e+00 2.72754202e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28781160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.810371743 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:106.86, Y:27.29, Z:0.01 [[ 8.34235984e-01 -5.51407583e-01 0.00000000e+00 1.06860719e+02] [ 5.51407583e-01 8.34235984e-01 0.00000000e+00 2.72930227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29791122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84037174299999 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:106.89, Y:27.31, Z:0.01 [[ 8.34508041e-01 -5.50995762e-01 0.00000000e+00 1.06886737e+02] [ 5.50995762e-01 8.34508041e-01 0.00000000e+00 2.73113390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29277400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87037174299999 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:106.91, Y:27.33, Z:0.01 [[ 8.35096423e-01 -5.50103594e-01 0.00000000e+00 1.06911663e+02] [ 5.50103594e-01 8.35096423e-01 0.00000000e+00 2.73307859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28600861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.900371743 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:106.94, Y:27.35, Z:0.01 [[ 8.35746705e-01 -5.49115147e-01 0.00000000e+00 1.06938025e+02] [ 5.49115147e-01 8.35746705e-01 0.00000000e+00 2.73480914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21790283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.930371743 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:106.96, Y:27.37, Z:0.01 [[ 8.36289858e-01 -5.48287583e-01 0.00000000e+00 1.06963754e+02] [ 5.48287583e-01 8.36289858e-01 0.00000000e+00 2.73668871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17066615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.960371743 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:106.99, Y:27.38, Z:0.01 [[ 8.36377827e-01 -5.48153382e-01 0.00000000e+00 1.06990395e+02] [ 5.48153382e-01 8.36377827e-01 0.00000000e+00 2.73847557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21288847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.990371743 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:107.02, Y:27.40, Z:0.01 [[ 8.36749037e-01 -5.47586567e-01 0.00000000e+00 1.07016256e+02] [ 5.47586567e-01 8.36749037e-01 0.00000000e+00 2.74037030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18105628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.020371743 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:107.04, Y:27.42, Z:0.01 [[ 8.36841360e-01 -5.47445466e-01 0.00000000e+00 1.07044453e+02] [ 5.47445466e-01 8.36841360e-01 0.00000000e+00 2.74200415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18105628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.050371743 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:107.07, Y:27.44, Z:0.01 [[ 8.37641747e-01 -5.46220014e-01 0.00000000e+00 1.07072332e+02] [ 5.46220014e-01 8.37641747e-01 0.00000000e+00 2.74368802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17348894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.080371743 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:107.10, Y:27.46, Z:0.01 [[ 8.39053126e-01 -5.44049494e-01 0.00000000e+00 1.07102178e+02] [ 5.44049494e-01 8.39053126e-01 0.00000000e+00 2.74557766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32719301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.110371743 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:107.13, Y:27.47, Z:0.01 [[ 8.39030085e-01 -5.44085026e-01 0.00000000e+00 1.07128811e+02] [ 5.44085026e-01 8.39030085e-01 0.00000000e+00 2.74734708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35923012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140371743 meters Centerline goodness : 0.993312 Centerline is valid? [True, True] Translation: X:107.15, Y:27.49, Z:0.01 [[ 8.39701376e-01 -5.43048431e-01 0.00000000e+00 1.07154245e+02] [ 5.43048431e-01 8.39701376e-01 0.00000000e+00 2.74903276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26197023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.170371743 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:107.18, Y:27.51, Z:0.01 [[ 8.42796717e-01 -5.38232007e-01 0.00000000e+00 1.07183718e+02] [ 5.38232007e-01 8.42796717e-01 0.00000000e+00 2.75072379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29958973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.200371743 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:107.21, Y:27.52, Z:0.01 [[ 8.43606878e-01 -5.36961298e-01 0.00000000e+00 1.07211371e+02] [ 5.36961298e-01 8.43606878e-01 0.00000000e+00 2.75244909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28899286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23037174299999 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:107.24, Y:27.54, Z:0.01 [[ 8.45330612e-01 -5.34243537e-01 0.00000000e+00 1.07240163e+02] [ 5.34243537e-01 8.45330612e-01 0.00000000e+00 2.75415869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24144742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.260371743 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:107.27, Y:27.56, Z:0.01 [[ 8.45385583e-01 -5.34156546e-01 0.00000000e+00 1.07267034e+02] [ 5.34156546e-01 8.45385583e-01 0.00000000e+00 2.75583208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21246681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.290371743 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:107.29, Y:27.58, Z:0.01 [[ 8.44019705e-01 -5.36312165e-01 0.00000000e+00 1.07291751e+02] [ 5.36312165e-01 8.44019705e-01 0.00000000e+00 2.75757267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41247108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.320371743 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:107.32, Y:27.59, Z:0.01 [[ 8.45146229e-01 -5.34535174e-01 0.00000000e+00 1.07320949e+02] [ 5.34535174e-01 8.45146229e-01 0.00000000e+00 2.75902751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25856140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.350371743 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:107.35, Y:27.61, Z:0.01 [[ 8.44077379e-01 -5.36221389e-01 0.00000000e+00 1.07349227e+02] [ 5.36221389e-01 8.44077379e-01 0.00000000e+00 2.76064890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16717635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.380371743 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:107.38, Y:27.62, Z:0.01 [[ 8.44486701e-01 -5.35576523e-01 0.00000000e+00 1.07378043e+02] [ 5.35576523e-01 8.44486701e-01 0.00000000e+00 2.76223419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00839346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.410371743 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:107.40, Y:27.64, Z:0.01 [[ 8.43881920e-01 -5.36528941e-01 0.00000000e+00 1.07404311e+02] [ 5.36528941e-01 8.43881920e-01 0.00000000e+00 2.76388577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23500189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.440371743 meters Centerline goodness : 0.993293 Centerline is valid? [True, True] Translation: X:107.42, Y:27.66, Z:0.02 [[ 8.43001081e-01 -5.37911868e-01 0.00000000e+00 1.07421104e+02] [ 5.37911868e-01 8.43001081e-01 0.00000000e+00 2.76569187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53527804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.470371743 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:107.46, Y:27.67, Z:0.01 [[ 8.47596131e-01 -5.30641874e-01 0.00000000e+00 1.07460331e+02] [ 5.30641874e-01 8.47596131e-01 0.00000000e+00 2.76711764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20537128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500371743 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:107.49, Y:27.69, Z:0.01 [[ 8.49169573e-01 -5.28120286e-01 0.00000000e+00 1.07488522e+02] [ 5.28120286e-01 8.49169573e-01 0.00000000e+00 2.76872025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20716760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.530371743 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:107.51, Y:27.70, Z:0.01 [[ 8.50654775e-01 -5.25724694e-01 0.00000000e+00 1.07513369e+02] [ 5.25724694e-01 8.50654775e-01 0.00000000e+00 2.77031566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41887371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.560371743 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:107.55, Y:27.72, Z:0.01 [[ 8.54388812e-01 -5.19634254e-01 0.00000000e+00 1.07545621e+02] [ 5.19634254e-01 8.54388812e-01 0.00000000e+00 2.77181191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08796614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59037174299999 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:107.57, Y:27.73, Z:0.01 [[ 8.55475446e-01 -5.17843375e-01 0.00000000e+00 1.07570213e+02] [ 5.17843375e-01 8.55475446e-01 0.00000000e+00 2.77332976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10368375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62037174299999 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:107.60, Y:27.75, Z:0.01 [[ 8.57444108e-01 -5.14577110e-01 0.00000000e+00 1.07600200e+02] [ 5.14577110e-01 8.57444108e-01 0.00000000e+00 2.77494262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70633768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.650371743 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:107.63, Y:27.77, Z:0.01 [[ 8.58682077e-01 -5.12508625e-01 0.00000000e+00 1.07626613e+02] [ 5.12508625e-01 8.58682077e-01 0.00000000e+00 2.77650476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02230774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.680371743 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:107.64, Y:27.78, Z:0.01 [[ 8.58974888e-01 -5.12017716e-01 0.00000000e+00 1.07642494e+02] [ 5.12017716e-01 8.58974888e-01 0.00000000e+00 2.77815350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27210537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.710371743 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:107.69, Y:27.79, Z:0.01 [[ 8.65673540e-01 -5.00608951e-01 0.00000000e+00 1.07685703e+02] [ 5.00608951e-01 8.65673540e-01 0.00000000e+00 2.77926257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13056741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.740371743 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:107.72, Y:27.81, Z:0.01 [[ 8.66554448e-01 -4.99082546e-01 0.00000000e+00 1.07715120e+02] [ 4.99082546e-01 8.66554448e-01 0.00000000e+00 2.78076690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55004143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.770371743 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:107.74, Y:27.82, Z:0.01 [[ 8.66811156e-01 -4.98636561e-01 0.00000000e+00 1.07744736e+02] [ 4.98636561e-01 8.66811156e-01 0.00000000e+00 2.78229885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17860883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.800371743 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:107.78, Y:27.84, Z:0.01 [[ 8.66045970e-01 -4.99964377e-01 0.00000000e+00 1.07775473e+02] [ 4.99964377e-01 8.66045970e-01 0.00000000e+00 2.78359556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01151120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.830371743 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:107.81, Y:27.85, Z:0.01 [[ 8.65509034e-01 -5.00893314e-01 0.00000000e+00 1.07805698e+02] [ 5.00893314e-01 8.65509034e-01 0.00000000e+00 2.78491138e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52276474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860371743 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:107.84, Y:27.86, Z:0.01 [[ 8.63013926e-01 -5.05180130e-01 0.00000000e+00 1.07836381e+02] [ 5.05180130e-01 8.63013926e-01 0.00000000e+00 2.78594263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69746106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.890371743 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:107.86, Y:27.87, Z:0.01 [[ 8.60311871e-01 -5.09768070e-01 0.00000000e+00 1.07864400e+02] [ 5.09768070e-01 8.60311871e-01 0.00000000e+00 2.78736983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98738607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920371743 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:107.87, Y:27.89, Z:0.01 [[ 8.52713844e-01 -5.22378311e-01 0.00000000e+00 1.07871951e+02] [ 5.22378311e-01 8.52713844e-01 0.00000000e+00 2.78897262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48239951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.950371743 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:107.92, Y:27.90, Z:0.01 [[ 8.53992573e-01 -5.20285195e-01 0.00000000e+00 1.07923199e+02] [ 5.20285195e-01 8.53992573e-01 0.00000000e+00 2.78962945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64353249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98037174299999 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:107.96, Y:27.91, Z:0.01 [[ 8.52937973e-01 -5.22012274e-01 0.00000000e+00 1.07956693e+02] [ 5.22012274e-01 8.52937973e-01 0.00000000e+00 2.79084807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93390299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.010371743 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:107.98, Y:27.92, Z:0.01 [[ 8.47307956e-01 -5.31101900e-01 0.00000000e+00 1.07983971e+02] [ 5.31101900e-01 8.47307956e-01 0.00000000e+00 2.79178132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81219309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.040371743 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:108.01, Y:27.93, Z:0.01 [[ 8.45125862e-01 -5.34567373e-01 0.00000000e+00 1.08011481e+02] [ 5.34567373e-01 8.45125862e-01 0.00000000e+00 2.79298943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47700741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.070371743 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:108.03, Y:27.94, Z:0.01 [[ 8.39319841e-01 -5.43637935e-01 0.00000000e+00 1.08033927e+02] [ 5.43637935e-01 8.39319841e-01 0.00000000e+00 2.79444509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.00099439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.100371743 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:108.06, Y:27.96, Z:0.01 [[ 8.35188192e-01 -5.49964257e-01 0.00000000e+00 1.08062731e+02] [ 5.49964257e-01 8.35188192e-01 0.00000000e+00 2.79557285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62050424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.130371743 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:108.09, Y:27.97, Z:0.01 [[ 8.34515151e-01 -5.50984993e-01 0.00000000e+00 1.08086921e+02] [ 5.50984993e-01 8.34515151e-01 0.00000000e+00 2.79686817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03565992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.160371743 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:108.12, Y:27.98, Z:0.01 [[ 8.31788641e-01 -5.55092475e-01 0.00000000e+00 1.08119000e+02] [ 5.55092475e-01 8.31788641e-01 0.00000000e+00 2.79830882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08286470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.190371743 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:108.14, Y:28.00, Z:0.01 [[ 8.30507935e-01 -5.57006796e-01 0.00000000e+00 1.08144455e+02] [ 5.57006796e-01 8.30507935e-01 0.00000000e+00 2.79974839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05832987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.220371743 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:108.18, Y:28.01, Z:0.01 [[ 8.29585496e-01 -5.58379713e-01 0.00000000e+00 1.08175043e+02] [ 5.58379713e-01 8.29585496e-01 0.00000000e+00 2.80102491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24372764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.250371743 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:108.19, Y:28.03, Z:0.01 [[ 8.25717052e-01 -5.64084523e-01 0.00000000e+00 1.08188105e+02] [ 5.64084523e-01 8.25717052e-01 0.00000000e+00 2.80259371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21106244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.280371743 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:108.23, Y:28.04, Z:0.01 [[ 8.30010281e-01 -5.57748091e-01 0.00000000e+00 1.08230985e+02] [ 5.57748091e-01 8.30010281e-01 0.00000000e+00 2.80385883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60549601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.310371743 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:108.26, Y:28.05, Z:0.01 [[ 8.29699704e-01 -5.58209998e-01 0.00000000e+00 1.08256021e+02] [ 5.58209998e-01 8.29699704e-01 0.00000000e+00 2.80541461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.94769737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34037174299999 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:108.28, Y:28.07, Z:0.01 [[ 8.30323738e-01 -5.57281339e-01 0.00000000e+00 1.08282902e+02] [ 5.57281339e-01 8.30323738e-01 0.00000000e+00 2.80700551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29589303e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37037174299999 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:108.31, Y:28.09, Z:0.01 [[ 8.30516024e-01 -5.56994735e-01 0.00000000e+00 1.08311166e+02] [ 5.56994735e-01 8.30516024e-01 0.00000000e+00 2.80865906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63927625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.400371743 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:108.34, Y:28.10, Z:0.01 [[ 8.31687877e-01 -5.55243438e-01 0.00000000e+00 1.08341268e+02] [ 5.55243438e-01 8.31687877e-01 0.00000000e+00 2.81020690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81796268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.430371743 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:108.36, Y:28.12, Z:0.01 [[ 8.31360406e-01 -5.55733638e-01 0.00000000e+00 1.08364738e+02] [ 5.55733638e-01 8.31360406e-01 0.00000000e+00 2.81172612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89965871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.460371743 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:108.39, Y:28.13, Z:0.01 [[ 8.31355476e-01 -5.55741012e-01 0.00000000e+00 1.08392853e+02] [ 5.55741012e-01 8.31355476e-01 0.00000000e+00 2.81339755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11366063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.490371743 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:108.41, Y:28.15, Z:0.01 [[ 8.28606306e-01 -5.59831751e-01 0.00000000e+00 1.08406902e+02] [ 5.59831751e-01 8.28606306e-01 0.00000000e+00 2.81504757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03641311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.520371743 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:108.44, Y:28.17, Z:0.01 [[ 8.29091867e-01 -5.59112401e-01 0.00000000e+00 1.08435301e+02] [ 5.59112401e-01 8.29091867e-01 0.00000000e+00 2.81669940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08198846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.550371743 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:108.48, Y:28.18, Z:0.01 [[ 8.33525924e-01 -5.52480347e-01 0.00000000e+00 1.08479964e+02] [ 5.52480347e-01 8.33525924e-01 0.00000000e+00 2.81809709e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.91367258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.580371743 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:108.49, Y:28.20, Z:0.01 [[ 8.28722084e-01 -5.59660350e-01 0.00000000e+00 1.08488996e+02] [ 5.59660350e-01 8.28722084e-01 0.00000000e+00 2.81984036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21090329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.610371743 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:108.52, Y:28.21, Z:0.01 [[ 8.29020621e-01 -5.59218034e-01 0.00000000e+00 1.08516710e+02] [ 5.59218034e-01 8.29020621e-01 0.00000000e+00 2.82135686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27309285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640371743 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:108.55, Y:28.23, Z:0.01 [[ 8.29362457e-01 -5.58710941e-01 0.00000000e+00 1.08545652e+02] [ 5.58710941e-01 8.29362457e-01 0.00000000e+00 2.82303299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39176318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.670371743 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:108.59, Y:28.24, Z:0.01 [[ 8.33469751e-01 -5.52565086e-01 0.00000000e+00 1.08588415e+02] [ 5.52565086e-01 8.33469751e-01 0.00000000e+00 2.82437869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29209242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.700371743 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:108.60, Y:28.26, Z:0.01 [[ 8.29251256e-01 -5.58875974e-01 0.00000000e+00 1.08599240e+02] [ 5.58875974e-01 8.29251256e-01 0.00000000e+00 2.82607404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48196025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73037174299999 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:108.64, Y:28.27, Z:0.01 [[ 8.32508448e-01 -5.54012350e-01 0.00000000e+00 1.08640704e+02] [ 5.54012350e-01 8.32508448e-01 0.00000000e+00 2.82740676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33431715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.760371743 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:108.65, Y:28.29, Z:0.01 [[ 8.27896247e-01 -5.60881275e-01 0.00000000e+00 1.08654698e+02] [ 5.60881275e-01 8.27896247e-01 0.00000000e+00 2.82892343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46690893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.790371743 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:108.70, Y:28.30, Z:0.01 [[ 8.31680597e-01 -5.55254342e-01 0.00000000e+00 1.08698893e+02] [ 5.55254342e-01 8.31680597e-01 0.00000000e+00 2.83025379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06633060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.820371743 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:108.73, Y:28.32, Z:0.01 [[ 8.30954983e-01 -5.56339660e-01 0.00000000e+00 1.08727474e+02] [ 5.56339660e-01 8.30954983e-01 0.00000000e+00 2.83181458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88968945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.850371743 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:108.76, Y:28.33, Z:0.01 [[ 8.30218540e-01 -5.57438046e-01 0.00000000e+00 1.08755098e+02] [ 5.57438046e-01 8.30218540e-01 0.00000000e+00 2.83321182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.79521540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.880371743 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:108.78, Y:28.35, Z:0.01 [[ 8.27591487e-01 -5.61330856e-01 0.00000000e+00 1.08781234e+02] [ 5.61330856e-01 8.27591487e-01 0.00000000e+00 2.83488574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.46435247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.910371743 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:108.81, Y:28.36, Z:0.01 [[ 8.27377104e-01 -5.61646800e-01 0.00000000e+00 1.08808322e+02] [ 5.61646800e-01 8.27377104e-01 0.00000000e+00 2.83643938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28716150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.940371743 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:108.84, Y:28.38, Z:0.01 [[ 8.27125120e-01 -5.62017825e-01 0.00000000e+00 1.08835203e+02] [ 5.62017825e-01 8.27125120e-01 0.00000000e+00 2.83808692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28716150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.970371743 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:108.85, Y:28.40, Z:0.01 [[ 8.22765537e-01 -5.68380921e-01 0.00000000e+00 1.08845088e+02] [ 5.68380921e-01 8.22765537e-01 0.00000000e+00 2.83982175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37519862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.000371743 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:108.88, Y:28.41, Z:0.01 [[ 8.27848588e-01 -5.60951616e-01 0.00000000e+00 1.08883437e+02] [ 5.60951616e-01 8.27848588e-01 0.00000000e+00 2.84093767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.95713782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.030371743 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:108.92, Y:28.43, Z:0.01 [[ 8.27080030e-01 -5.62084179e-01 0.00000000e+00 1.08915412e+02] [ 5.62084179e-01 8.27080030e-01 0.00000000e+00 2.84275093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.64004273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.060371743 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:108.93, Y:28.45, Z:0.01 [[ 8.22985331e-01 -5.68062624e-01 0.00000000e+00 1.08925055e+02] [ 5.68062624e-01 8.22985331e-01 0.00000000e+00 2.84464889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30956860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09037174299999 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:108.97, Y:28.46, Z:0.01 [[ 8.27753528e-01 -5.61091879e-01 0.00000000e+00 1.08969058e+02] [ 5.61091879e-01 8.27753528e-01 0.00000000e+00 2.84603416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97764275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12037174299999 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:108.98, Y:28.48, Z:0.01 [[ 8.22669627e-01 -5.68519731e-01 0.00000000e+00 1.08978796e+02] [ 5.68519731e-01 8.22669627e-01 0.00000000e+00 2.84775816e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19466941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.150371743 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:109.02, Y:28.49, Z:0.01 [[ 8.26815674e-01 -5.62472970e-01 0.00000000e+00 1.09022321e+02] [ 5.62472970e-01 8.26815674e-01 0.00000000e+00 2.84913607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.81102580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.180371743 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:109.03, Y:28.51, Z:0.01 [[ 8.21989778e-01 -5.69502243e-01 0.00000000e+00 1.09031797e+02] [ 5.69502243e-01 8.21989778e-01 0.00000000e+00 2.85094533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11207404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.210371743 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:109.08, Y:28.53, Z:0.01 [[ 8.25622871e-01 -5.64222362e-01 0.00000000e+00 1.09076091e+02] [ 5.64222362e-01 8.25622871e-01 0.00000000e+00 2.85251708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42918748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.240371743 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:109.10, Y:28.54, Z:0.01 [[ 8.24041099e-01 -5.66530023e-01 0.00000000e+00 1.09103490e+02] [ 5.66530023e-01 8.24041099e-01 0.00000000e+00 2.85434235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39606632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.270371743 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:109.13, Y:28.56, Z:0.01 [[ 8.22018558e-01 -5.69460701e-01 0.00000000e+00 1.09127255e+02] [ 5.69460701e-01 8.22018558e-01 0.00000000e+00 2.85604295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31164639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.300371743 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:109.15, Y:28.58, Z:0.01 [[ 8.20824690e-01 -5.71180207e-01 0.00000000e+00 1.09153824e+02] [ 5.71180207e-01 8.20824690e-01 0.00000000e+00 2.85779099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96002775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.330371743 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:109.18, Y:28.60, Z:0.01 [[ 8.18961807e-01 -5.73848028e-01 0.00000000e+00 1.09177738e+02] [ 5.73848028e-01 8.18961807e-01 0.00000000e+00 2.85956657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70467071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.360371743 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:109.21, Y:28.61, Z:0.01 [[ 8.17694759e-01 -5.75652049e-01 0.00000000e+00 1.09205104e+02] [ 5.75652049e-01 8.17694759e-01 0.00000000e+00 2.86141415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49673541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.390371743 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:109.23, Y:28.63, Z:0.01 [[ 8.17035035e-01 -5.76588026e-01 0.00000000e+00 1.09230445e+02] [ 5.76588026e-01 8.17035035e-01 0.00000000e+00 2.86323842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.97098205e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.420371743 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:109.26, Y:28.65, Z:0.01 [[ 8.16654556e-01 -5.77126794e-01 0.00000000e+00 1.09257278e+02] [ 5.77126794e-01 8.16654556e-01 0.00000000e+00 2.86512797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25831650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.450371743 meters Centerline goodness : 0.995737 Centerline is valid? [True, True] Translation: X:109.28, Y:28.67, Z:0.01 [[ 8.16379297e-01 -5.77516099e-01 0.00000000e+00 1.09284809e+02] [ 5.77516099e-01 8.16379297e-01 0.00000000e+00 2.86699204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.30717947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48037174299999 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:109.31, Y:28.69, Z:0.00 [[ 8.17518166e-01 -5.75902812e-01 0.00000000e+00 1.09313273e+02] [ 5.75902812e-01 8.17518166e-01 0.00000000e+00 2.86892324e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24833075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.510371743 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:109.34, Y:28.71, Z:0.01 [[ 8.16343404e-01 -5.77566833e-01 0.00000000e+00 1.09336704e+02] [ 5.77566833e-01 8.16343404e-01 0.00000000e+00 2.87075250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63237575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.540371743 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:109.37, Y:28.73, Z:0.00 [[ 8.17400122e-01 -5.76070343e-01 0.00000000e+00 1.09366638e+02] [ 5.76070343e-01 8.17400122e-01 0.00000000e+00 2.87253619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43132981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.570371743 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:109.39, Y:28.74, Z:0.00 [[ 8.17216099e-01 -5.76331370e-01 0.00000000e+00 1.09392113e+02] [ 5.76331370e-01 8.17216099e-01 0.00000000e+00 2.87432214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99454786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.600371743 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:109.42, Y:28.76, Z:0.00 [[ 8.16679717e-01 -5.77091188e-01 0.00000000e+00 1.09418435e+02] [ 5.77091188e-01 8.16679717e-01 0.00000000e+00 2.87633559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36963397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.630371743 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:109.44, Y:28.78, Z:0.00 [[ 8.15503902e-01 -5.78751575e-01 0.00000000e+00 1.09441702e+02] [ 5.78751575e-01 8.15503902e-01 0.00000000e+00 2.87841609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94620498e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.660371743 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:109.46, Y:28.80, Z:0.01 [[ 8.14950246e-01 -5.79530927e-01 0.00000000e+00 1.09464469e+02] [ 5.79530927e-01 8.14950246e-01 0.00000000e+00 2.88020702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52268369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.690371743 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:109.49, Y:28.82, Z:0.00 [[ 8.15427557e-01 -5.78859136e-01 0.00000000e+00 1.09492602e+02] [ 5.78859136e-01 8.15427557e-01 0.00000000e+00 2.88208282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52774147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.720371743 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:109.52, Y:28.84, Z:0.01 [[ 8.16244152e-01 -5.77707092e-01 0.00000000e+00 1.09517350e+02] [ 5.77707092e-01 8.16244152e-01 0.00000000e+00 2.88418374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83011385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.750371743 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:109.54, Y:28.86, Z:0.01 [[ 8.16843799e-01 -5.76858915e-01 0.00000000e+00 1.09541558e+02] [ 5.76858915e-01 8.16843799e-01 0.00000000e+00 2.88606496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51667299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.780371743 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:109.56, Y:28.88, Z:0.01 [[ 8.18759744e-01 -5.74136292e-01 0.00000000e+00 1.09563803e+02] [ 5.74136292e-01 8.18759744e-01 0.00000000e+00 2.88784072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.18648943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.810371743 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:109.59, Y:28.90, Z:0.00 [[ 8.21071668e-01 -5.70825119e-01 0.00000000e+00 1.09592851e+02] [ 5.70825119e-01 8.21071668e-01 0.00000000e+00 2.89010499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01565259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84037174299999 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:109.61, Y:28.92, Z:0.01 [[ 8.23389984e-01 -5.67475933e-01 0.00000000e+00 1.09614830e+02] [ 5.67475933e-01 8.23389984e-01 0.00000000e+00 2.89176703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51319472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87037174299999 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:109.64, Y:28.94, Z:0.00 [[ 8.24313837e-01 -5.66133110e-01 0.00000000e+00 1.09641665e+02] [ 5.66133110e-01 8.24313837e-01 0.00000000e+00 2.89401545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83567799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.900371743 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:109.67, Y:28.96, Z:0.01 [[ 8.25904206e-01 -5.63810467e-01 0.00000000e+00 1.09665457e+02] [ 5.63810467e-01 8.25904206e-01 0.00000000e+00 2.89575732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39585437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.930371743 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:109.69, Y:28.98, Z:0.00 [[ 8.25315256e-01 -5.64672231e-01 0.00000000e+00 1.09694046e+02] [ 5.64672231e-01 8.25315256e-01 0.00000000e+00 2.89782778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03165427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.960371743 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:109.71, Y:29.00, Z:0.01 [[ 8.27951992e-01 -5.60798982e-01 0.00000000e+00 1.09714192e+02] [ 5.60798982e-01 8.27951992e-01 0.00000000e+00 2.89964380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21192767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.990371743 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:109.74, Y:29.02, Z:0.00 [[ 8.27462226e-01 -5.61521384e-01 0.00000000e+00 1.09743104e+02] [ 5.61521384e-01 8.27462226e-01 0.00000000e+00 2.90174294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99787308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.020371743 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:109.77, Y:29.04, Z:0.01 [[ 8.30017461e-01 -5.57737406e-01 0.00000000e+00 1.09767113e+02] [ 5.57737406e-01 8.30017461e-01 0.00000000e+00 2.90388157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80129402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.050371743 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:109.79, Y:29.06, Z:0.01 [[ 8.30784373e-01 -5.56594400e-01 0.00000000e+00 1.09792643e+02] [ 5.56594400e-01 8.30784373e-01 0.00000000e+00 2.90582758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77652069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.080371743 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:109.82, Y:29.08, Z:0.01 [[ 8.32333936e-01 -5.54274498e-01 0.00000000e+00 1.09818565e+02] [ 5.54274498e-01 8.32333936e-01 0.00000000e+00 2.90772800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73749330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.110371743 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:109.84, Y:29.10, Z:0.01 [[ 8.34668459e-01 -5.50752725e-01 0.00000000e+00 1.09841932e+02] [ 5.50752725e-01 8.34668459e-01 0.00000000e+00 2.90972850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.87043698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140371743 meters Centerline goodness : 0.993244 Centerline is valid? [True, True] Translation: X:109.87, Y:29.12, Z:0.01 [[ 8.34683188e-01 -5.50730402e-01 0.00000000e+00 1.09868324e+02] [ 5.50730402e-01 8.34683188e-01 0.00000000e+00 2.91161333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59160391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.170371743 meters Centerline goodness : 0.992981 Centerline is valid? [True, True] Translation: X:109.89, Y:29.13, Z:0.01 [[ 8.35504525e-01 -5.49483566e-01 0.00000000e+00 1.09890529e+02] [ 5.49483566e-01 8.35504525e-01 0.00000000e+00 2.91342086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58564438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.200371743 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:109.92, Y:29.15, Z:0.01 [[ 8.34144662e-01 -5.51545721e-01 0.00000000e+00 1.09919273e+02] [ 5.51545721e-01 8.34144662e-01 0.00000000e+00 2.91535894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29917378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23037174299999 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:109.95, Y:29.17, Z:0.01 [[ 8.33223947e-01 -5.52935669e-01 0.00000000e+00 1.09945447e+02] [ 5.52935669e-01 8.33223947e-01 0.00000000e+00 2.91713009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92420862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.260371743 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:109.97, Y:29.19, Z:0.01 [[ 8.30853726e-01 -5.56490867e-01 0.00000000e+00 1.09971737e+02] [ 5.56490867e-01 8.30853726e-01 0.00000000e+00 2.91893452e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05511194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.290371743 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:110.00, Y:29.21, Z:0.01 [[ 8.29880327e-01 -5.57941434e-01 0.00000000e+00 1.09997091e+02] [ 5.57941434e-01 8.29880327e-01 0.00000000e+00 2.92060058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92257276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.320371743 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:110.03, Y:29.22, Z:0.01 [[ 8.26862587e-01 -5.62404002e-01 0.00000000e+00 1.10026062e+02] [ 5.62404002e-01 8.26862587e-01 0.00000000e+00 2.92245974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15678890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.350371743 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] Translation: X:110.05, Y:29.24, Z:0.01 [[ 8.26803862e-01 -5.62490333e-01 0.00000000e+00 1.10051860e+02] [ 5.62490333e-01 8.26803862e-01 0.00000000e+00 2.92400828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82703419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.380371743 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:110.08, Y:29.26, Z:0.01 [[ 8.25151227e-01 -5.64911899e-01 0.00000000e+00 1.10079679e+02] [ 5.64911899e-01 8.25151227e-01 0.00000000e+00 2.92579579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11874805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.410371743 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:110.11, Y:29.27, Z:0.01 [[ 8.23669271e-01 -5.67070482e-01 0.00000000e+00 1.10105666e+02] [ 5.67070482e-01 8.23669271e-01 0.00000000e+00 2.92748174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05598430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.440371743 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:110.13, Y:29.29, Z:0.01 [[ 8.23086091e-01 -5.67916620e-01 0.00000000e+00 1.10132224e+02] [ 5.67916620e-01 8.23086091e-01 0.00000000e+00 2.92916091e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06711735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.470371743 meters Centerline goodness : 0.993203 Centerline is valid? [True, True] Translation: X:110.16, Y:29.31, Z:0.01 [[ 8.21717670e-01 -5.69894790e-01 0.00000000e+00 1.10162016e+02] [ 5.69894790e-01 8.21717670e-01 0.00000000e+00 2.93095536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12698294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500371743 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:110.19, Y:29.33, Z:0.01 [[ 8.21895943e-01 -5.69637655e-01 0.00000000e+00 1.10189113e+02] [ 5.69637655e-01 8.21895943e-01 0.00000000e+00 2.93262473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04825291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.530371743 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:110.22, Y:29.34, Z:0.01 [[ 8.21475540e-01 -5.70243752e-01 0.00000000e+00 1.10216184e+02] [ 5.70243752e-01 8.21475540e-01 0.00000000e+00 2.93441364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13580198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.560371743 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:110.24, Y:29.36, Z:0.01 [[ 8.21353447e-01 -5.70419596e-01 0.00000000e+00 1.10242981e+02] [ 5.70419596e-01 8.21353447e-01 0.00000000e+00 2.93607804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00465850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59037174299999 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:110.27, Y:29.38, Z:0.01 [[ 8.20542927e-01 -5.71584906e-01 0.00000000e+00 1.10268871e+02] [ 5.71584906e-01 8.20542927e-01 0.00000000e+00 2.93782907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.66246647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62037174299999 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:110.30, Y:29.40, Z:0.01 [[ 8.19216595e-01 -5.73484238e-01 0.00000000e+00 1.10296560e+02] [ 5.73484238e-01 8.19216595e-01 0.00000000e+00 2.93966199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79764547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.650371743 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:110.33, Y:29.41, Z:0.01 [[ 8.20038943e-01 -5.72307725e-01 0.00000000e+00 1.10326614e+02] [ 5.72307725e-01 8.20038943e-01 0.00000000e+00 2.94135738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51961963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.680371743 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:110.35, Y:29.43, Z:0.01 [[ 8.20189523e-01 -5.72091904e-01 0.00000000e+00 1.10353760e+02] [ 5.72091904e-01 8.20189523e-01 0.00000000e+00 2.94299768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33468471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.710371743 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:110.38, Y:29.45, Z:0.01 [[ 8.20721784e-01 -5.71328061e-01 0.00000000e+00 1.10380321e+02] [ 5.71328061e-01 8.20721784e-01 0.00000000e+00 2.94482728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32867505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.740371743 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:110.41, Y:29.47, Z:0.01 [[ 8.21976075e-01 -5.69522021e-01 0.00000000e+00 1.10405425e+02] [ 5.69522021e-01 8.21976075e-01 0.00000000e+00 2.94650395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32402023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.770371743 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:110.43, Y:29.49, Z:0.01 [[ 8.22253026e-01 -5.69122097e-01 0.00000000e+00 1.10430647e+02] [ 5.69122097e-01 8.22253026e-01 0.00000000e+00 2.94853977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27642211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.800371743 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:110.46, Y:29.50, Z:0.01 [[ 8.24368345e-01 -5.66053735e-01 0.00000000e+00 1.10460194e+02] [ 5.66053735e-01 8.24368345e-01 0.00000000e+00 2.95023352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82964656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.830371743 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:110.49, Y:29.52, Z:0.01 [[ 8.24212387e-01 -5.66280797e-01 0.00000000e+00 1.10487773e+02] [ 5.66280797e-01 8.24212387e-01 0.00000000e+00 2.95196251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82964656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860371743 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:110.51, Y:29.54, Z:0.01 [[ 8.24081171e-01 -5.66471732e-01 0.00000000e+00 1.10513550e+02] [ 5.66471732e-01 8.24081171e-01 0.00000000e+00 2.95375994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11490362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.890371743 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:110.54, Y:29.56, Z:0.01 [[ 8.25543106e-01 -5.64339065e-01 0.00000000e+00 1.10540325e+02] [ 5.64339065e-01 8.25543106e-01 0.00000000e+00 2.95560444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23080197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920371743 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:110.57, Y:29.57, Z:0.01 [[ 8.27316301e-01 -5.61736360e-01 0.00000000e+00 1.10572574e+02] [ 5.61736360e-01 8.27316301e-01 0.00000000e+00 2.95745540e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.99474976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.950371743 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:110.60, Y:29.59, Z:0.01 [[ 8.26979706e-01 -5.62231772e-01 0.00000000e+00 1.10596519e+02] [ 5.62231772e-01 8.26979706e-01 0.00000000e+00 2.95923440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29660389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98037174299999 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:110.62, Y:29.61, Z:0.01 [[ 8.26418762e-01 -5.63055975e-01 0.00000000e+00 1.10619864e+02] [ 5.63055975e-01 8.26418762e-01 0.00000000e+00 2.96100124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14600037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.010371743 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:110.65, Y:29.63, Z:0.01 [[ 8.25916039e-01 -5.63793132e-01 0.00000000e+00 1.10646137e+02] [ 5.63793132e-01 8.25916039e-01 0.00000000e+00 2.96277628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.84300111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.040371743 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:110.68, Y:29.64, Z:0.01 [[ 8.26734783e-01 -5.62591858e-01 0.00000000e+00 1.10676447e+02] [ 5.62591858e-01 8.26734783e-01 0.00000000e+00 2.96446339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01395719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.070371743 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:110.70, Y:29.66, Z:0.01 [[ 8.26073944e-01 -5.63561743e-01 0.00000000e+00 1.10700911e+02] [ 5.63561743e-01 8.26073944e-01 0.00000000e+00 2.96614550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09985860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.100371743 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:110.73, Y:29.68, Z:0.01 [[ 8.25655674e-01 -5.64174360e-01 0.00000000e+00 1.10727449e+02] [ 5.64174360e-01 8.25655674e-01 0.00000000e+00 2.96783063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.95002257e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.130371743 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:110.75, Y:29.70, Z:0.01 [[ 8.25952581e-01 -5.63739598e-01 0.00000000e+00 1.10754511e+02] [ 5.63739598e-01 8.25952581e-01 0.00000000e+00 2.96956271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94506736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.160371743 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:110.78, Y:29.71, Z:0.01 [[ 8.27026135e-01 -5.62163474e-01 0.00000000e+00 1.10780531e+02] [ 5.62163474e-01 8.27026135e-01 0.00000000e+00 2.97109926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04548545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.190371743 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:110.81, Y:29.73, Z:0.01 [[ 8.25739575e-01 -5.64051553e-01 0.00000000e+00 1.10807178e+02] [ 5.64051553e-01 8.25739575e-01 0.00000000e+00 2.97293266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14124856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220371743 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:110.84, Y:29.75, Z:0.01 [[ 8.26436574e-01 -5.63029830e-01 0.00000000e+00 1.10836687e+02] [ 5.63029830e-01 8.26436574e-01 0.00000000e+00 2.97453704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36399946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.250371743 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:110.87, Y:29.76, Z:0.01 [[ 8.26659065e-01 -5.62703111e-01 0.00000000e+00 1.10865373e+02] [ 5.62703111e-01 8.26659065e-01 0.00000000e+00 2.97618372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45450405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280371743 meters Centerline goodness : 0.992665 Centerline is valid? [True, True] Translation: X:110.89, Y:29.78, Z:0.01 [[ 8.26348473e-01 -5.63159126e-01 0.00000000e+00 1.10892772e+02] [ 5.63159126e-01 8.26348473e-01 0.00000000e+00 2.97783621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46170466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.310371743 meters Centerline goodness : 0.993112 Centerline is valid? [True, True] Translation: X:110.92, Y:29.79, Z:0.01 [[ 8.26326877e-01 -5.63190813e-01 0.00000000e+00 1.10921402e+02] [ 5.63190813e-01 8.26326877e-01 0.00000000e+00 2.97945274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42711353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34037174299999 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:110.95, Y:29.81, Z:0.01 [[ 8.27274371e-01 -5.61798109e-01 0.00000000e+00 1.10950564e+02] [ 5.61798109e-01 8.27274371e-01 0.00000000e+00 2.98111377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37043847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37037174299999 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:110.98, Y:29.83, Z:0.01 [[ 8.27356277e-01 -5.61677479e-01 0.00000000e+00 1.10977315e+02] [ 5.61677479e-01 8.27356277e-01 0.00000000e+00 2.98277213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30980554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.400371743 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:111.00, Y:29.84, Z:0.01 [[ 8.27892842e-01 -5.60886301e-01 0.00000000e+00 1.11003906e+02] [ 5.60886301e-01 8.27892842e-01 0.00000000e+00 2.98436804e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31299291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.430371743 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:111.03, Y:29.86, Z:0.01 [[ 8.29439372e-01 -5.58596749e-01 0.00000000e+00 1.11030688e+02] [ 5.58596749e-01 8.29439372e-01 0.00000000e+00 2.98589522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23074618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.460371743 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:111.06, Y:29.88, Z:0.01 [[ 8.30734600e-01 -5.56668685e-01 0.00000000e+00 1.11058409e+02] [ 5.56668685e-01 8.30734600e-01 0.00000000e+00 2.98752751e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23348791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.490371743 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:111.09, Y:29.89, Z:0.01 [[ 8.31292306e-01 -5.55835499e-01 0.00000000e+00 1.11090734e+02] [ 5.55835499e-01 8.31292306e-01 0.00000000e+00 2.98931102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.91696743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.520371743 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:111.12, Y:29.91, Z:0.01 [[ 8.31631648e-01 -5.55327653e-01 0.00000000e+00 1.11119620e+02] [ 5.55327653e-01 8.31631648e-01 0.00000000e+00 2.99091424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30760457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.550371743 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:111.14, Y:29.93, Z:0.01 [[ 8.30290420e-01 -5.57330978e-01 0.00000000e+00 1.11142591e+02] [ 5.57330978e-01 8.30290420e-01 0.00000000e+00 2.99255076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38450977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.580371743 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:111.17, Y:29.94, Z:0.01 [[ 8.29001162e-01 -5.59246881e-01 0.00000000e+00 1.11167748e+02] [ 5.59246881e-01 8.29001162e-01 0.00000000e+00 2.99402343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33518343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.610371743 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:111.19, Y:29.96, Z:0.01 [[ 8.26373502e-01 -5.63122399e-01 0.00000000e+00 1.11185741e+02] [ 5.63122399e-01 8.26373502e-01 0.00000000e+00 2.99573536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24059393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640371743 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:111.22, Y:29.97, Z:0.01 [[ 8.28394069e-01 -5.60145755e-01 0.00000000e+00 1.11223891e+02] [ 5.60145755e-01 8.28394069e-01 0.00000000e+00 2.99712667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48025699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.670371743 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:111.25, Y:29.99, Z:0.01 [[ 8.26910678e-01 -5.62333292e-01 0.00000000e+00 1.11248951e+02] [ 5.62333292e-01 8.26910678e-01 0.00000000e+00 2.99882652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46948216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.700371743 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:111.28, Y:30.00, Z:0.02 [[ 8.26113724e-01 -5.63503430e-01 0.00000000e+00 1.11276300e+02] [ 5.63503430e-01 8.26113724e-01 0.00000000e+00 3.00046558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53542704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73037174299999 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:111.30, Y:30.02, Z:0.02 [[ 8.24715283e-01 -5.65548142e-01 0.00000000e+00 1.11304542e+02] [ 5.65548142e-01 8.24715283e-01 0.00000000e+00 3.00192209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51937995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.760371743 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:111.33, Y:30.04, Z:0.02 [[ 8.23340518e-01 -5.67547700e-01 0.00000000e+00 1.11331727e+02] [ 5.67547700e-01 8.23340518e-01 0.00000000e+00 3.00358638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51304266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.790371743 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:111.36, Y:30.05, Z:0.01 [[ 8.20253448e-01 -5.72000245e-01 0.00000000e+00 1.11360280e+02] [ 5.72000245e-01 8.20253448e-01 0.00000000e+00 3.00505296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45021503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.820371743 meters Centerline goodness : 0.993881 Centerline is valid? [True, True] Translation: X:111.39, Y:30.07, Z:0.01 [[ 8.19102844e-01 -5.73646695e-01 0.00000000e+00 1.11389541e+02] [ 5.73646695e-01 8.19102844e-01 0.00000000e+00 3.00659611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49640673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.850371743 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:111.42, Y:30.08, Z:0.01 [[ 8.17961804e-01 -5.75272533e-01 0.00000000e+00 1.11418249e+02] [ 5.75272533e-01 8.17961804e-01 0.00000000e+00 3.00819545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44134156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.880371743 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:111.45, Y:30.10, Z:0.01 [[ 8.16813398e-01 -5.76901961e-01 0.00000000e+00 1.11447081e+02] [ 5.76901961e-01 8.16813398e-01 0.00000000e+00 3.00971766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30854478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.910371743 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:111.47, Y:30.11, Z:0.01 [[ 8.16099262e-01 -5.77911754e-01 0.00000000e+00 1.11474774e+02] [ 5.77911754e-01 8.16099262e-01 0.00000000e+00 3.01142215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36289011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.940371743 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:111.49, Y:30.13, Z:0.01 [[ 8.14535942e-01 -5.80113091e-01 0.00000000e+00 1.11494157e+02] [ 5.80113091e-01 8.14535942e-01 0.00000000e+00 3.01314156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20120992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.970371743 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:111.53, Y:30.15, Z:0.01 [[ 8.17995842e-01 -5.75224132e-01 0.00000000e+00 1.11530038e+02] [ 5.75224132e-01 8.17995842e-01 0.00000000e+00 3.01466246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05728814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000371743 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:111.55, Y:30.16, Z:0.01 [[ 8.16452858e-01 -5.77412097e-01 0.00000000e+00 1.11546830e+02] [ 5.77412097e-01 8.16452858e-01 0.00000000e+00 3.01649211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27660780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.030371743 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:111.58, Y:30.18, Z:0.01 [[ 8.20294362e-01 -5.71941570e-01 0.00000000e+00 1.11582274e+02] [ 5.71941570e-01 8.20294362e-01 0.00000000e+00 3.01807133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24284023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.060371743 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:111.61, Y:30.20, Z:0.01 [[ 8.23320736e-01 -5.67576396e-01 0.00000000e+00 1.11609034e+02] [ 5.67576396e-01 8.23320736e-01 0.00000000e+00 3.01980654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24054611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09037174299999 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:111.64, Y:30.22, Z:0.01 [[ 8.24694780e-01 -5.65578041e-01 0.00000000e+00 1.11637431e+02] [ 5.65578041e-01 8.24694780e-01 0.00000000e+00 3.02153447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20798942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12037174299999 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:111.65, Y:30.23, Z:0.02 [[ 8.23759783e-01 -5.66938992e-01 0.00000000e+00 1.11653226e+02] [ 5.66938992e-01 8.23759783e-01 0.00000000e+00 3.02320032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62310469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.150371743 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:111.68, Y:30.25, Z:0.02 [[ 8.24959123e-01 -5.65192396e-01 0.00000000e+00 1.11680687e+02] [ 5.65192396e-01 8.24959123e-01 0.00000000e+00 3.02482711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55504668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.180371743 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:111.72, Y:30.26, Z:0.01 [[ 8.29648006e-01 -5.58286832e-01 0.00000000e+00 1.11720265e+02] [ 5.58286832e-01 8.29648006e-01 0.00000000e+00 3.02631063e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03758461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.210371743 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:111.75, Y:30.28, Z:0.01 [[ 8.31964158e-01 -5.54829379e-01 0.00000000e+00 1.11748634e+02] [ 5.54829379e-01 8.31964158e-01 0.00000000e+00 3.02780005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.35097253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.240371743 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:111.77, Y:30.30, Z:0.01 [[ 8.31251217e-01 -5.55896945e-01 0.00000000e+00 1.11773766e+02] [ 5.55896945e-01 8.31251217e-01 0.00000000e+00 3.02950587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33982192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.270371743 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:111.79, Y:30.31, Z:0.01 [[ 8.28592129e-01 -5.59852734e-01 0.00000000e+00 1.11789135e+02] [ 5.59852734e-01 8.28592129e-01 0.00000000e+00 3.03123086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40969981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.300371743 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:111.83, Y:30.32, Z:0.01 [[ 8.34668230e-01 -5.50753072e-01 0.00000000e+00 1.11833718e+02] [ 5.50753072e-01 8.34668230e-01 0.00000000e+00 3.03243713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54918152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.330371743 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:111.86, Y:30.34, Z:0.01 [[ 8.34128256e-01 -5.51570532e-01 0.00000000e+00 1.11859234e+02] [ 5.51570532e-01 8.34128256e-01 0.00000000e+00 3.03404637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75483934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360371743 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:111.87, Y:30.36, Z:0.01 [[ 8.30350147e-01 -5.57241989e-01 0.00000000e+00 1.11872107e+02] [ 5.57241989e-01 8.30350147e-01 0.00000000e+00 3.03561376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23135367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.390371743 meters Centerline goodness : 0.994361 Centerline is valid? [True, True] Translation: X:111.90, Y:30.37, Z:0.01 [[ 8.30930724e-01 -5.56375890e-01 0.00000000e+00 1.11900521e+02] [ 5.56375890e-01 8.30930724e-01 0.00000000e+00 3.03725457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26328537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420371743 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:111.94, Y:30.39, Z:0.01 [[ 8.35440149e-01 -5.49581438e-01 0.00000000e+00 1.11941734e+02] [ 5.49581438e-01 8.35440149e-01 0.00000000e+00 3.03862141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70056674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.450371743 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:111.95, Y:30.40, Z:0.01 [[ 8.31848384e-01 -5.55002942e-01 0.00000000e+00 1.11954392e+02] [ 5.55002942e-01 8.31848384e-01 0.00000000e+00 3.04023283e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44278201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48037174299999 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:111.98, Y:30.42, Z:0.01 [[ 8.32371511e-01 -5.54218069e-01 0.00000000e+00 1.11982727e+02] [ 5.54218069e-01 8.32371511e-01 0.00000000e+00 3.04181577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44532943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.510371743 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:112.02, Y:30.43, Z:0.01 [[ 8.37331810e-01 -5.46695016e-01 0.00000000e+00 1.12024662e+02] [ 5.46695016e-01 8.37331810e-01 0.00000000e+00 3.04293722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67946933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.540371743 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:112.04, Y:30.45, Z:0.01 [[ 8.33018134e-01 -5.53245685e-01 0.00000000e+00 1.12037041e+02] [ 5.53245685e-01 8.33018134e-01 0.00000000e+00 3.04467537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44244535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.570371743 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:112.06, Y:30.46, Z:0.01 [[ 8.33263087e-01 -5.52876684e-01 0.00000000e+00 1.12064438e+02] [ 5.52876684e-01 8.33263087e-01 0.00000000e+00 3.04625212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43330943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.600371743 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:112.09, Y:30.48, Z:0.01 [[ 8.33317939e-01 -5.52794006e-01 0.00000000e+00 1.12092734e+02] [ 5.52794006e-01 8.33317939e-01 0.00000000e+00 3.04789790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43848606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.630371743 meters Centerline goodness : 0.995002 Centerline is valid? [True, True] Translation: X:112.12, Y:30.49, Z:0.01 [[ 8.33350780e-01 -5.52744495e-01 0.00000000e+00 1.12122446e+02] [ 5.52744495e-01 8.33350780e-01 0.00000000e+00 3.04936198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46640213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.660371743 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:112.17, Y:30.51, Z:0.01 [[ 8.38683201e-01 -5.44619582e-01 0.00000000e+00 1.12168731e+02] [ 5.44619582e-01 8.38683201e-01 0.00000000e+00 3.05061261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73215665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.690371743 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:112.20, Y:30.52, Z:0.01 [[ 8.38006974e-01 -5.45659520e-01 0.00000000e+00 1.12197029e+02] [ 5.45659520e-01 8.38006974e-01 0.00000000e+00 3.05216849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71132330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720371743 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:112.22, Y:30.53, Z:0.01 [[ 8.39131235e-01 -5.43929013e-01 0.00000000e+00 1.12222439e+02] [ 5.43929013e-01 8.39131235e-01 0.00000000e+00 3.05327834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33560462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.750371743 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:112.25, Y:30.55, Z:0.01 [[ 8.38981286e-01 -5.44160271e-01 0.00000000e+00 1.12249017e+02] [ 5.44160271e-01 8.38981286e-01 0.00000000e+00 3.05498545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33560462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780371743 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:112.26, Y:30.57, Z:0.01 [[ 8.32526036e-01 -5.53985919e-01 0.00000000e+00 1.12260195e+02] [ 5.53985919e-01 8.32526036e-01 0.00000000e+00 3.05693025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40659050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.810371743 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:112.31, Y:30.58, Z:0.01 [[ 8.38348290e-01 -5.45134978e-01 0.00000000e+00 1.12308146e+02] [ 5.45134978e-01 8.38348290e-01 0.00000000e+00 3.05812829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80094462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84037174299999 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:112.33, Y:30.60, Z:0.01 [[ 8.36996841e-01 -5.47207719e-01 0.00000000e+00 1.12332218e+02] [ 5.47207719e-01 8.36996841e-01 0.00000000e+00 3.05964807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03520556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87037174299999 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:112.36, Y:30.61, Z:0.01 [[ 8.37327261e-01 -5.46701982e-01 0.00000000e+00 1.12360462e+02] [ 5.46701982e-01 8.37327261e-01 0.00000000e+00 3.06110620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.16729481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.900371743 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:112.39, Y:30.62, Z:0.01 [[ 8.36739698e-01 -5.47600839e-01 0.00000000e+00 1.12388569e+02] [ 5.47600839e-01 8.36739698e-01 0.00000000e+00 3.06240625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.81109316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.930371743 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:112.42, Y:30.64, Z:0.01 [[ 8.36391414e-01 -5.48132651e-01 0.00000000e+00 1.12418243e+02] [ 5.48132651e-01 8.36391414e-01 0.00000000e+00 3.06397653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86620694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.960371743 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:112.43, Y:30.65, Z:0.01 [[ 8.30669691e-01 -5.56765538e-01 0.00000000e+00 1.12427473e+02] [ 5.56765538e-01 8.30669691e-01 0.00000000e+00 3.06539785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46801385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.990371743 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:112.46, Y:30.67, Z:0.01 [[ 8.29372490e-01 -5.58696046e-01 0.00000000e+00 1.12457902e+02] [ 5.58696046e-01 8.29372490e-01 0.00000000e+00 3.06697229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41288184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.020371743 meters Centerline goodness : 0.995011 Centerline is valid? [True, True] Translation: X:112.49, Y:30.68, Z:0.01 [[ 8.28218624e-01 -5.60405131e-01 0.00000000e+00 1.12486969e+02] [ 5.60405131e-01 8.28218624e-01 0.00000000e+00 3.06842296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27573599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.050371743 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:112.54, Y:30.69, Z:0.01 [[ 8.31172632e-01 -5.56014439e-01 0.00000000e+00 1.12538428e+02] [ 5.56014439e-01 8.31172632e-01 0.00000000e+00 3.06934337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19088807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.080371743 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:112.56, Y:30.71, Z:0.01 [[ 8.29077675e-01 -5.59133444e-01 0.00000000e+00 1.12563938e+02] [ 5.59133444e-01 8.29077675e-01 0.00000000e+00 3.07083048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44239555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.110371743 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:112.57, Y:30.73, Z:0.01 [[ 8.20693182e-01 -5.71369145e-01 0.00000000e+00 1.12567613e+02] [ 5.71369145e-01 8.20693182e-01 0.00000000e+00 3.07265195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17610016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.140371743 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:112.62, Y:30.74, Z:0.01 [[ 8.24195161e-01 -5.66305868e-01 0.00000000e+00 1.12621391e+02] [ 5.66305868e-01 8.24195161e-01 0.00000000e+00 3.07361842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76205688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.170371743 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:112.65, Y:30.75, Z:0.01 [[ 8.20037190e-01 -5.72310237e-01 0.00000000e+00 1.12647744e+02] [ 5.72310237e-01 8.20037190e-01 0.00000000e+00 3.07533920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02840432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.200371743 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:112.68, Y:30.77, Z:0.01 [[ 8.17219339e-01 -5.76326775e-01 0.00000000e+00 1.12675754e+02] [ 5.76326775e-01 8.17219339e-01 0.00000000e+00 3.07662182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12755694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23037174299999 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:112.68, Y:30.78, Z:0.01 [[ 8.07849922e-01 -5.89388246e-01 0.00000000e+00 1.12675283e+02] [ 5.89388246e-01 8.07849922e-01 0.00000000e+00 3.07845149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27108874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.260371743 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:112.73, Y:30.80, Z:0.01 [[ 8.12908469e-01 -5.82391467e-01 0.00000000e+00 1.12725138e+02] [ 5.82391467e-01 8.12908469e-01 0.00000000e+00 3.07972578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53174093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.290371743 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:112.75, Y:30.81, Z:0.01 [[ 8.09290101e-01 -5.87409170e-01 0.00000000e+00 1.12748502e+02] [ 5.87409170e-01 8.09290101e-01 0.00000000e+00 3.08142278e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00339090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.320371743 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:112.77, Y:30.83, Z:0.01 [[ 8.06994058e-01 -5.90559557e-01 0.00000000e+00 1.12773515e+02] [ 5.90559557e-01 8.06994058e-01 0.00000000e+00 3.08326007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04439289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.350371743 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:112.78, Y:30.85, Z:0.01 [[ 7.99180308e-01 -6.01091370e-01 0.00000000e+00 1.12778136e+02] [ 6.01091370e-01 7.99180308e-01 0.00000000e+00 3.08518652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25668806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.380371743 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:112.81, Y:30.87, Z:0.01 [[ 7.98567617e-01 -6.01905109e-01 0.00000000e+00 1.12805511e+02] [ 6.01905109e-01 7.98567617e-01 0.00000000e+00 3.08697885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15161647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.410371743 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:112.84, Y:30.89, Z:0.01 [[ 8.00258332e-01 -5.99655403e-01 0.00000000e+00 1.12843047e+02] [ 5.99655403e-01 8.00258332e-01 0.00000000e+00 3.08874108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90834678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.440371743 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:112.87, Y:30.91, Z:0.01 [[ 8.02391604e-01 -5.96797884e-01 0.00000000e+00 1.12873333e+02] [ 5.96797884e-01 8.02391604e-01 0.00000000e+00 3.09053010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64459918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.470371743 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:112.90, Y:30.93, Z:0.01 [[ 8.01529461e-01 -5.97955286e-01 0.00000000e+00 1.12899235e+02] [ 5.97955286e-01 8.01529461e-01 0.00000000e+00 3.09252416e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.95310595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.500371743 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:112.93, Y:30.94, Z:0.01 [[ 8.01705785e-01 -5.97718859e-01 0.00000000e+00 1.12926205e+02] [ 5.97718859e-01 8.01705785e-01 0.00000000e+00 3.09448975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47700413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.530371743 meters Centerline goodness : 0.995051 Centerline is valid? [True, True] Translation: X:112.94, Y:30.97, Z:0.01 [[ 7.99732827e-01 -6.00356066e-01 0.00000000e+00 1.12942365e+02] [ 6.00356066e-01 7.99732827e-01 0.00000000e+00 3.09654293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16112063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.560371743 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:112.97, Y:30.99, Z:0.01 [[ 7.99730432e-01 -6.00359257e-01 0.00000000e+00 1.12968183e+02] [ 6.00359257e-01 7.99730432e-01 0.00000000e+00 3.09867382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14650700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59037174299999 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:112.99, Y:31.01, Z:0.01 [[ 7.99325577e-01 -6.00898179e-01 0.00000000e+00 1.12994497e+02] [ 6.00898179e-01 7.99325577e-01 0.00000000e+00 3.10058746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12282899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62037174299999 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:113.02, Y:31.02, Z:0.01 [[ 7.99564830e-01 -6.00579789e-01 0.00000000e+00 1.13022779e+02] [ 6.00579789e-01 7.99564830e-01 0.00000000e+00 3.10249694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13739826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.650371743 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:113.05, Y:31.04, Z:0.01 [[ 7.99008478e-01 -6.01319759e-01 0.00000000e+00 1.13048108e+02] [ 6.01319759e-01 7.99008478e-01 0.00000000e+00 3.10447948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23279832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.680371743 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:113.07, Y:31.07, Z:0.01 [[ 7.98818139e-01 -6.01572590e-01 0.00000000e+00 1.13073271e+02] [ 6.01572590e-01 7.98818139e-01 0.00000000e+00 3.10660514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07492212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.710371743 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:113.10, Y:31.09, Z:0.01 [[ 7.98016970e-01 -6.02634977e-01 0.00000000e+00 1.13099355e+02] [ 6.02634977e-01 7.98016970e-01 0.00000000e+00 3.10861065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09664702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.740371743 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:113.13, Y:31.11, Z:0.01 [[ 7.97521814e-01 -6.03290110e-01 0.00000000e+00 1.13125118e+02] [ 6.03290110e-01 7.97521814e-01 0.00000000e+00 3.11053793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12480828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.770371743 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:113.15, Y:31.13, Z:0.01 [[ 7.97715724e-01 -6.03033684e-01 0.00000000e+00 1.13148102e+02] [ 6.03033684e-01 7.97715724e-01 0.00000000e+00 3.11255942e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09191184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.800371743 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:113.17, Y:31.15, Z:0.01 [[ 7.97536795e-01 -6.03270305e-01 0.00000000e+00 1.13174937e+02] [ 6.03270305e-01 7.97536795e-01 0.00000000e+00 3.11451744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48966155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.830371743 meters Centerline goodness : 0.995762 Centerline is valid? [True, True] Translation: X:113.20, Y:31.17, Z:0.01 [[ 7.98006967e-01 -6.02648223e-01 0.00000000e+00 1.13198915e+02] [ 6.02648223e-01 7.98006967e-01 0.00000000e+00 3.11667971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17430709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.860371743 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:113.21, Y:31.19, Z:0.01 [[ 7.94691071e-01 -6.07014086e-01 0.00000000e+00 1.13208839e+02] [ 6.07014086e-01 7.94691071e-01 0.00000000e+00 3.11866320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11262521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.890371743 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:113.25, Y:31.20, Z:0.01 [[ 7.98668776e-01 -6.01770875e-01 0.00000000e+00 1.13248556e+02] [ 6.01770875e-01 7.98668776e-01 0.00000000e+00 3.12040826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.41899175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920371743 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:113.26, Y:31.23, Z:0.01 [[ 7.97319327e-01 -6.03557695e-01 0.00000000e+00 1.13258161e+02] [ 6.03557695e-01 7.97319327e-01 0.00000000e+00 3.12257034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15931144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.950371743 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:113.28, Y:31.25, Z:0.01 [[ 7.98554329e-01 -6.01922739e-01 0.00000000e+00 1.13284647e+02] [ 6.01922739e-01 7.98554329e-01 0.00000000e+00 3.12456034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15246087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98037174299999 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:113.31, Y:31.27, Z:0.01 [[ 8.01194248e-01 -5.98404359e-01 0.00000000e+00 1.13309238e+02] [ 5.98404359e-01 8.01194248e-01 0.00000000e+00 3.12674004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12917925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.010371743 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:113.35, Y:31.29, Z:0.01 [[ 8.05824504e-01 -5.92154429e-01 0.00000000e+00 1.13347934e+02] [ 5.92154429e-01 8.05824504e-01 0.00000000e+00 3.12853913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07982670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.040371743 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:113.37, Y:31.30, Z:0.01 [[ 8.06959681e-01 -5.90606530e-01 0.00000000e+00 1.13373579e+02] [ 5.90606530e-01 8.06959681e-01 0.00000000e+00 3.13045869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07917972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.070371743 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:113.40, Y:31.33, Z:0.01 [[ 8.10059972e-01 -5.86347032e-01 0.00000000e+00 1.13398437e+02] [ 5.86347032e-01 8.10059972e-01 0.00000000e+00 3.13255638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88726785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.100371743 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:113.42, Y:31.34, Z:0.01 [[ 8.12172115e-01 -5.83417908e-01 0.00000000e+00 1.13424467e+02] [ 5.83417908e-01 8.12172115e-01 0.00000000e+00 3.13444764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79655569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.130371743 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:113.45, Y:31.36, Z:0.01 [[ 8.12981211e-01 -5.82289920e-01 0.00000000e+00 1.13450715e+02] [ 5.82289920e-01 8.12981211e-01 0.00000000e+00 3.13645229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.73621895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.160371743 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:113.47, Y:31.39, Z:0.01 [[ 8.16285664e-01 -5.77648435e-01 0.00000000e+00 1.13474955e+02] [ 5.77648435e-01 8.16285664e-01 0.00000000e+00 3.13854250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.89840097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.190371743 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:113.50, Y:31.40, Z:0.01 [[ 8.17191608e-01 -5.76366096e-01 0.00000000e+00 1.13501928e+02] [ 5.76366096e-01 8.17191608e-01 0.00000000e+00 3.14044633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.61259274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220371743 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:113.53, Y:31.42, Z:0.01 [[ 8.18966895e-01 -5.73840766e-01 0.00000000e+00 1.13526716e+02] [ 5.73840766e-01 8.18966895e-01 0.00000000e+00 3.14240684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24177936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.250371743 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:113.55, Y:31.44, Z:0.01 [[ 8.19317859e-01 -5.73339556e-01 0.00000000e+00 1.13553396e+02] [ 5.73339556e-01 8.19317859e-01 0.00000000e+00 3.14427183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28755161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280371743 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:113.58, Y:31.46, Z:0.01 [[ 8.19742452e-01 -5.72732322e-01 0.00000000e+00 1.13579732e+02] [ 5.72732322e-01 8.19742452e-01 0.00000000e+00 3.14613914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27121271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.310371743 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:113.60, Y:31.48, Z:0.01 [[ 8.18262735e-01 -5.74844410e-01 0.00000000e+00 1.13603950e+02] [ 5.74844410e-01 8.18262735e-01 0.00000000e+00 3.14823432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41828322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34037174299999 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:113.63, Y:31.50, Z:0.01 [[ 8.18097345e-01 -5.75079763e-01 0.00000000e+00 1.13629862e+02] [ 5.75079763e-01 8.18097345e-01 0.00000000e+00 3.15004594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64535560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37037174299999 meters Centerline goodness : 0.993431 Centerline is valid? [True, True] Translation: X:113.66, Y:31.52, Z:0.01 [[ 8.16303526e-01 -5.77623193e-01 0.00000000e+00 1.13656465e+02] [ 5.77623193e-01 8.16303526e-01 0.00000000e+00 3.15199339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33737210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.400371743 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:113.68, Y:31.54, Z:0.01 [[ 8.15053305e-01 -5.79385977e-01 0.00000000e+00 1.13682224e+02] [ 5.79385977e-01 8.15053305e-01 0.00000000e+00 3.15381576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55237164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.430371743 meters Centerline goodness : 0.992909 Centerline is valid? [True, True] Translation: X:113.71, Y:31.56, Z:0.01 [[ 8.14191889e-01 -5.80595873e-01 0.00000000e+00 1.13706118e+02] [ 5.80595873e-01 8.14191889e-01 0.00000000e+00 3.15553654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24261410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.460371743 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:113.73, Y:31.57, Z:0.01 [[ 8.12970300e-01 -5.82305154e-01 0.00000000e+00 1.13733936e+02] [ 5.82305154e-01 8.12970300e-01 0.00000000e+00 3.15735862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33088339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.490371743 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:113.76, Y:31.59, Z:0.01 [[ 8.10974033e-01 -5.85082146e-01 0.00000000e+00 1.13758541e+02] [ 5.85082146e-01 8.10974033e-01 0.00000000e+00 3.15918369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99673394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.520371743 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:113.78, Y:31.61, Z:0.01 [[ 8.08617861e-01 -5.88334220e-01 0.00000000e+00 1.13783354e+02] [ 5.88334220e-01 8.08617861e-01 0.00000000e+00 3.16103750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34448015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.550371743 meters Centerline goodness : 0.993285 Centerline is valid? [True, True] Translation: X:113.81, Y:31.63, Z:0.01 [[ 8.06873080e-01 -5.90724836e-01 0.00000000e+00 1.13809960e+02] [ 5.90724836e-01 8.06873080e-01 0.00000000e+00 3.16288034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24556848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.580371743 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:113.84, Y:31.65, Z:0.00 [[ 8.06313526e-01 -5.91488376e-01 0.00000000e+00 1.13835061e+02] [ 5.91488376e-01 8.06313526e-01 0.00000000e+00 3.16469605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80231695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.610371743 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:113.86, Y:31.67, Z:0.01 [[ 8.03810938e-01 -5.94884842e-01 0.00000000e+00 1.13855398e+02] [ 5.94884842e-01 8.03810938e-01 0.00000000e+00 3.16657469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01398978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.640371743 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:113.88, Y:31.68, Z:0.01 [[ 8.03652618e-01 -5.95098705e-01 0.00000000e+00 1.13882534e+02] [ 5.95098705e-01 8.03652618e-01 0.00000000e+00 3.16837381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01398978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.670371743 meters Centerline goodness : 0.993354 Centerline is valid? [True, True] Translation: X:113.91, Y:31.70, Z:0.01 [[ 8.03738913e-01 -5.94982151e-01 0.00000000e+00 1.13909911e+02] [ 5.94982151e-01 8.03738913e-01 0.00000000e+00 3.17025756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46566694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.700371743 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:113.94, Y:31.72, Z:0.01 [[ 8.03571988e-01 -5.95207578e-01 0.00000000e+00 1.13936441e+02] [ 5.95207578e-01 8.03571988e-01 0.00000000e+00 3.17215920e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43826478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73037174299999 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:113.96, Y:31.74, Z:0.01 [[ 8.04819545e-01 -5.93519586e-01 0.00000000e+00 1.13964047e+02] [ 5.93519586e-01 8.04819545e-01 0.00000000e+00 3.17399658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00207377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.760371743 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:113.99, Y:31.76, Z:0.01 [[ 8.06291685e-01 -5.91518148e-01 0.00000000e+00 1.13990071e+02] [ 5.91518148e-01 8.06291685e-01 0.00000000e+00 3.17589891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26220282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.790371743 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:114.02, Y:31.78, Z:0.00 [[ 8.07557265e-01 -5.89789168e-01 0.00000000e+00 1.14016620e+02] [ 5.89789168e-01 8.07557265e-01 0.00000000e+00 3.17775837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14372495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.820371743 meters Centerline goodness : 0.993342 Centerline is valid? [True, True] Translation: X:114.04, Y:31.80, Z:0.00 [[ 8.10059637e-01 -5.86347494e-01 0.00000000e+00 1.14044293e+02] [ 5.86347494e-01 8.10059637e-01 0.00000000e+00 3.17976994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23411799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.850371743 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:114.07, Y:31.82, Z:0.00 [[ 8.11270423e-01 -5.84671104e-01 0.00000000e+00 1.14069618e+02] [ 5.84671104e-01 8.11270423e-01 0.00000000e+00 3.18161475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45456204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.880371743 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:114.09, Y:31.84, Z:0.00 [[ 8.13374443e-01 -5.81740505e-01 0.00000000e+00 1.14093682e+02] [ 5.81740505e-01 8.13374443e-01 0.00000000e+00 3.18363376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70750754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.910371743 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:114.12, Y:31.86, Z:0.00 [[ 8.14505624e-01 -5.80155659e-01 0.00000000e+00 1.14119904e+02] [ 5.80155659e-01 8.14505624e-01 0.00000000e+00 3.18557443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93047209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.940371743 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:114.15, Y:31.87, Z:0.01 [[ 8.15724035e-01 -5.78441266e-01 0.00000000e+00 1.14146838e+02] [ 5.78441266e-01 8.15724035e-01 0.00000000e+00 3.18748720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19764581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.970371743 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:114.18, Y:31.89, Z:0.00 [[ 8.18406758e-01 -5.74639346e-01 0.00000000e+00 1.14177852e+02] [ 5.74639346e-01 8.18406758e-01 0.00000000e+00 3.18939186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06936032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000371743 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:114.20, Y:31.91, Z:0.01 [[ 8.18773706e-01 -5.74116380e-01 0.00000000e+00 1.14197951e+02] [ 5.74116380e-01 8.18773706e-01 0.00000000e+00 3.19127680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65014868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.030371743 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:114.23, Y:31.93, Z:0.00 [[ 8.22293577e-01 -5.69063505e-01 0.00000000e+00 1.14229258e+02] [ 5.69063505e-01 8.22293577e-01 0.00000000e+00 3.19311381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18463699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.060371743 meters Centerline goodness : 0.993741 Centerline is valid? [True, True] Translation: X:114.26, Y:31.95, Z:0.00 [[ 8.23418570e-01 -5.67434453e-01 0.00000000e+00 1.14255876e+02] [ 5.67434453e-01 8.23418570e-01 0.00000000e+00 3.19485754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34293730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09037174299999 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:114.26, Y:31.97, Z:0.01 [[ 8.17300847e-01 -5.76211182e-01 0.00000000e+00 1.14257222e+02] [ 5.76211182e-01 8.17300847e-01 0.00000000e+00 3.19672033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05049331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12037174299999 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:114.31, Y:31.98, Z:0.00 [[ 8.25282639e-01 -5.64719900e-01 0.00000000e+00 1.14307715e+02] [ 5.64719900e-01 8.25282639e-01 0.00000000e+00 3.19822738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91836996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.150371743 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:114.32, Y:32.00, Z:0.01 [[ 8.22943649e-01 -5.68123006e-01 0.00000000e+00 1.14322711e+02] [ 5.68123006e-01 8.22943649e-01 0.00000000e+00 3.20002693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16747443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.180371743 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:114.36, Y:32.02, Z:0.00 [[ 8.25486979e-01 -5.64421162e-01 0.00000000e+00 1.14356984e+02] [ 5.64421162e-01 8.25486979e-01 0.00000000e+00 3.20180593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26392847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.210371743 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:114.37, Y:32.03, Z:0.00 [[ 8.24739370e-01 -5.65513017e-01 0.00000000e+00 1.14374386e+02] [ 5.65513017e-01 8.24739370e-01 0.00000000e+00 3.20342886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54917150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.240371743 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:114.40, Y:32.05, Z:0.01 [[ 8.24383401e-01 -5.66031808e-01 0.00000000e+00 1.14402171e+02] [ 5.66031808e-01 8.24383401e-01 0.00000000e+00 3.20523366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76577630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.270371743 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:114.43, Y:32.07, Z:0.01 [[ 8.23845735e-01 -5.66814084e-01 0.00000000e+00 1.14428128e+02] [ 5.66814084e-01 8.23845735e-01 0.00000000e+00 3.20700314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72510500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.300371743 meters Centerline goodness : 0.993499 Centerline is valid? [True, True] Translation: X:114.46, Y:32.09, Z:0.01 [[ 8.22994427e-01 -5.68049446e-01 0.00000000e+00 1.14456010e+02] [ 5.68049446e-01 8.22994427e-01 0.00000000e+00 3.20870221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06340648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.330371743 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:114.48, Y:32.10, Z:0.01 [[ 8.20624514e-01 -5.71467766e-01 0.00000000e+00 1.14478329e+02] [ 5.71467766e-01 8.20624514e-01 0.00000000e+00 3.21046310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52725214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360371743 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:114.51, Y:32.12, Z:0.01 [[ 8.22019669e-01 -5.69459097e-01 0.00000000e+00 1.14514555e+02] [ 5.69459097e-01 8.22019669e-01 0.00000000e+00 3.21218959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46076387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.390371743 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:114.54, Y:32.14, Z:0.01 [[ 8.17806154e-01 -5.75493782e-01 0.00000000e+00 1.14535640e+02] [ 5.75493782e-01 8.17806154e-01 0.00000000e+00 3.21368787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09510598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420371743 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:114.56, Y:32.15, Z:0.01 [[ 8.17521588e-01 -5.75897954e-01 0.00000000e+00 1.14558289e+02] [ 5.75897954e-01 8.17521588e-01 0.00000000e+00 3.21513118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59723307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.450371743 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:114.59, Y:32.17, Z:0.01 [[ 8.14258423e-01 -5.80502559e-01 0.00000000e+00 1.14591057e+02] [ 5.80502559e-01 8.14258423e-01 0.00000000e+00 3.21683052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26392709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48037174299999 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:114.61, Y:32.19, Z:0.01 [[ 8.10185487e-01 -5.86173589e-01 0.00000000e+00 1.14610672e+02] [ 5.86173589e-01 8.10185487e-01 0.00000000e+00 3.21852376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.41431869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.510371743 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:114.64, Y:32.20, Z:0.01 [[ 8.08517227e-01 -5.88472509e-01 0.00000000e+00 1.14635388e+02] [ 5.88472509e-01 8.08517227e-01 0.00000000e+00 3.22021558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07016815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.540371743 meters Centerline goodness : 0.994272 Centerline is valid? [True, True] Translation: X:114.66, Y:32.22, Z:0.01 [[ 8.06542147e-01 -5.91176594e-01 0.00000000e+00 1.14664178e+02] [ 5.91176594e-01 8.06542147e-01 0.00000000e+00 3.22188287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06338187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.570371743 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:114.69, Y:32.24, Z:0.01 [[ 8.05667515e-01 -5.92368007e-01 0.00000000e+00 1.14690077e+02] [ 5.92368007e-01 8.05667515e-01 0.00000000e+00 3.22353878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04348288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.600371743 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:114.72, Y:32.25, Z:0.01 [[ 8.06059230e-01 -5.91834873e-01 0.00000000e+00 1.14722536e+02] [ 5.91834873e-01 8.06059230e-01 0.00000000e+00 3.22522015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32286900e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.630371743 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:114.74, Y:32.27, Z:0.01 [[ 8.04321282e-01 -5.94194645e-01 0.00000000e+00 1.14743523e+02] [ 5.94194645e-01 8.04321282e-01 0.00000000e+00 3.22694318e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.12316682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.660371743 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:114.77, Y:32.29, Z:0.01 [[ 8.02258528e-01 -5.96976762e-01 0.00000000e+00 1.14767749e+02] [ 5.96976762e-01 8.02258528e-01 0.00000000e+00 3.22872440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07683249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.690371743 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:114.79, Y:32.31, Z:0.01 [[ 8.02009367e-01 -5.97311456e-01 0.00000000e+00 1.14793889e+02] [ 5.97311456e-01 8.02009367e-01 0.00000000e+00 3.23052313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23994788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720371743 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:114.82, Y:32.32, Z:0.01 [[ 8.02557759e-01 -5.96574425e-01 0.00000000e+00 1.14821403e+02] [ 5.96574425e-01 8.02557759e-01 0.00000000e+00 3.23231243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12167601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.750371743 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:114.85, Y:32.34, Z:0.01 [[ 8.02728535e-01 -5.96344615e-01 0.00000000e+00 1.14847248e+02] [ 5.96344615e-01 8.02728535e-01 0.00000000e+00 3.23411702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12982600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780371743 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:114.88, Y:32.36, Z:0.01 [[ 8.04686281e-01 -5.93700252e-01 0.00000000e+00 1.14875141e+02] [ 5.93700252e-01 8.04686281e-01 0.00000000e+00 3.23595394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01939075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.810371743 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:114.91, Y:32.38, Z:0.01 [[ 8.07130205e-01 -5.90373469e-01 0.00000000e+00 1.14905306e+02] [ 5.90373469e-01 8.07130205e-01 0.00000000e+00 3.23787683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37714844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84037174299999 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:114.91, Y:32.40, Z:0.01 [[ 8.06336060e-01 -5.91457656e-01 0.00000000e+00 1.14914786e+02] [ 5.91457656e-01 8.06336060e-01 0.00000000e+00 3.23982189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01524166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87037174299999 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:114.95, Y:32.42, Z:0.01 [[ 8.12565703e-01 -5.82869607e-01 0.00000000e+00 1.14954992e+02] [ 5.82869607e-01 8.12565703e-01 0.00000000e+00 3.24159797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01246645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.900371743 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:114.97, Y:32.44, Z:0.01 [[ 8.10038711e-01 -5.86376404e-01 0.00000000e+00 1.14965488e+02] [ 5.86376404e-01 8.10038711e-01 0.00000000e+00 3.24353599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11230295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.930371743 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:115.01, Y:32.45, Z:0.01 [[ 8.18127631e-01 -5.75036677e-01 0.00000000e+00 1.15006759e+02] [ 5.75036677e-01 8.18127631e-01 0.00000000e+00 3.24531681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84795062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.960371743 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:115.03, Y:32.47, Z:0.01 [[ 8.19107525e-01 -5.73640011e-01 0.00000000e+00 1.15032853e+02] [ 5.73640011e-01 8.19107525e-01 0.00000000e+00 3.24718288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31583479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.990371743 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:115.06, Y:32.49, Z:0.01 [[ 8.20864805e-01 -5.71122554e-01 0.00000000e+00 1.15061428e+02] [ 5.71122554e-01 8.20864805e-01 0.00000000e+00 3.24894199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18989962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.020371743 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:115.09, Y:32.51, Z:0.01 [[ 8.20594482e-01 -5.71510888e-01 0.00000000e+00 1.15085792e+02] [ 5.71510888e-01 8.20594482e-01 0.00000000e+00 3.25068239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92471323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.050371743 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:115.11, Y:32.52, Z:0.01 [[ 8.20692397e-01 -5.71370274e-01 0.00000000e+00 1.15110919e+02] [ 5.71370274e-01 8.20692397e-01 0.00000000e+00 3.25235876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.26761885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.080371743 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:115.14, Y:32.54, Z:0.01 [[ 8.19561568e-01 -5.72991131e-01 0.00000000e+00 1.15137645e+02] [ 5.72991131e-01 8.19561568e-01 0.00000000e+00 3.25417545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.16747970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.110371743 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:115.17, Y:32.56, Z:0.01 [[ 8.18933497e-01 -5.73888428e-01 0.00000000e+00 1.15166688e+02] [ 5.73888428e-01 8.18933497e-01 0.00000000e+00 3.25583435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86406358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140371743 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:115.19, Y:32.57, Z:0.01 [[ 8.17367363e-01 -5.76116823e-01 0.00000000e+00 1.15190185e+02] [ 5.76116823e-01 8.17367363e-01 0.00000000e+00 3.25749583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.55465639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.170371743 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:115.22, Y:32.59, Z:0.01 [[ 8.15005162e-01 -5.79453696e-01 0.00000000e+00 1.15216059e+02] [ 5.79453696e-01 8.15005162e-01 0.00000000e+00 3.25913985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80245762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20037174299999 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:115.24, Y:32.61, Z:0.01 [[ 8.14133100e-01 -5.80678307e-01 0.00000000e+00 1.15243014e+02] [ 5.80678307e-01 8.14133100e-01 0.00000000e+00 3.26085243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09609470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23037174299999 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:115.27, Y:32.63, Z:0.01 [[ 8.12344502e-01 -5.83177854e-01 0.00000000e+00 1.15269395e+02] [ 5.83177854e-01 8.12344502e-01 0.00000000e+00 3.26260695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19751617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.260371743 meters Centerline goodness : 0.993852 Centerline is valid? [True, True] Translation: X:115.30, Y:32.64, Z:0.01 [[ 8.08759342e-01 -5.88139718e-01 0.00000000e+00 1.15296253e+02] [ 5.88139718e-01 8.08759342e-01 0.00000000e+00 3.26426828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.08913662e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.290371743 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:115.33, Y:32.66, Z:0.01 [[ 8.08374584e-01 -5.88668440e-01 0.00000000e+00 1.15327977e+02] [ 5.88668440e-01 8.08374584e-01 0.00000000e+00 3.26603101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60529112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.320371743 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:115.35, Y:32.68, Z:0.01 [[ 8.05816127e-01 -5.92165830e-01 0.00000000e+00 1.15353202e+02] [ 5.92165830e-01 8.05816127e-01 0.00000000e+00 3.26775796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59847182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.350371743 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:115.38, Y:32.69, Z:0.01 [[ 8.02483645e-01 -5.96674115e-01 0.00000000e+00 1.15377779e+02] [ 5.96674115e-01 8.02483645e-01 0.00000000e+00 3.26923407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.49486388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.380371743 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:115.41, Y:32.71, Z:0.01 [[ 8.00575661e-01 -5.99231683e-01 0.00000000e+00 1.15405823e+02] [ 5.99231683e-01 8.00575661e-01 0.00000000e+00 3.27100851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75740254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.410371743 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:115.42, Y:32.73, Z:0.01 [[ 7.94306830e-01 -6.07516798e-01 0.00000000e+00 1.15415902e+02] [ 6.07516798e-01 7.94306830e-01 0.00000000e+00 3.27279638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29594296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.440371743 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:115.44, Y:32.74, Z:0.01 [[ 7.92674381e-01 -6.09645246e-01 0.00000000e+00 1.15443445e+02] [ 6.09645246e-01 7.92674381e-01 0.00000000e+00 3.27445829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23351893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.470371743 meters Centerline goodness : 0.993988 Centerline is valid? [True, True] Translation: X:115.47, Y:32.76, Z:0.01 [[ 7.92277426e-01 -6.10161029e-01 0.00000000e+00 1.15471248e+02] [ 6.10161029e-01 7.92277426e-01 0.00000000e+00 3.27625877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21613479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500371743 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:115.50, Y:32.78, Z:0.01 [[ 7.91969974e-01 -6.10560038e-01 0.00000000e+00 1.15498641e+02] [ 6.10560038e-01 7.91969974e-01 0.00000000e+00 3.27806629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18652407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.530371743 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:115.54, Y:32.80, Z:0.01 [[ 7.97413102e-01 -6.03433795e-01 0.00000000e+00 1.15543695e+02] [ 6.03433795e-01 7.97413102e-01 0.00000000e+00 3.27963253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07758890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.560371743 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:115.55, Y:32.81, Z:0.01 [[ 7.91628750e-01 -6.11002391e-01 0.00000000e+00 1.15550923e+02] [ 6.11002391e-01 7.91628750e-01 0.00000000e+00 3.28144020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21853614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59037174299999 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:115.58, Y:32.83, Z:0.01 [[ 7.91802856e-01 -6.10776749e-01 0.00000000e+00 1.15578658e+02] [ 6.10776749e-01 7.91802856e-01 0.00000000e+00 3.28334293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21853614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62037174299999 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:115.61, Y:32.85, Z:0.01 [[ 7.92681817e-01 -6.09635578e-01 0.00000000e+00 1.15606503e+02] [ 6.09635578e-01 7.92681817e-01 0.00000000e+00 3.28514400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18324816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.650371743 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:115.63, Y:32.87, Z:0.01 [[ 7.93513950e-01 -6.08552062e-01 0.00000000e+00 1.15633929e+02] [ 6.08552062e-01 7.93513950e-01 0.00000000e+00 3.28700045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13603297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.680371743 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:115.66, Y:32.89, Z:0.01 [[ 7.94768359e-01 -6.06912889e-01 0.00000000e+00 1.15660431e+02] [ 6.06912889e-01 7.94768359e-01 0.00000000e+00 3.28879467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06010326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.710371743 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:115.69, Y:32.91, Z:0.01 [[ 7.98160312e-01 -6.02445115e-01 0.00000000e+00 1.15686627e+02] [ 6.02445115e-01 7.98160312e-01 0.00000000e+00 3.29066735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.95082863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.740371743 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:115.71, Y:32.93, Z:0.01 [[ 8.00488921e-01 -5.99347551e-01 0.00000000e+00 1.15713397e+02] [ 5.99347551e-01 8.00488921e-01 0.00000000e+00 3.29256604e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33065492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.770371743 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:115.74, Y:32.94, Z:0.01 [[ 8.02946347e-01 -5.96051309e-01 0.00000000e+00 1.15740023e+02] [ 5.96051309e-01 8.02946347e-01 0.00000000e+00 3.29447360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09875945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.800371743 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:115.78, Y:32.96, Z:0.00 [[ 8.12229925e-01 -5.83337422e-01 0.00000000e+00 1.15778013e+02] [ 5.83337422e-01 8.12229925e-01 0.00000000e+00 3.29609526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25549217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.830371743 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:115.79, Y:32.98, Z:0.01 [[ 8.09457367e-01 -5.87178653e-01 0.00000000e+00 1.15788938e+02] [ 5.87178653e-01 8.09457367e-01 0.00000000e+00 3.29820150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02211601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860371743 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:115.83, Y:33.00, Z:0.01 [[ 8.19704420e-01 -5.72786753e-01 0.00000000e+00 1.15833997e+02] [ 5.72786753e-01 8.19704420e-01 0.00000000e+00 3.29980597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29251072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.890371743 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:115.86, Y:33.02, Z:0.01 [[ 8.20424201e-01 -5.71755307e-01 0.00000000e+00 1.15856673e+02] [ 5.71755307e-01 8.20424201e-01 0.00000000e+00 3.30161519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11118096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920371743 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:115.88, Y:33.03, Z:0.01 [[ 8.20966523e-01 -5.70976329e-01 0.00000000e+00 1.15882265e+02] [ 5.70976329e-01 8.20966523e-01 0.00000000e+00 3.30346052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54572454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95037174299999 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:115.89, Y:33.05, Z:0.01 [[ 8.16146865e-01 -5.77844524e-01 0.00000000e+00 1.15889118e+02] [ 5.77844524e-01 8.16146865e-01 0.00000000e+00 3.30535834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19183021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98037174299999 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:115.94, Y:33.07, Z:0.01 [[ 8.22223831e-01 -5.69164275e-01 0.00000000e+00 1.15935829e+02] [ 5.69164275e-01 8.22223831e-01 0.00000000e+00 3.30676511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21516828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.010371743 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:115.96, Y:33.09, Z:0.01 [[ 8.19975526e-01 -5.72398582e-01 0.00000000e+00 1.15957493e+02] [ 5.72398582e-01 8.19975526e-01 0.00000000e+00 3.30850139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59621736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.040371743 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:115.98, Y:33.10, Z:0.01 [[ 8.16386700e-01 -5.77505632e-01 0.00000000e+00 1.15984303e+02] [ 5.77505632e-01 8.16386700e-01 0.00000000e+00 3.31010371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.51830941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.070371743 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:116.01, Y:33.12, Z:0.01 [[ 8.13154061e-01 -5.82048515e-01 0.00000000e+00 1.16008682e+02] [ 5.82048515e-01 8.13154061e-01 0.00000000e+00 3.31181473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73742706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.100371743 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:116.04, Y:33.14, Z:0.01 [[ 8.11262837e-01 -5.84681630e-01 0.00000000e+00 1.16036997e+02] [ 5.84681630e-01 8.11262837e-01 0.00000000e+00 3.31355281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31395521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.130371743 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:116.06, Y:33.15, Z:0.01 [[ 8.06574726e-01 -5.91132143e-01 0.00000000e+00 1.16063915e+02] [ 5.91132143e-01 8.06574726e-01 0.00000000e+00 3.31510036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.34781054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.160371743 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:116.07, Y:33.17, Z:0.01 [[ 7.99671678e-01 -6.00437513e-01 0.00000000e+00 1.16074407e+02] [ 6.00437513e-01 7.99671678e-01 0.00000000e+00 3.31687259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17067722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.190371743 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:116.10, Y:33.19, Z:0.01 [[ 7.95749091e-01 -6.05626440e-01 0.00000000e+00 1.16102620e+02] [ 6.05626440e-01 7.95749091e-01 0.00000000e+00 3.31852074e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18010277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220371743 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:116.15, Y:33.20, Z:0.01 [[ 7.99115162e-01 -6.01177975e-01 0.00000000e+00 1.16145890e+02] [ 6.01177975e-01 7.99115162e-01 0.00000000e+00 3.32002584e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11892894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.250371743 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:116.17, Y:33.22, Z:0.01 [[ 7.95909651e-01 -6.05415417e-01 0.00000000e+00 1.16166598e+02] [ 6.05415417e-01 7.95909651e-01 0.00000000e+00 3.32172168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22959810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.280371743 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:116.19, Y:33.23, Z:0.01 [[ 7.93025434e-01 -6.09188527e-01 0.00000000e+00 1.16192991e+02] [ 6.09188527e-01 7.93025434e-01 0.00000000e+00 3.32347906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62298120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.310371743 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:116.21, Y:33.25, Z:0.01 [[ 7.88909019e-01 -6.14510015e-01 0.00000000e+00 1.16208239e+02] [ 6.14510015e-01 7.88909019e-01 0.00000000e+00 3.32542057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19692265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34037174299999 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:116.25, Y:33.27, Z:0.01 [[ 7.91999851e-01 -6.10521283e-01 0.00000000e+00 1.16246936e+02] [ 6.10521283e-01 7.91999851e-01 0.00000000e+00 3.32708923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.11031657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37037174299999 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:116.27, Y:33.29, Z:0.01 [[ 7.90712768e-01 -6.12187323e-01 0.00000000e+00 1.16272502e+02] [ 6.12187323e-01 7.90712768e-01 0.00000000e+00 3.32888929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04521912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.400371743 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:116.29, Y:33.31, Z:0.01 [[ 7.87219063e-01 -6.16673452e-01 0.00000000e+00 1.16288662e+02] [ 6.16673452e-01 7.87219063e-01 0.00000000e+00 3.33090285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12512127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.430371743 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:116.31, Y:33.33, Z:0.01 [[ 7.86580361e-01 -6.17487924e-01 0.00000000e+00 1.16314332e+02] [ 6.17487924e-01 7.86580361e-01 0.00000000e+00 3.33275136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13324067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.460371743 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:116.35, Y:33.34, Z:0.01 [[ 7.89055101e-01 -6.14322430e-01 0.00000000e+00 1.16348553e+02] [ 6.14322430e-01 7.89055101e-01 0.00000000e+00 3.33442526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.28097331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.490371743 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:116.37, Y:33.36, Z:0.01 [[ 7.85897826e-01 -6.18356375e-01 0.00000000e+00 1.16366311e+02] [ 6.18356375e-01 7.85897826e-01 0.00000000e+00 3.33643771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00418170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.520371743 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:116.40, Y:33.38, Z:0.01 [[ 7.87713828e-01 -6.16041333e-01 0.00000000e+00 1.16401299e+02] [ 6.16041333e-01 7.87713828e-01 0.00000000e+00 3.33808542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06995485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.550371743 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:116.43, Y:33.40, Z:0.00 [[ 7.87373393e-01 -6.16476391e-01 0.00000000e+00 1.16427748e+02] [ 6.16476391e-01 7.87373393e-01 0.00000000e+00 3.33995960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76177552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.580371743 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:116.45, Y:33.42, Z:0.00 [[ 7.87439061e-01 -6.16392510e-01 0.00000000e+00 1.16454026e+02] [ 6.16392510e-01 7.87439061e-01 0.00000000e+00 3.34204220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72537178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.610371743 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:116.47, Y:33.44, Z:0.01 [[ 7.85294742e-01 -6.19122095e-01 0.00000000e+00 1.16470735e+02] [ 6.19122095e-01 7.85294742e-01 0.00000000e+00 3.34410511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99727338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.640371743 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:116.50, Y:33.46, Z:0.00 [[ 7.88563403e-01 -6.14953462e-01 0.00000000e+00 1.16503573e+02] [ 6.14953462e-01 7.88563403e-01 0.00000000e+00 3.34592998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15560150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.670371743 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:116.52, Y:33.48, Z:0.01 [[ 7.88663957e-01 -6.14824498e-01 0.00000000e+00 1.16520242e+02] [ 6.14824498e-01 7.88663957e-01 0.00000000e+00 3.34808331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40257589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70037174299999 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:116.55, Y:33.50, Z:0.01 [[ 7.90241768e-01 -6.12795192e-01 0.00000000e+00 1.16546841e+02] [ 6.12795192e-01 7.90241768e-01 0.00000000e+00 3.35010470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46475305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73037174299999 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:116.58, Y:33.52, Z:0.00 [[ 7.93889102e-01 -6.08062574e-01 0.00000000e+00 1.16578942e+02] [ 6.08062574e-01 7.93889102e-01 0.00000000e+00 3.35203396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54125173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.760371743 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:116.60, Y:33.54, Z:0.01 [[ 7.94848386e-01 -6.06808077e-01 0.00000000e+00 1.16595889e+02] [ 6.06808077e-01 7.94848386e-01 0.00000000e+00 3.35429415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.39186262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.790371743 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:116.63, Y:33.56, Z:0.01 [[ 7.99413021e-01 -6.00781842e-01 0.00000000e+00 1.16630680e+02] [ 6.00781842e-01 7.99413021e-01 0.00000000e+00 3.35618076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36412239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.820371743 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:116.65, Y:33.58, Z:0.01 [[ 7.98802126e-01 -6.01593852e-01 0.00000000e+00 1.16645199e+02] [ 6.01593852e-01 7.98802126e-01 0.00000000e+00 3.35840129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.90076664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.850371743 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:116.67, Y:33.60, Z:0.01 [[ 7.99764571e-01 -6.00313776e-01 0.00000000e+00 1.16670483e+02] [ 6.00313776e-01 7.99764571e-01 0.00000000e+00 3.36031487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48093760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.880371743 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:116.69, Y:33.62, Z:0.01 [[ 8.00759213e-01 -5.98986379e-01 0.00000000e+00 1.16694139e+02] [ 5.98986379e-01 8.00759213e-01 0.00000000e+00 3.36207155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09510247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.910371743 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:116.73, Y:33.64, Z:0.00 [[ 8.02350808e-01 -5.96852730e-01 0.00000000e+00 1.16728243e+02] [ 5.96852730e-01 8.02350808e-01 0.00000000e+00 3.36428073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89394973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.940371743 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:116.75, Y:33.66, Z:0.00 [[ 8.01632948e-01 -5.97816542e-01 0.00000000e+00 1.16752505e+02] [ 5.97816542e-01 8.01632948e-01 0.00000000e+00 3.36620486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53503477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.970371743 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:116.78, Y:33.68, Z:0.00 [[ 8.01449927e-01 -5.98061882e-01 0.00000000e+00 1.16778360e+02] [ 5.98061882e-01 8.01449927e-01 0.00000000e+00 3.36804359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74856462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000371743 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:116.80, Y:33.70, Z:0.00 [[ 7.99365514e-01 -6.00845051e-01 0.00000000e+00 1.16800766e+02] [ 6.00845051e-01 7.99365514e-01 0.00000000e+00 3.36995857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85485309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.030371743 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:116.81, Y:33.72, Z:0.01 [[ 7.95399653e-01 -6.06085301e-01 0.00000000e+00 1.16814884e+02] [ 6.06085301e-01 7.95399653e-01 0.00000000e+00 3.37177745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88245044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.060371743 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:116.84, Y:33.74, Z:0.01 [[ 7.93607157e-01 -6.08430506e-01 0.00000000e+00 1.16841995e+02] [ 6.08430506e-01 7.93607157e-01 0.00000000e+00 3.37370852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.31152306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09037174299999 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:116.88, Y:33.76, Z:0.01 [[ 7.94453770e-01 -6.07324630e-01 0.00000000e+00 1.16875871e+02] [ 6.07324630e-01 7.94453770e-01 0.00000000e+00 3.37555884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80261020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12037174299999 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:116.91, Y:33.77, Z:0.01 [[ 7.94457398e-01 -6.07319886e-01 0.00000000e+00 1.16905467e+02] [ 6.07319886e-01 7.94457398e-01 0.00000000e+00 3.37735963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61982390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.150371743 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:116.93, Y:33.79, Z:0.01 [[ 7.90675715e-01 -6.12235179e-01 0.00000000e+00 1.16925710e+02] [ 6.12235179e-01 7.90675715e-01 0.00000000e+00 3.37918028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72992487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.180371743 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:116.95, Y:33.81, Z:0.01 [[ 7.89035503e-01 -6.14347602e-01 0.00000000e+00 1.16950341e+02] [ 6.14347602e-01 7.89035503e-01 0.00000000e+00 3.38106698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64792890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.210371743 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:116.97, Y:33.83, Z:0.01 [[ 7.86764930e-01 -6.17252740e-01 0.00000000e+00 1.16973907e+02] [ 6.17252740e-01 7.86764930e-01 0.00000000e+00 3.38290361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92138149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.240371743 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:117.00, Y:33.85, Z:0.01 [[ 7.85724630e-01 -6.18576435e-01 0.00000000e+00 1.16998795e+02] [ 6.18576435e-01 7.85724630e-01 0.00000000e+00 3.38470417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99760103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.270371743 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:117.03, Y:33.87, Z:0.01 [[ 7.84987888e-01 -6.19511111e-01 0.00000000e+00 1.17026157e+02] [ 6.19511111e-01 7.84987888e-01 0.00000000e+00 3.38661029e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19075957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.300371743 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:117.05, Y:33.88, Z:0.01 [[ 7.83571665e-01 -6.21301413e-01 0.00000000e+00 1.17052794e+02] [ 6.21301413e-01 7.83571665e-01 0.00000000e+00 3.38834852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41446311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.330371743 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:117.08, Y:33.90, Z:0.01 [[ 7.83345632e-01 -6.21586374e-01 0.00000000e+00 1.17079528e+02] [ 6.21586374e-01 7.83345632e-01 0.00000000e+00 3.39012021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76301832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360371743 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:117.11, Y:33.92, Z:0.01 [[ 7.83030116e-01 -6.21983792e-01 0.00000000e+00 1.17108119e+02] [ 6.21983792e-01 7.83030116e-01 0.00000000e+00 3.39202946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24879865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.390371743 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:117.14, Y:33.94, Z:0.01 [[ 7.82983975e-01 -6.22041875e-01 0.00000000e+00 1.17135346e+02] [ 6.22041875e-01 7.82983975e-01 0.00000000e+00 3.39390713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89932179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420371743 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:117.16, Y:33.96, Z:0.01 [[ 7.82702702e-01 -6.22395759e-01 0.00000000e+00 1.17160950e+02] [ 6.22395759e-01 7.82702702e-01 0.00000000e+00 3.39570730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46855859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45037174299999 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:117.19, Y:33.98, Z:0.01 [[ 7.82760544e-01 -6.22323011e-01 0.00000000e+00 1.17187661e+02] [ 6.22323011e-01 7.82760544e-01 0.00000000e+00 3.39756747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46855859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48037174299999 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:117.21, Y:33.99, Z:0.00 [[ 7.82073276e-01 -6.23186481e-01 0.00000000e+00 1.17211747e+02] [ 6.23186481e-01 7.82073276e-01 0.00000000e+00 3.39937589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63391313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.510371743 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:117.24, Y:34.01, Z:0.00 [[ 7.83240436e-01 -6.21718923e-01 0.00000000e+00 1.17243384e+02] [ 6.21718923e-01 7.83240436e-01 0.00000000e+00 3.40123769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01229093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.540371743 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:117.27, Y:34.03, Z:0.00 [[ 7.83250917e-01 -6.21705719e-01 0.00000000e+00 1.17270797e+02] [ 6.21705719e-01 7.83250917e-01 0.00000000e+00 3.40313173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88199487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.570371743 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:117.29, Y:34.05, Z:0.00 [[ 7.82702974e-01 -6.22395417e-01 0.00000000e+00 1.17294161e+02] [ 6.22395417e-01 7.82702974e-01 0.00000000e+00 3.40498809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81053940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.600371743 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:117.32, Y:34.07, Z:0.00 [[ 7.83971572e-01 -6.20796726e-01 0.00000000e+00 1.17321196e+02] [ 6.20796726e-01 7.83971572e-01 0.00000000e+00 3.40679618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35404678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.630371743 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:117.35, Y:34.09, Z:0.00 [[ 7.84032996e-01 -6.20719149e-01 0.00000000e+00 1.17347669e+02] [ 6.20719149e-01 7.84032996e-01 0.00000000e+00 3.40871046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67912996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.660371743 meters Centerline goodness : 0.993483 Centerline is valid? [True, True] Translation: X:117.37, Y:34.11, Z:0.00 [[ 7.84584089e-01 -6.20022424e-01 0.00000000e+00 1.17374111e+02] [ 6.20022424e-01 7.84584089e-01 0.00000000e+00 3.41060289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91004982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.690371743 meters Centerline goodness : 0.993737 Centerline is valid? [True, True] Translation: X:117.40, Y:34.13, Z:0.00 [[ 7.84795160e-01 -6.19755240e-01 0.00000000e+00 1.17398600e+02] [ 6.19755240e-01 7.84795160e-01 0.00000000e+00 3.41258828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80904730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720371743 meters Centerline goodness : 0.993393 Centerline is valid? [True, True] Translation: X:117.43, Y:34.14, Z:0.00 [[ 7.85538586e-01 -6.18812678e-01 0.00000000e+00 1.17425304e+02] [ 6.18812678e-01 7.85538586e-01 0.00000000e+00 3.41449244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13946667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.750371743 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:117.45, Y:34.16, Z:0.00 [[ 7.85850144e-01 -6.18416972e-01 0.00000000e+00 1.17451266e+02] [ 6.18416972e-01 7.85850144e-01 0.00000000e+00 3.41649361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76176069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780371743 meters Centerline goodness : 0.994288 Centerline is valid? [True, True] Translation: X:117.48, Y:34.18, Z:0.01 [[ 7.85743288e-01 -6.18552735e-01 0.00000000e+00 1.17477601e+02] [ 6.18552735e-01 7.85743288e-01 0.00000000e+00 3.41836434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30888561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.810371743 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:117.50, Y:34.20, Z:0.01 [[ 7.85405309e-01 -6.18981826e-01 0.00000000e+00 1.17503599e+02] [ 6.18981826e-01 7.85405309e-01 0.00000000e+00 3.42015655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60248740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84037174299999 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:117.53, Y:34.22, Z:0.00 [[ 7.85585950e-01 -6.18752548e-01 0.00000000e+00 1.17528727e+02] [ 6.18752548e-01 7.85585950e-01 0.00000000e+00 3.42196196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59597176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87037174299999 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:117.56, Y:34.24, Z:0.00 [[ 7.85580267e-01 -6.18759763e-01 0.00000000e+00 1.17555319e+02] [ 6.18759763e-01 7.85580267e-01 0.00000000e+00 3.42385041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81083494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.900371743 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:117.58, Y:34.25, Z:0.00 [[ 7.88067209e-01 -6.15589209e-01 0.00000000e+00 1.17575449e+02] [ 6.15589209e-01 7.88067209e-01 0.00000000e+00 3.42549285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21082669e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.930371743 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:117.61, Y:34.28, Z:0.00 [[ 7.87340331e-01 -6.16518615e-01 0.00000000e+00 1.17605333e+02] [ 6.16518615e-01 7.87340331e-01 0.00000000e+00 3.42771200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04213628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.960371743 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:117.63, Y:34.30, Z:0.00 [[ 7.88040340e-01 -6.15623604e-01 0.00000000e+00 1.17630337e+02] [ 6.15623604e-01 7.88040340e-01 0.00000000e+00 3.42963857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14386064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.990371743 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:117.66, Y:34.32, Z:0.00 [[ 7.88753730e-01 -6.14709324e-01 0.00000000e+00 1.17655100e+02] [ 6.14709324e-01 7.88753730e-01 0.00000000e+00 3.43174741e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11085987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.020371743 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:117.68, Y:34.34, Z:0.00 [[ 7.89533816e-01 -6.13707059e-01 0.00000000e+00 1.17680616e+02] [ 6.13707059e-01 7.89533816e-01 0.00000000e+00 3.43365428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36555619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.050371743 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:117.71, Y:34.36, Z:0.00 [[ 7.90142726e-01 -6.12922893e-01 0.00000000e+00 1.17707318e+02] [ 6.12922893e-01 7.90142726e-01 0.00000000e+00 3.43567904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70637067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.080371743 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:117.73, Y:34.38, Z:0.00 [[ 7.90344708e-01 -6.12662421e-01 0.00000000e+00 1.17734430e+02] [ 6.12662421e-01 7.90344708e-01 0.00000000e+00 3.43761478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87087733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.110371743 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:117.76, Y:34.40, Z:0.01 [[ 7.90116243e-01 -6.12957031e-01 0.00000000e+00 1.17761157e+02] [ 6.12957031e-01 7.90116243e-01 0.00000000e+00 3.43961199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29510751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140371743 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:117.79, Y:34.42, Z:0.00 [[ 7.90594934e-01 -6.12339489e-01 0.00000000e+00 1.17788169e+02] [ 6.12339489e-01 7.90594934e-01 0.00000000e+00 3.44153664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82598832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.170371743 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:117.81, Y:34.43, Z:0.00 [[ 7.90545343e-01 -6.12403511e-01 0.00000000e+00 1.17814374e+02] [ 6.12403511e-01 7.90545343e-01 0.00000000e+00 3.44343786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19312074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20037174299999 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:117.85, Y:34.45, Z:0.00 [[ 7.92491570e-01 -6.09882868e-01 0.00000000e+00 1.17845604e+02] [ 6.09882868e-01 7.92491570e-01 0.00000000e+00 3.44530295e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29436527e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23037174299999 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:117.86, Y:34.47, Z:0.00 [[ 7.89077924e-01 -6.14293114e-01 0.00000000e+00 1.17856046e+02] [ 6.14293114e-01 7.89077924e-01 0.00000000e+00 3.44714057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96490430e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.260371743 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:117.89, Y:34.49, Z:0.00 [[ 7.93050138e-01 -6.09156367e-01 0.00000000e+00 1.17894414e+02] [ 6.09156367e-01 7.93050138e-01 0.00000000e+00 3.44898579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23581175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.290371743 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:117.92, Y:34.51, Z:0.00 [[ 7.93706792e-01 -6.08300524e-01 0.00000000e+00 1.17918980e+02] [ 6.08300524e-01 7.93706792e-01 0.00000000e+00 3.45081461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56029204e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.320371743 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:117.95, Y:34.53, Z:-0.00 [[ 7.95237768e-01 -6.06297693e-01 0.00000000e+00 1.17945676e+02] [ 6.06297693e-01 7.95237768e-01 0.00000000e+00 3.45278918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.13993587e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.350371743 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:117.97, Y:34.55, Z:-0.00 [[ 7.96087185e-01 -6.05181950e-01 0.00000000e+00 1.17971562e+02] [ 6.05181950e-01 7.96087185e-01 0.00000000e+00 3.45473001e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53049907e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.380371743 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:118.00, Y:34.57, Z:-0.00 [[ 7.97309044e-01 -6.03571279e-01 0.00000000e+00 1.17998343e+02] [ 6.03571279e-01 7.97309044e-01 0.00000000e+00 3.45665376e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.99412933e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.410371743 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:118.02, Y:34.59, Z:-0.00 [[ 7.97997889e-01 -6.02660244e-01 0.00000000e+00 1.18023002e+02] [ 6.02660244e-01 7.97997889e-01 0.00000000e+00 3.45852723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51389780e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.440371743 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:118.05, Y:34.60, Z:0.00 [[ 7.99509137e-01 -6.00653927e-01 0.00000000e+00 1.18046406e+02] [ 6.00653927e-01 7.99509137e-01 0.00000000e+00 3.46046564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38878439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.470371743 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:118.07, Y:34.62, Z:-0.00 [[ 8.01247242e-01 -5.98333399e-01 0.00000000e+00 1.18074048e+02] [ 5.98333399e-01 8.01247242e-01 0.00000000e+00 3.46225929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64343057e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500371743 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:118.10, Y:34.64, Z:-0.00 [[ 8.02411627e-01 -5.96770962e-01 0.00000000e+00 1.18101299e+02] [ 5.96770962e-01 8.02411627e-01 0.00000000e+00 3.46411077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.32377828e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.530371743 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:118.13, Y:34.66, Z:0.00 [[ 8.03280284e-01 -5.95601197e-01 0.00000000e+00 1.18127672e+02] [ 5.95601197e-01 8.03280284e-01 0.00000000e+00 3.46594005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64499143e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.560371743 meters Centerline goodness : 0.993663 Centerline is valid? [True, True] Translation: X:118.15, Y:34.68, Z:-0.00 [[ 8.03793130e-01 -5.94908904e-01 0.00000000e+00 1.18154208e+02] [ 5.94908904e-01 8.03793130e-01 0.00000000e+00 3.46760739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81962445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59037174299999 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:118.17, Y:34.69, Z:0.00 [[ 8.00228832e-01 -5.99694769e-01 0.00000000e+00 1.18169453e+02] [ 5.99694769e-01 8.00228832e-01 0.00000000e+00 3.46941926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37693683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62037174299999 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:118.21, Y:34.71, Z:-0.00 [[ 8.03705607e-01 -5.95027139e-01 0.00000000e+00 1.18208316e+02] [ 5.95027139e-01 8.03705607e-01 0.00000000e+00 3.47100822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00682492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.650371743 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:118.23, Y:34.73, Z:-0.00 [[ 8.02895674e-01 -5.96119566e-01 0.00000000e+00 1.18234092e+02] [ 5.96119566e-01 8.02895674e-01 0.00000000e+00 3.47268865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.38431286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.680371743 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:118.26, Y:34.74, Z:-0.00 [[ 8.00849210e-01 -5.98866048e-01 0.00000000e+00 1.18262268e+02] [ 5.98866048e-01 8.00849210e-01 0.00000000e+00 3.47430919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.03935189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.710371743 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:118.29, Y:34.76, Z:-0.00 [[ 7.99902841e-01 -6.00129523e-01 0.00000000e+00 1.18291149e+02] [ 6.00129523e-01 7.99902841e-01 0.00000000e+00 3.47602712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74579339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.740371743 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:118.32, Y:34.78, Z:-0.00 [[ 7.97555687e-01 -6.03245329e-01 0.00000000e+00 1.18317367e+02] [ 6.03245329e-01 7.97555687e-01 0.00000000e+00 3.47771567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.72590647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.770371743 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:118.35, Y:34.79, Z:-0.01 [[ 7.94826272e-01 -6.06837044e-01 0.00000000e+00 1.18346656e+02] [ 6.06837044e-01 7.94826272e-01 0.00000000e+00 3.47918615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90730504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.800371743 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:118.36, Y:34.81, Z:-0.00 [[ 7.88717474e-01 -6.14755842e-01 0.00000000e+00 1.18358271e+02] [ 6.14755842e-01 7.88717474e-01 0.00000000e+00 3.48092980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14706846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.830371743 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:118.39, Y:34.83, Z:-0.00 [[ 7.86279746e-01 -6.17870667e-01 0.00000000e+00 1.18387626e+02] [ 6.17870667e-01 7.86279746e-01 0.00000000e+00 3.48258734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03472164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860371743 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:118.43, Y:34.84, Z:-0.01 [[ 7.89657118e-01 -6.13548397e-01 0.00000000e+00 1.18430031e+02] [ 6.13548397e-01 7.89657118e-01 0.00000000e+00 3.48417810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62615055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.890371743 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:118.44, Y:34.86, Z:-0.00 [[ 7.83838554e-01 -6.20964669e-01 0.00000000e+00 1.18439089e+02] [ 6.20964669e-01 7.83838554e-01 0.00000000e+00 3.48591663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.99227039e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.920371743 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:118.47, Y:34.88, Z:0.00 [[ 7.82043383e-01 -6.23223995e-01 0.00000000e+00 1.18467158e+02] [ 6.23223995e-01 7.82043383e-01 0.00000000e+00 3.48752815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33232244e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95037174299999 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:118.51, Y:34.89, Z:-0.00 [[ 7.84990896e-01 -6.19507298e-01 0.00000000e+00 1.18506244e+02] [ 6.19507298e-01 7.84990896e-01 0.00000000e+00 3.48910556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.00838544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98037174299999 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:118.53, Y:34.91, Z:0.00 [[ 7.83006221e-01 -6.22013873e-01 0.00000000e+00 1.18530707e+02] [ 6.22013873e-01 7.83006221e-01 0.00000000e+00 3.49090073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69745406e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.010371743 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:118.55, Y:34.93, Z:0.00 [[ 7.79011237e-01 -6.27009962e-01 0.00000000e+00 1.18548636e+02] [ 6.27009962e-01 7.79011237e-01 0.00000000e+00 3.49262571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00589733e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.040371743 meters Centerline goodness : 0.996040 Centerline is valid? [True, True] Translation: X:118.58, Y:34.94, Z:-0.00 [[ 7.81222277e-01 -6.24252957e-01 0.00000000e+00 1.18584423e+02] [ 6.24252957e-01 7.81222277e-01 0.00000000e+00 3.49431623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48779879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.070371743 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:118.61, Y:34.96, Z:0.00 [[ 7.80233349e-01 -6.25488546e-01 0.00000000e+00 1.18609137e+02] [ 6.25488546e-01 7.80233349e-01 0.00000000e+00 3.49614494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79181573e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.100371743 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:118.64, Y:34.98, Z:-0.00 [[ 7.81868465e-01 -6.23443424e-01 0.00000000e+00 1.18639518e+02] [ 6.23443424e-01 7.81868465e-01 0.00000000e+00 3.49791369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94547290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.130371743 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:118.66, Y:35.00, Z:-0.00 [[ 7.81896158e-01 -6.23408693e-01 0.00000000e+00 1.18664850e+02] [ 6.23408693e-01 7.81896158e-01 0.00000000e+00 3.49976244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.74373610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.160371743 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:118.69, Y:35.02, Z:-0.00 [[ 7.83502345e-01 -6.21388828e-01 0.00000000e+00 1.18692265e+02] [ 6.21388828e-01 7.83502345e-01 0.00000000e+00 3.50163175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38199976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.190371743 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:118.72, Y:35.04, Z:-0.01 [[ 7.85876836e-01 -6.18383051e-01 0.00000000e+00 1.18721686e+02] [ 6.18383051e-01 7.85876836e-01 0.00000000e+00 3.50351070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.62181614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220371743 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:118.75, Y:35.05, Z:-0.01 [[ 7.86623518e-01 -6.17432944e-01 0.00000000e+00 1.18745984e+02] [ 6.17432944e-01 7.86623518e-01 0.00000000e+00 3.50545082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.57483460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.250371743 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:118.77, Y:35.07, Z:-0.01 [[ 7.89030470e-01 -6.14354065e-01 0.00000000e+00 1.18771183e+02] [ 6.14354065e-01 7.89030470e-01 0.00000000e+00 3.50731335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42503208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280371743 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:118.80, Y:35.09, Z:-0.01 [[ 7.91214347e-01 -6.11538926e-01 0.00000000e+00 1.18798572e+02] [ 6.11538926e-01 7.91214347e-01 0.00000000e+00 3.50934289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47452683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.310371743 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:118.82, Y:35.11, Z:-0.00 [[ 7.95330091e-01 -6.06176581e-01 0.00000000e+00 1.18822575e+02] [ 6.06176581e-01 7.95330091e-01 0.00000000e+00 3.51130456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18829034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34037174299999 meters Centerline goodness : 0.995604 Centerline is valid? [True, True] Translation: X:118.85, Y:35.13, Z:-0.00 [[ 7.98170510e-01 -6.02431603e-01 0.00000000e+00 1.18851034e+02] [ 6.02431603e-01 7.98170510e-01 0.00000000e+00 3.51330440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71573998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37037174299999 meters Centerline goodness : 0.995604 Centerline is valid? [True, True] Translation: X:118.88, Y:35.15, Z:-0.00 [[ 7.97918369e-01 -6.02765523e-01 0.00000000e+00 1.18876549e+02] [ 6.02765523e-01 7.97918369e-01 0.00000000e+00 3.51515487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71573998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.400371743 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:118.88, Y:35.17, Z:0.00 [[ 7.97050231e-01 -6.03913014e-01 0.00000000e+00 1.18883537e+02] [ 6.03913014e-01 7.97050231e-01 0.00000000e+00 3.51704434e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17755119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.430371743 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:118.91, Y:35.19, Z:0.00 [[ 7.98956536e-01 -6.01388771e-01 0.00000000e+00 1.18909579e+02] [ 6.01388771e-01 7.98956536e-01 0.00000000e+00 3.51888956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54756935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.460371743 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:118.95, Y:35.21, Z:-0.00 [[ 8.06493333e-01 -5.91243185e-01 0.00000000e+00 1.18950502e+02] [ 5.91243185e-01 8.06493333e-01 0.00000000e+00 3.52054137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.02422040e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.490371743 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:118.98, Y:35.22, Z:-0.00 [[ 8.07751035e-01 -5.89523762e-01 0.00000000e+00 1.18978251e+02] [ 5.89523762e-01 8.07751035e-01 0.00000000e+00 3.52241025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15383546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.520371743 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:119.01, Y:35.24, Z:-0.00 [[ 8.09290223e-01 -5.87409001e-01 0.00000000e+00 1.19005291e+02] [ 5.87409001e-01 8.09290223e-01 0.00000000e+00 3.52416265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15458576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.550371743 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:119.03, Y:35.26, Z:-0.00 [[ 8.09886806e-01 -5.86586192e-01 0.00000000e+00 1.19033163e+02] [ 5.86586192e-01 8.09886806e-01 0.00000000e+00 3.52586823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.28496814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.580371743 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:119.06, Y:35.28, Z:-0.00 [[ 8.09970150e-01 -5.86471104e-01 0.00000000e+00 1.19059392e+02] [ 5.86471104e-01 8.09970150e-01 0.00000000e+00 3.52757208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81525495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.610371743 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:119.09, Y:35.29, Z:-0.00 [[ 8.09939192e-01 -5.86513857e-01 0.00000000e+00 1.19087685e+02] [ 5.86513857e-01 8.09939192e-01 0.00000000e+00 3.52930797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97636893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640371743 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:119.11, Y:35.31, Z:-0.01 [[ 8.09563155e-01 -5.87032792e-01 0.00000000e+00 1.19113408e+02] [ 5.87032792e-01 8.09563155e-01 0.00000000e+00 3.53100557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.63528249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.670371743 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:119.14, Y:35.33, Z:-0.00 [[ 8.07237053e-01 -5.90227363e-01 0.00000000e+00 1.19141273e+02] [ 5.90227363e-01 8.07237053e-01 0.00000000e+00 3.53263079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66771033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70037174299999 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:119.17, Y:35.34, Z:-0.00 [[ 8.06235000e-01 -5.91595406e-01 0.00000000e+00 1.19168315e+02] [ 5.91595406e-01 8.06235000e-01 0.00000000e+00 3.53424812e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27028062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73037174299999 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:119.19, Y:35.36, Z:-0.00 [[ 8.04696353e-01 -5.93686600e-01 0.00000000e+00 1.19194302e+02] [ 5.93686600e-01 8.04696353e-01 0.00000000e+00 3.53593713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17503099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.760371743 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:119.20, Y:35.38, Z:0.00 [[ 7.97656070e-01 -6.03112588e-01 0.00000000e+00 1.19202873e+02] [ 6.03112588e-01 7.97656070e-01 0.00000000e+00 3.53777836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51515801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.790371743 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:119.25, Y:35.39, Z:-0.00 [[ 8.00112740e-01 -5.99849651e-01 0.00000000e+00 1.19247003e+02] [ 5.99849651e-01 8.00112740e-01 0.00000000e+00 3.53904361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52751090e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.820371743 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:119.26, Y:35.41, Z:0.00 [[ 7.92828004e-01 -6.09445450e-01 0.00000000e+00 1.19256765e+02] [ 6.09445450e-01 7.92828004e-01 0.00000000e+00 3.54086570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49113112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.850371743 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:119.28, Y:35.43, Z:0.00 [[ 7.90982152e-01 -6.11839224e-01 0.00000000e+00 1.19284638e+02] [ 6.11839224e-01 7.90982152e-01 0.00000000e+00 3.54258769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40463488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.880371743 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:119.31, Y:35.44, Z:0.00 [[ 7.86716971e-01 -6.17313864e-01 0.00000000e+00 1.19314664e+02] [ 6.17313864e-01 7.86716971e-01 0.00000000e+00 3.54404097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42104115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.910371743 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:119.34, Y:35.46, Z:0.00 [[ 7.84493091e-01 -6.20137557e-01 0.00000000e+00 1.19342832e+02] [ 6.20137557e-01 7.84493091e-01 0.00000000e+00 3.54568984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64092654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.940371743 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:119.37, Y:35.47, Z:0.00 [[ 7.82226514e-01 -6.22994126e-01 0.00000000e+00 1.19370553e+02] [ 6.22994126e-01 7.82226514e-01 0.00000000e+00 3.54732121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75260743e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.970371743 meters Centerline goodness : 0.995719 Centerline is valid? [True, True] Translation: X:119.40, Y:35.49, Z:0.00 [[ 7.77596880e-01 -6.28763145e-01 0.00000000e+00 1.19400454e+02] [ 6.28763145e-01 7.77596880e-01 0.00000000e+00 3.54884641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55691744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000371743 meters Centerline goodness : 0.995967 Centerline is valid? [True, True] Translation: X:119.43, Y:35.51, Z:0.00 [[ 7.75862319e-01 -6.30902260e-01 0.00000000e+00 1.19427953e+02] [ 6.30902260e-01 7.75862319e-01 0.00000000e+00 3.55052830e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95541391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.030371743 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:119.47, Y:35.52, Z:-0.00 [[ 7.77145935e-01 -6.29320423e-01 0.00000000e+00 1.19470072e+02] [ 6.29320423e-01 7.77145935e-01 0.00000000e+00 3.55196036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52023481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.060371743 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:119.50, Y:35.54, Z:-0.01 [[ 7.77451723e-01 -6.28942619e-01 0.00000000e+00 1.19501622e+02] [ 6.28942619e-01 7.77451723e-01 0.00000000e+00 3.55373364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73618092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09037174299999 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:119.52, Y:35.55, Z:-0.01 [[ 7.74581745e-01 -6.32473810e-01 0.00000000e+00 1.19521195e+02] [ 6.32473810e-01 7.74581745e-01 0.00000000e+00 3.55540327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.62257124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12037174299999 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:119.53, Y:35.57, Z:-0.00 [[ 7.69102894e-01 -6.39124978e-01 0.00000000e+00 1.19532801e+02] [ 6.39124978e-01 7.69102894e-01 0.00000000e+00 3.55720721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80574448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.150371743 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:119.56, Y:35.59, Z:-0.00 [[ 7.69166177e-01 -6.39048818e-01 0.00000000e+00 1.19559721e+02] [ 6.39048818e-01 7.69166177e-01 0.00000000e+00 3.55911989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21582335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.180371743 meters Centerline goodness : 0.995709 Centerline is valid? [True, True] Translation: X:119.60, Y:35.61, Z:-0.01 [[ 7.73793411e-01 -6.33438045e-01 0.00000000e+00 1.19600300e+02] [ 6.33438045e-01 7.73793411e-01 0.00000000e+00 3.56081566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.08573997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.210371743 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:119.63, Y:35.63, Z:-0.01 [[ 7.73806489e-01 -6.33422069e-01 0.00000000e+00 1.19625161e+02] [ 6.33422069e-01 7.73806489e-01 0.00000000e+00 3.56275787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.38002282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.240371743 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:119.65, Y:35.65, Z:-0.01 [[ 7.74412045e-01 -6.32681582e-01 0.00000000e+00 1.19650798e+02] [ 6.32681582e-01 7.74412045e-01 0.00000000e+00 3.56483865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.18286340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.270371743 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:119.67, Y:35.67, Z:-0.01 [[ 7.75325570e-01 -6.31561763e-01 0.00000000e+00 1.19674895e+02] [ 6.31561763e-01 7.75325570e-01 0.00000000e+00 3.56672633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.71708077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.300371743 meters Centerline goodness : 0.995888 Centerline is valid? [True, True] Translation: X:119.70, Y:35.69, Z:-0.01 [[ 7.76690055e-01 -6.29882972e-01 0.00000000e+00 1.19700458e+02] [ 6.29882972e-01 7.76690055e-01 0.00000000e+00 3.56883484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.99708741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.330371743 meters Centerline goodness : 0.995481 Centerline is valid? [True, True] Translation: X:119.71, Y:35.71, Z:-0.00 [[ 7.72341590e-01 -6.35207421e-01 0.00000000e+00 1.19708179e+02] [ 6.35207421e-01 7.72341590e-01 0.00000000e+00 3.57090935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32281284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.360371743 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:119.75, Y:35.73, Z:-0.01 [[ 7.79246832e-01 -6.26717141e-01 0.00000000e+00 1.19754124e+02] [ 6.26717141e-01 7.79246832e-01 0.00000000e+00 3.57273098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03776821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.390371743 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:119.78, Y:35.75, Z:-0.01 [[ 7.78981755e-01 -6.27046590e-01 0.00000000e+00 1.19778476e+02] [ 6.27046590e-01 7.78981755e-01 0.00000000e+00 3.57477704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.22935299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420371743 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:119.78, Y:35.77, Z:-0.00 [[ 7.72023613e-01 -6.35593850e-01 0.00000000e+00 1.19781040e+02] [ 6.35593850e-01 7.72023613e-01 0.00000000e+00 3.57672944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.37247544e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45037174299999 meters Centerline goodness : 0.995771 Centerline is valid? [True, True] Translation: X:119.81, Y:35.79, Z:-0.00 [[ 7.72468034e-01 -6.35053649e-01 0.00000000e+00 1.19806448e+02] [ 6.35053649e-01 7.72468034e-01 0.00000000e+00 3.57871116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.42893857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48037174299999 meters Centerline goodness : 0.995946 Centerline is valid? [True, True] Translation: X:119.85, Y:35.81, Z:-0.01 [[ 7.78087731e-01 -6.28155620e-01 0.00000000e+00 1.19847546e+02] [ 6.28155620e-01 7.78087731e-01 0.00000000e+00 3.58055725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11356977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.510371743 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:119.85, Y:35.83, Z:-0.00 [[ 7.74137220e-01 -6.33017823e-01 0.00000000e+00 1.19854437e+02] [ 6.33017823e-01 7.74137220e-01 0.00000000e+00 3.58273121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13961495e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.540371743 meters Centerline goodness : 0.995851 Centerline is valid? [True, True] Translation: X:119.90, Y:35.85, Z:-0.01 [[ 7.82180670e-01 -6.23051683e-01 0.00000000e+00 1.19900699e+02] [ 6.23051683e-01 7.82180670e-01 0.00000000e+00 3.58450073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.79868129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.570371743 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:119.92, Y:35.86, Z:-0.01 [[ 7.80867723e-01 -6.24696406e-01 0.00000000e+00 1.19917624e+02] [ 6.24696406e-01 7.80867723e-01 0.00000000e+00 3.58643342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.24212959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.600371743 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:119.93, Y:35.89, Z:0.00 [[ 7.78970330e-01 -6.27060782e-01 0.00000000e+00 1.19926423e+02] [ 6.27060782e-01 7.78970330e-01 0.00000000e+00 3.58859519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43569093e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.630371743 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:119.97, Y:35.90, Z:-0.00 [[ 7.85777103e-01 -6.18509777e-01 0.00000000e+00 1.19968590e+02] [ 6.18509777e-01 7.85777103e-01 0.00000000e+00 3.59044692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54857711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.660371743 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:120.00, Y:35.92, Z:-0.01 [[ 7.88272444e-01 -6.15326380e-01 0.00000000e+00 1.19996965e+02] [ 6.15326380e-01 7.88272444e-01 0.00000000e+00 3.59244013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17062043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.690371743 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:120.02, Y:35.94, Z:-0.01 [[ 7.91376327e-01 -6.11329296e-01 0.00000000e+00 1.20021911e+02] [ 6.11329296e-01 7.91376327e-01 0.00000000e+00 3.59447802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.16174051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720371743 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:120.05, Y:35.97, Z:-0.00 [[ 7.91137682e-01 -6.11638102e-01 0.00000000e+00 1.20046250e+02] [ 6.11638102e-01 7.91137682e-01 0.00000000e+00 3.59651742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.34088643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.750371743 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:120.07, Y:35.98, Z:-0.00 [[ 7.92961598e-01 -6.09271618e-01 0.00000000e+00 1.20066565e+02] [ 6.09271618e-01 7.92961598e-01 0.00000000e+00 3.59830411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.80036857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780371743 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:120.09, Y:36.00, Z:-0.00 [[ 7.92734005e-01 -6.09567713e-01 0.00000000e+00 1.20091930e+02] [ 6.09567713e-01 7.92734005e-01 0.00000000e+00 3.60034383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48945966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.810371743 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:120.10, Y:36.02, Z:0.00 [[ 7.87616722e-01 -6.16165481e-01 0.00000000e+00 1.20096773e+02] [ 6.16165481e-01 7.87616722e-01 0.00000000e+00 3.60239593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31706264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84037174299999 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:120.12, Y:36.04, Z:0.00 [[ 7.90381867e-01 -6.12614482e-01 0.00000000e+00 1.20122902e+02] [ 6.12614482e-01 7.90381867e-01 0.00000000e+00 3.60440717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72217296e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87037174299999 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:120.15, Y:36.06, Z:0.00 [[ 7.91721756e-01 -6.10881871e-01 0.00000000e+00 1.20149303e+02] [ 6.10881871e-01 7.91721756e-01 0.00000000e+00 3.60639285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85268893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.900371743 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:120.18, Y:36.08, Z:0.00 [[ 7.92965255e-01 -6.09266858e-01 0.00000000e+00 1.20175248e+02] [ 6.09266858e-01 7.92965255e-01 0.00000000e+00 3.60832487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80593526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.930371743 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:120.22, Y:36.10, Z:-0.00 [[ 8.00282020e-01 -5.99623789e-01 0.00000000e+00 1.20219561e+02] [ 5.99623789e-01 8.00282020e-01 0.00000000e+00 3.60994359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21997213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.960371743 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:120.25, Y:36.12, Z:-0.00 [[ 8.00540509e-01 -5.99278645e-01 0.00000000e+00 1.20246177e+02] [ 5.99278645e-01 8.00540509e-01 0.00000000e+00 3.61183900e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59530246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.990371743 meters Centerline goodness : 0.994612 Centerline is valid? [True, True] Translation: X:120.25, Y:36.14, Z:0.00 [[ 7.94853531e-01 -6.06801338e-01 0.00000000e+00 1.20251261e+02] [ 6.06801338e-01 7.94853531e-01 0.00000000e+00 3.61379996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38324007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.020371743 meters Centerline goodness : 0.994178 Centerline is valid? [True, True] Translation: X:120.30, Y:36.15, Z:-0.00 [[ 8.00775918e-01 -5.98964047e-01 0.00000000e+00 1.20297567e+02] [ 5.98964047e-01 8.00775918e-01 0.00000000e+00 3.61533084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.38495838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.050371743 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:120.32, Y:36.17, Z:-0.00 [[ 7.99351880e-01 -6.00863189e-01 0.00000000e+00 1.20322264e+02] [ 6.00863189e-01 7.99351880e-01 0.00000000e+00 3.61714184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.50051741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.080371743 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:120.35, Y:36.19, Z:-0.00 [[ 7.98327220e-01 -6.02223920e-01 0.00000000e+00 1.20349829e+02] [ 6.02223920e-01 7.98327220e-01 0.00000000e+00 3.61898768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.19407909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.110371743 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:120.36, Y:36.21, Z:0.00 [[ 7.89042830e-01 -6.14338191e-01 0.00000000e+00 1.20355853e+02] [ 6.14338191e-01 7.89042830e-01 0.00000000e+00 3.62068395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00232695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.140371743 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:120.38, Y:36.22, Z:0.00 [[ 7.87477990e-01 -6.16342774e-01 0.00000000e+00 1.20383731e+02] [ 6.16342774e-01 7.87477990e-01 0.00000000e+00 3.62248946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29661881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.170371743 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:120.41, Y:36.24, Z:0.00 [[ 7.85614213e-01 -6.18716663e-01 0.00000000e+00 1.20410322e+02] [ 6.18716663e-01 7.85614213e-01 0.00000000e+00 3.62426637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58577620e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20037174299999 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:120.46, Y:36.26, Z:-0.00 [[ 7.88635831e-01 -6.14860574e-01 0.00000000e+00 1.20459426e+02] [ 6.14860574e-01 7.88635831e-01 0.00000000e+00 3.62576105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.73810039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23037174299999 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:120.48, Y:36.28, Z:-0.00 [[ 7.84863310e-01 -6.19668932e-01 0.00000000e+00 1.20483004e+02] [ 6.19668932e-01 7.84863310e-01 0.00000000e+00 3.62752157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80548989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.260371743 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:120.51, Y:36.29, Z:-0.00 [[ 7.84563825e-01 -6.20048066e-01 0.00000000e+00 1.20508218e+02] [ 6.20048066e-01 7.84563825e-01 0.00000000e+00 3.62941204e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.80548989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.290371743 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:120.51, Y:36.31, Z:0.00 [[ 7.75928864e-01 -6.30820417e-01 0.00000000e+00 1.20514755e+02] [ 6.30820417e-01 7.75928864e-01 0.00000000e+00 3.63111269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03516947e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.320371743 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:120.56, Y:36.33, Z:-0.00 [[ 7.75579867e-01 -6.31249451e-01 0.00000000e+00 1.20555594e+02] [ 6.31249451e-01 7.75579867e-01 0.00000000e+00 3.63258740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30419917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.350371743 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:120.58, Y:36.34, Z:-0.00 [[ 7.74382493e-01 -6.32717753e-01 0.00000000e+00 1.20581734e+02] [ 6.32717753e-01 7.74382493e-01 0.00000000e+00 3.63434910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09047888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.380371743 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:120.61, Y:36.36, Z:-0.00 [[ 7.72454240e-01 -6.35070427e-01 0.00000000e+00 1.20609126e+02] [ 6.35070427e-01 7.72454240e-01 0.00000000e+00 3.63613985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18671399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.410371743 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:120.64, Y:36.38, Z:-0.01 [[ 7.75191477e-01 -6.31726344e-01 0.00000000e+00 1.20641790e+02] [ 6.31726344e-01 7.75191477e-01 0.00000000e+00 3.63793503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.56085179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.440371743 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:120.66, Y:36.40, Z:-0.01 [[ 7.72060532e-01 -6.35549003e-01 0.00000000e+00 1.20658654e+02] [ 6.35549003e-01 7.72060532e-01 0.00000000e+00 3.63972672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47349744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.470371743 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:120.69, Y:36.42, Z:-0.01 [[ 7.72622829e-01 -6.34865311e-01 0.00000000e+00 1.20685799e+02] [ 6.34865311e-01 7.72622829e-01 0.00000000e+00 3.64163521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47389071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500371743 meters Centerline goodness : 0.995604 Centerline is valid? [True, True] Translation: X:120.70, Y:36.44, Z:-0.00 [[ 7.69608477e-01 -6.38516086e-01 0.00000000e+00 1.20695413e+02] [ 6.38516086e-01 7.69608477e-01 0.00000000e+00 3.64355304e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97693278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.530371743 meters Centerline goodness : 0.995697 Centerline is valid? [True, True] Translation: X:120.72, Y:36.46, Z:-0.00 [[ 7.70979747e-01 -6.36859663e-01 0.00000000e+00 1.20721015e+02] [ 6.36859663e-01 7.70979747e-01 0.00000000e+00 3.64550815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28556136e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.560371743 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:120.75, Y:36.48, Z:-0.00 [[ 7.74362467e-01 -6.32742261e-01 0.00000000e+00 1.20746934e+02] [ 6.32742261e-01 7.74362467e-01 0.00000000e+00 3.64758314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.72952413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59037174299999 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:120.79, Y:36.49, Z:-0.01 [[ 7.82265134e-01 -6.22945631e-01 0.00000000e+00 1.20790244e+02] [ 6.22945631e-01 7.82265134e-01 0.00000000e+00 3.64934775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.84790478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62037174299999 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:120.79, Y:36.51, Z:-0.00 [[ 7.79709806e-01 -6.26141053e-01 0.00000000e+00 1.20794518e+02] [ 6.26141053e-01 7.79709806e-01 0.00000000e+00 3.65146370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03573817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.650371743 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:120.82, Y:36.54, Z:-0.00 [[ 7.81727420e-01 -6.23620270e-01 0.00000000e+00 1.20820521e+02] [ 6.23620270e-01 7.81727420e-01 0.00000000e+00 3.65350102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.95874237e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.680371743 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:120.86, Y:36.55, Z:-0.01 [[ 7.88304159e-01 -6.15285749e-01 0.00000000e+00 1.20858524e+02] [ 6.15285749e-01 7.88304159e-01 0.00000000e+00 3.65516526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.54116991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.710371743 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:120.89, Y:36.57, Z:-0.01 [[ 7.90778369e-01 -6.12102582e-01 0.00000000e+00 1.20889959e+02] [ 6.12102582e-01 7.90778369e-01 0.00000000e+00 3.65747285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.82751156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.740371743 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:120.92, Y:36.59, Z:-0.01 [[ 7.92961553e-01 -6.09271676e-01 0.00000000e+00 1.20916528e+02] [ 6.09271676e-01 7.92961553e-01 0.00000000e+00 3.65931443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.80931333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.770371743 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:120.94, Y:36.61, Z:-0.01 [[ 7.90716564e-01 -6.12182420e-01 0.00000000e+00 1.20935676e+02] [ 6.12182420e-01 7.90716564e-01 0.00000000e+00 3.66123991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61520185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.800371743 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:120.94, Y:36.63, Z:-0.00 [[ 7.85942694e-01 -6.18299346e-01 0.00000000e+00 1.20942991e+02] [ 6.18299346e-01 7.85942694e-01 0.00000000e+00 3.66320078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28437552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.830371743 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:120.99, Y:36.65, Z:-0.01 [[ 7.94783358e-01 -6.06893247e-01 0.00000000e+00 1.20989880e+02] [ 6.06893247e-01 7.94783358e-01 0.00000000e+00 3.66508213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72976213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860371743 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:121.02, Y:36.67, Z:-0.01 [[ 7.95247387e-01 -6.06285076e-01 0.00000000e+00 1.21015485e+02] [ 6.06285076e-01 7.95247387e-01 0.00000000e+00 3.66699375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92982246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.890371743 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:121.02, Y:36.69, Z:-0.00 [[ 7.88845575e-01 -6.14591457e-01 0.00000000e+00 1.21015370e+02] [ 6.14591457e-01 7.88845575e-01 0.00000000e+00 3.66889381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.73259160e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.920371743 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:121.06, Y:36.71, Z:-0.01 [[ 7.96471154e-01 -6.04676526e-01 0.00000000e+00 1.21063497e+02] [ 6.04676526e-01 7.96471154e-01 0.00000000e+00 3.67074658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.61795045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95037174299999 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:121.08, Y:36.73, Z:-0.00 [[ 7.94179080e-01 -6.07683790e-01 0.00000000e+00 1.21081886e+02] [ 6.07683790e-01 7.94179080e-01 0.00000000e+00 3.67261371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.59373606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98037174299999 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:121.09, Y:36.75, Z:0.00 [[ 7.87698793e-01 -6.16060559e-01 0.00000000e+00 1.21088427e+02] [ 6.16060559e-01 7.87698793e-01 0.00000000e+00 3.67452467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72071772e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.010371743 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:121.11, Y:36.76, Z:0.00 [[ 7.87129435e-01 -6.16787851e-01 0.00000000e+00 1.21114740e+02] [ 6.16787851e-01 7.87129435e-01 0.00000000e+00 3.67641982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49997223e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.040371743 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:121.14, Y:36.78, Z:0.00 [[ 7.86094913e-01 -6.18105807e-01 0.00000000e+00 1.21141370e+02] [ 6.18105807e-01 7.86094913e-01 0.00000000e+00 3.67833686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19922974e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.070371743 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:121.17, Y:36.80, Z:0.00 [[ 7.85051687e-01 -6.19430262e-01 0.00000000e+00 1.21168340e+02] [ 6.19430262e-01 7.85051687e-01 0.00000000e+00 3.68025976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23871568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.100371743 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:121.20, Y:36.82, Z:0.00 [[ 7.82527910e-01 -6.22615507e-01 0.00000000e+00 1.21195760e+02] [ 6.22615507e-01 7.82527910e-01 0.00000000e+00 3.68206455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79485117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.130371743 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:121.24, Y:36.84, Z:-0.00 [[ 7.86937718e-01 -6.17032437e-01 0.00000000e+00 1.21239136e+02] [ 6.17032437e-01 7.86937718e-01 0.00000000e+00 3.68372368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04073481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.160371743 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:121.25, Y:36.86, Z:0.00 [[ 7.79080980e-01 -6.26923302e-01 0.00000000e+00 1.21246973e+02] [ 6.26923302e-01 7.79080980e-01 0.00000000e+00 3.68553995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44926724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.190371743 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:121.29, Y:36.87, Z:-0.00 [[ 7.83028362e-01 -6.21986000e-01 0.00000000e+00 1.21288515e+02] [ 6.21986000e-01 7.83028362e-01 0.00000000e+00 3.68722026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31597482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220371743 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:121.31, Y:36.89, Z:0.00 [[ 7.78136040e-01 -6.28095775e-01 0.00000000e+00 1.21308200e+02] [ 6.28095775e-01 7.78136040e-01 0.00000000e+00 3.68900136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58199891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.250371743 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:121.33, Y:36.91, Z:0.00 [[ 7.74484177e-01 -6.32593281e-01 0.00000000e+00 1.21325372e+02] [ 6.32593281e-01 7.74484177e-01 0.00000000e+00 3.69089747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19156104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280371743 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:121.35, Y:36.93, Z:0.00 [[ 7.73617954e-01 -6.33652319e-01 0.00000000e+00 1.21352320e+02] [ 6.33652319e-01 7.73617954e-01 0.00000000e+00 3.69275519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55008769e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.310371743 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:121.38, Y:36.95, Z:-0.00 [[ 7.72623517e-01 -6.34864475e-01 0.00000000e+00 1.21379020e+02] [ 6.34864475e-01 7.72623517e-01 0.00000000e+00 3.69461669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25226376e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34037174299999 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:121.42, Y:36.96, Z:-0.00 [[ 7.75243339e-01 -6.31662699e-01 0.00000000e+00 1.21419954e+02] [ 6.31662699e-01 7.75243339e-01 0.00000000e+00 3.69626862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15544421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37037174299999 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:121.45, Y:36.98, Z:-0.01 [[ 7.76361614e-01 -6.30287748e-01 0.00000000e+00 1.21448453e+02] [ 6.30287748e-01 7.76361614e-01 0.00000000e+00 3.69802095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.49454491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.400371743 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:121.48, Y:37.00, Z:-0.01 [[ 7.75686918e-01 -6.31117901e-01 0.00000000e+00 1.21476190e+02] [ 6.31117901e-01 7.75686918e-01 0.00000000e+00 3.70003600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.71157355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.430371743 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:121.48, Y:37.02, Z:-0.00 [[ 7.69434514e-01 -6.38725707e-01 0.00000000e+00 1.21480398e+02] [ 6.38725707e-01 7.69434514e-01 0.00000000e+00 3.70185153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.46535047e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.460371743 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:121.52, Y:37.04, Z:-0.00 [[ 7.76275325e-01 -6.30394020e-01 0.00000000e+00 1.21521040e+02] [ 6.30394020e-01 7.76275325e-01 0.00000000e+00 3.70384424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30938116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.490371743 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:121.53, Y:37.06, Z:0.00 [[ 7.73029140e-01 -6.34370513e-01 0.00000000e+00 1.21528572e+02] [ 6.34370513e-01 7.73029140e-01 0.00000000e+00 3.70567534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55121225e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.520371743 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:121.57, Y:37.08, Z:-0.00 [[ 7.80479284e-01 -6.25181643e-01 0.00000000e+00 1.21565246e+02] [ 6.25181643e-01 7.80479284e-01 0.00000000e+00 3.70761484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.73624391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.550371743 meters Centerline goodness : 0.995342 Centerline is valid? [True, True] Translation: X:121.58, Y:37.10, Z:0.00 [[ 7.79145058e-01 -6.26843664e-01 0.00000000e+00 1.21577492e+02] [ 6.26843664e-01 7.79145058e-01 0.00000000e+00 3.70953688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.68327410e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.580371743 meters Centerline goodness : 0.995592 Centerline is valid? [True, True] Translation: X:121.60, Y:37.12, Z:0.00 [[ 7.81328541e-01 -6.24119949e-01 0.00000000e+00 1.21603044e+02] [ 6.24119949e-01 7.81328541e-01 0.00000000e+00 3.71152462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.76088693e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.610371743 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:121.63, Y:37.14, Z:0.00 [[ 7.85114235e-01 -6.19350981e-01 0.00000000e+00 1.21628862e+02] [ 6.19350981e-01 7.85114235e-01 0.00000000e+00 3.71358470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79257167e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640371743 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:121.65, Y:37.15, Z:0.00 [[ 7.87036038e-01 -6.16907023e-01 0.00000000e+00 1.21654253e+02] [ 6.16907023e-01 7.87036038e-01 0.00000000e+00 3.71548634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92138382e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.670371743 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:121.70, Y:37.17, Z:-0.01 [[ 7.94777412e-01 -6.06901035e-01 0.00000000e+00 1.21698883e+02] [ 6.06901035e-01 7.94777412e-01 0.00000000e+00 3.71732634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.15456830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70037174299999 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:121.70, Y:37.19, Z:-0.00 [[ 7.90798501e-01 -6.12076573e-01 0.00000000e+00 1.21702936e+02] [ 6.12076573e-01 7.90798501e-01 0.00000000e+00 3.71926716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22976914e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73037174299999 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:121.73, Y:37.21, Z:-0.00 [[ 7.91507036e-01 -6.11160055e-01 0.00000000e+00 1.21729638e+02] [ 6.11160055e-01 7.91507036e-01 0.00000000e+00 3.72128675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33345051e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.760371743 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:121.76, Y:37.23, Z:-0.00 [[ 7.91755555e-01 -6.10838064e-01 0.00000000e+00 1.21755250e+02] [ 6.10838064e-01 7.91755555e-01 0.00000000e+00 3.72319285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.30378490e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.790371743 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:121.78, Y:37.25, Z:-0.00 [[ 7.91718424e-01 -6.10886190e-01 0.00000000e+00 1.21781672e+02] [ 6.10886190e-01 7.91718424e-01 0.00000000e+00 3.72512354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72286468e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.820371743 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:121.83, Y:37.27, Z:-0.00 [[ 7.96073323e-01 -6.05200185e-01 0.00000000e+00 1.21825483e+02] [ 6.05200185e-01 7.96073323e-01 0.00000000e+00 3.72688177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.21694843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.850371743 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:121.83, Y:37.29, Z:0.00 [[ 7.89794287e-01 -6.13371815e-01 0.00000000e+00 1.21832387e+02] [ 6.13371815e-01 7.89794287e-01 0.00000000e+00 3.72869347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00192994e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.880371743 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:121.86, Y:37.31, Z:0.00 [[ 7.89283850e-01 -6.14028505e-01 0.00000000e+00 1.21859370e+02] [ 6.14028505e-01 7.89283850e-01 0.00000000e+00 3.73055026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14275288e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.910371743 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:121.89, Y:37.32, Z:0.00 [[ 7.87989002e-01 -6.15689315e-01 0.00000000e+00 1.21886960e+02] [ 6.15689315e-01 7.87989002e-01 0.00000000e+00 3.73239569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16856228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.940371743 meters Centerline goodness : 0.996036 Centerline is valid? [True, True] Translation: X:121.91, Y:37.34, Z:0.00 [[ 7.87707657e-01 -6.16049224e-01 0.00000000e+00 1.21914070e+02] [ 6.16049224e-01 7.87707657e-01 0.00000000e+00 3.73430321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57061318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.970371743 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:121.94, Y:37.36, Z:0.00 [[ 7.87643441e-01 -6.16131325e-01 0.00000000e+00 1.21941086e+02] [ 6.16131325e-01 7.87643441e-01 0.00000000e+00 3.73618807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68729112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000371743 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:121.97, Y:37.38, Z:0.00 [[ 7.88230366e-01 -6.15380281e-01 0.00000000e+00 1.21969097e+02] [ 6.15380281e-01 7.88230366e-01 0.00000000e+00 3.73794675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83369887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.030371743 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:122.00, Y:37.40, Z:0.00 [[ 7.89156005e-01 -6.14192803e-01 0.00000000e+00 1.21996680e+02] [ 6.14192803e-01 7.89156005e-01 0.00000000e+00 3.73986257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91702319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.060371743 meters Centerline goodness : 0.996010 Centerline is valid? [True, True] Translation: X:122.02, Y:37.42, Z:0.00 [[ 7.90300275e-01 -6.12719736e-01 0.00000000e+00 1.22024069e+02] [ 6.12719736e-01 7.90300275e-01 0.00000000e+00 3.74178078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58636314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09037174299999 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:122.05, Y:37.44, Z:0.00 [[ 7.92860641e-01 -6.09402990e-01 0.00000000e+00 1.22051197e+02] [ 6.09402990e-01 7.92860641e-01 0.00000000e+00 3.74350547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54940191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12037174299999 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:122.08, Y:37.45, Z:0.00 [[ 7.94180090e-01 -6.07682470e-01 0.00000000e+00 1.22078711e+02] [ 6.07682470e-01 7.94180090e-01 0.00000000e+00 3.74538788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60266533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.150371743 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:122.11, Y:37.47, Z:0.00 [[ 7.95573477e-01 -6.05857115e-01 0.00000000e+00 1.22105478e+02] [ 6.05857115e-01 7.95573477e-01 0.00000000e+00 3.74719122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15181599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.180371743 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:122.13, Y:37.49, Z:0.00 [[ 7.95741360e-01 -6.05636597e-01 0.00000000e+00 1.22132492e+02] [ 6.05636597e-01 7.95741360e-01 0.00000000e+00 3.74919140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15181599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.210371743 meters Centerline goodness : 0.995702 Centerline is valid? [True, True] Translation: X:122.18, Y:37.51, Z:-0.00 [[ 8.04580025e-01 -5.93844241e-01 0.00000000e+00 1.22183377e+02] [ 5.93844241e-01 8.04580025e-01 0.00000000e+00 3.75067472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57475168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.240371743 meters Centerline goodness : 0.995658 Centerline is valid? [True, True] Translation: X:122.21, Y:37.52, Z:-0.01 [[ 8.04906328e-01 -5.93401890e-01 0.00000000e+00 1.22208921e+02] [ 5.93401890e-01 8.04906328e-01 0.00000000e+00 3.75233132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.56648368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.270371743 meters Centerline goodness : 0.995967 Centerline is valid? [True, True] Translation: X:122.21, Y:37.54, Z:0.00 [[ 7.97228156e-01 -6.03678116e-01 0.00000000e+00 1.22208868e+02] [ 6.03678116e-01 7.97228156e-01 0.00000000e+00 3.75401589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54994609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.300371743 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:122.24, Y:37.56, Z:0.00 [[ 7.96854281e-01 -6.04171544e-01 0.00000000e+00 1.22236488e+02] [ 6.04171544e-01 7.96854281e-01 0.00000000e+00 3.75560909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40797081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.330371743 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:122.26, Y:37.57, Z:0.00 [[ 7.96818571e-01 -6.04218640e-01 0.00000000e+00 1.22263378e+02] [ 6.04218640e-01 7.96818571e-01 0.00000000e+00 3.75732288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56342586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360371743 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:122.29, Y:37.59, Z:0.00 [[ 7.96873107e-01 -6.04146714e-01 0.00000000e+00 1.22291326e+02] [ 6.04146714e-01 7.96873107e-01 0.00000000e+00 3.75911524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54669091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.390371743 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:122.32, Y:37.61, Z:0.00 [[ 7.97017380e-01 -6.03956369e-01 0.00000000e+00 1.22320042e+02] [ 6.03956369e-01 7.97017380e-01 0.00000000e+00 3.76077728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76485420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420371743 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:122.35, Y:37.63, Z:0.00 [[ 7.97650506e-01 -6.03119947e-01 0.00000000e+00 1.22347351e+02] [ 6.03119947e-01 7.97650506e-01 0.00000000e+00 3.76257643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70414915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45037174299999 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:122.37, Y:37.64, Z:0.00 [[ 7.98552367e-01 -6.01925342e-01 0.00000000e+00 1.22373819e+02] [ 6.01925342e-01 7.98552367e-01 0.00000000e+00 3.76428679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24393786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48037174299999 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:122.40, Y:37.66, Z:0.00 [[ 7.99293727e-01 -6.00940545e-01 0.00000000e+00 1.22401818e+02] [ 6.00940545e-01 7.99293727e-01 0.00000000e+00 3.76615114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16736773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.510371743 meters Centerline goodness : 0.995797 Centerline is valid? [True, True] Translation: X:122.43, Y:37.68, Z:0.00 [[ 8.00424766e-01 -5.99433227e-01 0.00000000e+00 1.22430135e+02] [ 5.99433227e-01 8.00424766e-01 0.00000000e+00 3.76778874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65358006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.540371743 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:122.46, Y:37.70, Z:0.01 [[ 8.01168778e-01 -5.98438459e-01 0.00000000e+00 1.22458182e+02] [ 5.98438459e-01 8.01168778e-01 0.00000000e+00 3.76961739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25256061e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.570371743 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:122.49, Y:37.71, Z:0.01 [[ 8.02188966e-01 -5.97070233e-01 0.00000000e+00 1.22486671e+02] [ 5.97070233e-01 8.02188966e-01 0.00000000e+00 3.77141261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49482922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.600371743 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:122.51, Y:37.73, Z:0.00 [[ 8.02659000e-01 -5.96438203e-01 0.00000000e+00 1.22513795e+02] [ 5.96438203e-01 8.02659000e-01 0.00000000e+00 3.77321449e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22782159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.630371743 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:122.54, Y:37.75, Z:0.00 [[ 8.02885184e-01 -5.96133695e-01 0.00000000e+00 1.22541202e+02] [ 5.96133695e-01 8.02885184e-01 0.00000000e+00 3.77500936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18678565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.660371743 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:122.57, Y:37.77, Z:0.00 [[ 8.03037892e-01 -5.95927968e-01 0.00000000e+00 1.22570127e+02] [ 5.95927968e-01 8.03037892e-01 0.00000000e+00 3.77661525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98231534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.690371743 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:122.60, Y:37.78, Z:0.00 [[ 8.03375289e-01 -5.95473042e-01 0.00000000e+00 1.22597098e+02] [ 5.95473042e-01 8.03375289e-01 0.00000000e+00 3.77832355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23764475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720371743 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:122.62, Y:37.80, Z:0.00 [[ 8.03144574e-01 -5.95784183e-01 0.00000000e+00 1.22623602e+02] [ 5.95784183e-01 8.03144574e-01 0.00000000e+00 3.78011963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52747407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.750371743 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:122.67, Y:37.82, Z:-0.00 [[ 8.08568618e-01 -5.88401895e-01 0.00000000e+00 1.22668242e+02] [ 5.88401895e-01 8.08568618e-01 0.00000000e+00 3.78170053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.17567441e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780371743 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:122.68, Y:37.83, Z:0.00 [[ 8.02476878e-01 -5.96683216e-01 0.00000000e+00 1.22676214e+02] [ 5.96683216e-01 8.02476878e-01 0.00000000e+00 3.78338899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88270053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.810371743 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:122.70, Y:37.85, Z:0.01 [[ 8.02488157e-01 -5.96668047e-01 0.00000000e+00 1.22704528e+02] [ 5.96668047e-01 8.02488157e-01 0.00000000e+00 3.78519401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01248032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84037174299999 meters Centerline goodness : 0.994212 Centerline is valid? [True, True] Translation: X:122.73, Y:37.87, Z:0.00 [[ 8.00937384e-01 -5.98748116e-01 0.00000000e+00 1.22732109e+02] [ 5.98748116e-01 8.00937384e-01 0.00000000e+00 3.78674814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18094243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87037174299999 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:122.76, Y:37.89, Z:0.00 [[ 8.00190909e-01 -5.99745371e-01 0.00000000e+00 1.22759996e+02] [ 5.99745371e-01 8.00190909e-01 0.00000000e+00 3.78850146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89555483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.900371743 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:122.79, Y:37.90, Z:0.01 [[ 7.99648052e-01 -6.00468977e-01 0.00000000e+00 1.22788165e+02] [ 6.00468977e-01 7.99648052e-01 0.00000000e+00 3.79027952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19417658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.930371743 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:122.83, Y:37.92, Z:0.01 [[ 8.02569577e-01 -5.96558525e-01 0.00000000e+00 1.22828420e+02] [ 5.96558525e-01 8.02569577e-01 0.00000000e+00 3.79191169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29807520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.960371743 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:122.86, Y:37.94, Z:0.00 [[ 8.01986011e-01 -5.97342815e-01 0.00000000e+00 1.22856261e+02] [ 5.97342815e-01 8.01986011e-01 0.00000000e+00 3.79368797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47749319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.990371743 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:122.87, Y:37.95, Z:0.01 [[ 7.97031678e-01 -6.03937500e-01 0.00000000e+00 1.22868746e+02] [ 6.03937500e-01 7.97031678e-01 0.00000000e+00 3.79532732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32548451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.020371743 meters Centerline goodness : 0.993939 Centerline is valid? [True, True] Translation: X:122.90, Y:37.97, Z:0.01 [[ 7.96605314e-01 -6.04499771e-01 0.00000000e+00 1.22896324e+02] [ 6.04499771e-01 7.96605314e-01 0.00000000e+00 3.79709894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54003680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.050371743 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:122.93, Y:37.99, Z:0.01 [[ 7.99680469e-01 -6.00425805e-01 0.00000000e+00 1.22934794e+02] [ 6.00425805e-01 7.99680469e-01 0.00000000e+00 3.79872666e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73852780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.080371743 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:122.95, Y:38.00, Z:0.00 [[ 7.95480734e-01 -6.05978879e-01 0.00000000e+00 1.22951054e+02] [ 6.05978879e-01 7.95480734e-01 0.00000000e+00 3.80021955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55537687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.110371743 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:122.98, Y:38.02, Z:0.00 [[ 7.95411579e-01 -6.06069650e-01 0.00000000e+00 1.22979104e+02] [ 6.06069650e-01 7.95411579e-01 0.00000000e+00 3.80197674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99542233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140371743 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:123.01, Y:38.04, Z:0.00 [[ 7.95614516e-01 -6.05803221e-01 0.00000000e+00 1.23006470e+02] [ 6.05803221e-01 7.95614516e-01 0.00000000e+00 3.80369634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89418594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.170371743 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:123.04, Y:38.05, Z:0.01 [[ 7.96550573e-01 -6.04571902e-01 0.00000000e+00 1.23035238e+02] [ 6.04571902e-01 7.96550573e-01 0.00000000e+00 3.80530209e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95597940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20037174299999 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:123.06, Y:38.07, Z:0.01 [[ 7.97493165e-01 -6.03327981e-01 0.00000000e+00 1.23062099e+02] [ 6.03327981e-01 7.97493165e-01 0.00000000e+00 3.80702595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65885131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23037174299999 meters Centerline goodness : 0.992630 Centerline is valid? [True, True] Translation: X:123.09, Y:38.09, Z:0.01 [[ 7.98272443e-01 -6.02296528e-01 0.00000000e+00 1.23089519e+02] [ 6.02296528e-01 7.98272443e-01 0.00000000e+00 3.80880915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22499865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.260371743 meters Centerline goodness : 0.992552 Centerline is valid? [True, True] Translation: X:123.12, Y:38.10, Z:0.01 [[ 7.99572476e-01 -6.00569610e-01 0.00000000e+00 1.23118770e+02] [ 6.00569610e-01 7.99572476e-01 0.00000000e+00 3.81034518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89433369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.290371743 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:123.15, Y:38.12, Z:0.01 [[ 8.00084863e-01 -5.99886833e-01 0.00000000e+00 1.23147106e+02] [ 5.99886833e-01 8.00084863e-01 0.00000000e+00 3.81209213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60422348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.320371743 meters Centerline goodness : 0.992152 Centerline is valid? [True, True] Translation: X:123.18, Y:38.14, Z:0.01 [[ 8.01046765e-01 -5.98601771e-01 0.00000000e+00 1.23175017e+02] [ 5.98601771e-01 8.01046765e-01 0.00000000e+00 3.81371156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33652786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.350371743 meters Centerline goodness : 0.991835 Centerline is valid? [True, True] Translation: X:123.22, Y:38.15, Z:0.00 [[ 8.04922622e-01 -5.93379787e-01 0.00000000e+00 1.23218123e+02] [ 5.93379787e-01 8.04922622e-01 0.00000000e+00 3.81502157e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33072463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.380371743 meters Centerline goodness : 0.992474 Centerline is valid? [True, True] Translation: X:123.23, Y:38.17, Z:0.01 [[ 7.99862309e-01 -6.00183545e-01 0.00000000e+00 1.23230332e+02] [ 6.00183545e-01 7.99862309e-01 0.00000000e+00 3.81687246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45887439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.410371743 meters Centerline goodness : 0.991308 Centerline is valid? [True, True] Translation: X:123.26, Y:38.19, Z:0.01 [[ 7.99484968e-01 -6.00686096e-01 0.00000000e+00 1.23257314e+02] [ 6.00686096e-01 7.99484968e-01 0.00000000e+00 3.81851317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10380914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.440371743 meters Centerline goodness : 0.991108 Centerline is valid? [True, True] Translation: X:123.29, Y:38.20, Z:0.01 [[ 7.98418305e-01 -6.02103156e-01 0.00000000e+00 1.23286396e+02] [ 6.02103156e-01 7.98418305e-01 0.00000000e+00 3.81992306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.94245843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.470371743 meters Centerline goodness : 0.991226 Centerline is valid? [True, True] Translation: X:123.31, Y:38.22, Z:0.01 [[ 7.97654021e-01 -6.03115298e-01 0.00000000e+00 1.23314200e+02] [ 6.03115298e-01 7.97654021e-01 0.00000000e+00 3.82152662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13216417e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500371743 meters Centerline goodness : 0.990947 Centerline is valid? [True, True] Translation: X:123.34, Y:38.23, Z:0.01 [[ 7.96953508e-01 -6.04040650e-01 0.00000000e+00 1.23341729e+02] [ 6.04040650e-01 7.96953508e-01 0.00000000e+00 3.82312554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19662532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.530371743 meters Centerline goodness : 0.990872 Centerline is valid? [True, True] Translation: X:123.37, Y:38.25, Z:0.01 [[ 7.96405887e-01 -6.04762485e-01 0.00000000e+00 1.23369915e+02] [ 6.04762485e-01 7.96405887e-01 0.00000000e+00 3.82474301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.34007990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.560371743 meters Centerline goodness : 0.990230 Centerline is valid? [True, True] Translation: X:123.40, Y:38.26, Z:0.01 [[ 7.95122310e-01 -6.06449101e-01 0.00000000e+00 1.23398227e+02] [ 6.06449101e-01 7.95122310e-01 0.00000000e+00 3.82602410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05113044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59037174299999 meters Centerline goodness : 0.990133 Centerline is valid? [True, True] Translation: X:123.42, Y:38.27, Z:0.01 [[ 7.94573640e-01 -6.07167795e-01 0.00000000e+00 1.23421379e+02] [ 6.07167795e-01 7.94573640e-01 0.00000000e+00 3.82735179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56991932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62037174299999 meters Centerline goodness : 0.989842 Centerline is valid? [True, True] Translation: X:123.45, Y:38.29, Z:0.01 [[ 7.94186354e-01 -6.07674284e-01 0.00000000e+00 1.23446765e+02] [ 6.07674284e-01 7.94186354e-01 0.00000000e+00 3.82853259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02113149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.650371743 meters Centerline goodness : 0.989437 Centerline is valid? [True, True] Translation: X:123.47, Y:38.30, Z:0.01 [[ 7.94202952e-01 -6.07652591e-01 0.00000000e+00 1.23470536e+02] [ 6.07652591e-01 7.94202952e-01 0.00000000e+00 3.82995611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12305110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.680371743 meters Centerline goodness : 0.989589 Centerline is valid? [True, True] Translation: X:123.50, Y:38.31, Z:0.01 [[ 7.93540121e-01 -6.08517935e-01 0.00000000e+00 1.23495668e+02] [ 6.08517935e-01 7.93540121e-01 0.00000000e+00 3.83115813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03917665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.710371743 meters Centerline goodness : 0.989665 Centerline is valid? [True, True] Translation: X:123.52, Y:38.33, Z:0.01 [[ 7.92370013e-01 -6.10040788e-01 0.00000000e+00 1.23519710e+02] [ 6.10040788e-01 7.92370013e-01 0.00000000e+00 3.83258549e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.68819224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.740371743 meters Centerline goodness : 0.989524 Centerline is valid? [True, True] Translation: X:123.54, Y:38.34, Z:0.01 [[ 7.91299347e-01 -6.11428936e-01 0.00000000e+00 1.23543892e+02] [ 6.11428936e-01 7.91299347e-01 0.00000000e+00 3.83398310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02564580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.770371743 meters Centerline goodness : 0.989728 Centerline is valid? [True, True] Translation: X:123.57, Y:38.35, Z:0.01 [[ 7.89990394e-01 -6.13119220e-01 0.00000000e+00 1.23567814e+02] [ 6.13119220e-01 7.89990394e-01 0.00000000e+00 3.83536698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.11530112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.800371743 meters Centerline goodness : 0.989270 Centerline is valid? [True, True] Translation: X:123.61, Y:38.36, Z:0.01 [[ 7.92037481e-01 -6.10472463e-01 0.00000000e+00 1.23609544e+02] [ 6.10472463e-01 7.92037481e-01 0.00000000e+00 3.83644151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71357081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.830371743 meters Centerline goodness : 0.988189 Centerline is valid? [True, True] Translation: X:123.63, Y:38.38, Z:0.01 [[ 7.91344494e-01 -6.11370502e-01 0.00000000e+00 1.23629488e+02] [ 6.11370502e-01 7.91344494e-01 0.00000000e+00 3.83779983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58334301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860371743 meters Centerline goodness : 0.988903 Centerline is valid? [True, True] Translation: X:123.64, Y:38.40, Z:0.01 [[ 7.83965469e-01 -6.20804432e-01 0.00000000e+00 1.23643000e+02] [ 6.20804432e-01 7.83965469e-01 0.00000000e+00 3.83957975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68381771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.890371743 meters Centerline goodness : 0.989431 Centerline is valid? [True, True] Translation: X:123.67, Y:38.41, Z:0.01 [[ 7.81365661e-01 -6.24073476e-01 0.00000000e+00 1.23667934e+02] [ 6.24073476e-01 7.81365661e-01 0.00000000e+00 3.84087703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09099902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920371743 meters Centerline goodness : 0.989374 Centerline is valid? [True, True] Translation: X:123.69, Y:38.42, Z:0.01 [[ 7.80427233e-01 -6.25246619e-01 0.00000000e+00 1.23691317e+02] [ 6.25246619e-01 7.80427233e-01 0.00000000e+00 3.84233913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14160356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95037174299999 meters Centerline goodness : 0.988911 Centerline is valid? [True, True] Translation: X:123.71, Y:38.44, Z:0.01 [[ 7.79007268e-01 -6.27014893e-01 0.00000000e+00 1.23714712e+02] [ 6.27014893e-01 7.79007268e-01 0.00000000e+00 3.84364948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12037008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98037174299999 meters Centerline goodness : 0.989828 Centerline is valid? [True, True] Translation: X:123.74, Y:38.45, Z:0.01 [[ 7.77998082e-01 -6.28266651e-01 0.00000000e+00 1.23738126e+02] [ 6.28266651e-01 7.77998082e-01 0.00000000e+00 3.84525583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12283347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.010371743 meters Centerline goodness : 0.988798 Centerline is valid? [True, True] Translation: X:123.77, Y:38.47, Z:0.01 [[ 7.80534997e-01 -6.25112085e-01 0.00000000e+00 1.23771390e+02] [ 6.25112085e-01 7.80534997e-01 0.00000000e+00 3.84678876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05053463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.040371743 meters Centerline goodness : 0.989540 Centerline is valid? [True, True] Translation: X:123.78, Y:38.48, Z:0.01 [[ 7.75850325e-01 -6.30917010e-01 0.00000000e+00 1.23783369e+02] [ 6.30917010e-01 7.75850325e-01 0.00000000e+00 3.84845235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07724029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.070371743 meters Centerline goodness : 0.989540 Centerline is valid? [True, True] Translation: X:123.81, Y:38.50, Z:0.01 [[ 7.75673250e-01 -6.31134700e-01 0.00000000e+00 1.23806156e+02] [ 6.31134700e-01 7.75673250e-01 0.00000000e+00 3.85015351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07724029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.100371743 meters Centerline goodness : 0.989260 Centerline is valid? [True, True] Translation: X:123.84, Y:38.52, Z:0.01 [[ 7.78363362e-01 -6.27814047e-01 0.00000000e+00 1.23838704e+02] [ 6.27814047e-01 7.78363362e-01 0.00000000e+00 3.85170724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04389413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.130371743 meters Centerline goodness : 0.989052 Centerline is valid? [True, True] Translation: X:123.86, Y:38.53, Z:0.01 [[ 7.78685602e-01 -6.27414324e-01 0.00000000e+00 1.23861799e+02] [ 6.27414324e-01 7.78685602e-01 0.00000000e+00 3.85324790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03138824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.160371743 meters Centerline goodness : 0.988848 Centerline is valid? [True, True] Translation: X:123.89, Y:38.55, Z:0.01 [[ 7.79166451e-01 -6.26817072e-01 0.00000000e+00 1.23889197e+02] [ 6.26817072e-01 7.79166451e-01 0.00000000e+00 3.85488970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.58727701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.190371743 meters Centerline goodness : 0.988816 Centerline is valid? [True, True] Translation: X:123.91, Y:38.57, Z:0.01 [[ 7.76147857e-01 -6.30550953e-01 0.00000000e+00 1.23908254e+02] [ 6.30550953e-01 7.76147857e-01 0.00000000e+00 3.85669126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05094106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.220371743 meters Centerline goodness : 0.990180 Centerline is valid? [True, True] Translation: X:123.92, Y:38.59, Z:0.01 [[ 7.71426275e-01 -6.36318711e-01 0.00000000e+00 1.23919390e+02] [ 6.36318711e-01 7.71426275e-01 0.00000000e+00 3.85852934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23470084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.250371743 meters Centerline goodness : 0.989425 Centerline is valid? [True, True] Translation: X:123.94, Y:38.60, Z:0.01 [[ 7.71185136e-01 -6.36610937e-01 0.00000000e+00 1.23941991e+02] [ 6.36610937e-01 7.71185136e-01 0.00000000e+00 3.86014182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03150971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280371743 meters Centerline goodness : 0.988724 Centerline is valid? [True, True] Translation: X:123.96, Y:38.62, Z:0.01 [[ 7.69478741e-01 -6.38672425e-01 0.00000000e+00 1.23963987e+02] [ 6.38672425e-01 7.69478741e-01 0.00000000e+00 3.86194253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29491809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.310371743 meters Centerline goodness : 0.989570 Centerline is valid? [True, True] Translation: X:123.99, Y:38.64, Z:0.01 [[ 7.68055213e-01 -6.40383628e-01 0.00000000e+00 1.23985729e+02] [ 6.40383628e-01 7.68055213e-01 0.00000000e+00 3.86362276e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80560153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34037174299999 meters Centerline goodness : 0.989354 Centerline is valid? [True, True] Translation: X:124.01, Y:38.65, Z:0.01 [[ 7.65129499e-01 -6.43876424e-01 0.00000000e+00 1.24008149e+02] [ 6.43876424e-01 7.65129499e-01 0.00000000e+00 3.86533070e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03742838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37037174299999 meters Centerline goodness : 0.988683 Centerline is valid? [True, True] Translation: X:124.04, Y:38.67, Z:0.01 [[ 7.68158831e-01 -6.40259330e-01 0.00000000e+00 1.24044740e+02] [ 6.40259330e-01 7.68158831e-01 0.00000000e+00 3.86693743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72619659e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.400371743 meters Centerline goodness : 0.988518 Centerline is valid? [True, True] Translation: X:124.06, Y:38.68, Z:0.01 [[ 7.67614153e-01 -6.40912250e-01 0.00000000e+00 1.24064826e+02] [ 6.40912250e-01 7.67614153e-01 0.00000000e+00 3.86847066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90996915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.430371743 meters Centerline goodness : 0.989132 Centerline is valid? [True, True] Translation: X:124.07, Y:38.70, Z:0.01 [[ 7.61191442e-01 -6.48527246e-01 0.00000000e+00 1.24071274e+02] [ 6.48527246e-01 7.61191442e-01 0.00000000e+00 3.87049046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15659726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.460371743 meters Centerline goodness : 0.988446 Centerline is valid? [True, True] Translation: X:124.09, Y:38.72, Z:0.01 [[ 7.59645100e-01 -6.50337852e-01 0.00000000e+00 1.24092836e+02] [ 6.50337852e-01 7.59645100e-01 0.00000000e+00 3.87225105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27692317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.490371743 meters Centerline goodness : 0.989807 Centerline is valid? [True, True] Translation: X:124.11, Y:38.74, Z:0.01 [[ 7.58585527e-01 -6.51573478e-01 0.00000000e+00 1.24114362e+02] [ 6.51573478e-01 7.58585527e-01 0.00000000e+00 3.87403308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.81053381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.520371743 meters Centerline goodness : 0.989910 Centerline is valid? [True, True] Translation: X:124.13, Y:38.76, Z:0.01 [[ 7.56639672e-01 -6.53832094e-01 0.00000000e+00 1.24134307e+02] [ 6.53832094e-01 7.56639672e-01 0.00000000e+00 3.87595899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.46509414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.550371743 meters Centerline goodness : 0.990046 Centerline is valid? [True, True] Translation: X:124.16, Y:38.78, Z:0.01 [[ 7.55580725e-01 -6.55055545e-01 0.00000000e+00 1.24155171e+02] [ 6.55055545e-01 7.55580725e-01 0.00000000e+00 3.87776117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76202082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.580371743 meters Centerline goodness : 0.989200 Centerline is valid? [True, True] Translation: X:124.19, Y:38.79, Z:0.01 [[ 7.59187809e-01 -6.50871624e-01 0.00000000e+00 1.24190451e+02] [ 6.50871624e-01 7.59187809e-01 0.00000000e+00 3.87948182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52467434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.610371743 meters Centerline goodness : 0.989963 Centerline is valid? [True, True] Translation: X:124.20, Y:38.81, Z:0.01 [[ 7.54703093e-01 -6.56066492e-01 0.00000000e+00 1.24198429e+02] [ 6.56066492e-01 7.54703093e-01 0.00000000e+00 3.88146497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66389664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.640371743 meters Centerline goodness : 0.989253 Centerline is valid? [True, True] Translation: X:124.23, Y:38.83, Z:0.01 [[ 7.59971861e-01 -6.49955975e-01 0.00000000e+00 1.24234088e+02] [ 6.49955975e-01 7.59971861e-01 0.00000000e+00 3.88339419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61939175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.670371743 meters Centerline goodness : 0.990098 Centerline is valid? [True, True] Translation: X:124.24, Y:38.85, Z:0.01 [[ 7.55203218e-01 -6.55490732e-01 0.00000000e+00 1.24239236e+02] [ 6.55490732e-01 7.55203218e-01 0.00000000e+00 3.88540200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53825556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70037174299999 meters Centerline goodness : 0.989763 Centerline is valid? [True, True] Translation: X:124.26, Y:38.87, Z:0.01 [[ 7.55863763e-01 -6.54728930e-01 0.00000000e+00 1.24259781e+02] [ 6.54728930e-01 7.55863763e-01 0.00000000e+00 3.88724614e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.98648398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73037174299999 meters Centerline goodness : 0.990095 Centerline is valid? [True, True] Translation: X:124.28, Y:38.89, Z:0.01 [[ 7.57896147e-01 -6.52375222e-01 0.00000000e+00 1.24279079e+02] [ 6.52375222e-01 7.57896147e-01 0.00000000e+00 3.88925728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43233772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.760371743 meters Centerline goodness : 0.989826 Centerline is valid? [True, True] Translation: X:124.30, Y:38.91, Z:0.01 [[ 7.58857169e-01 -6.51257089e-01 0.00000000e+00 1.24299835e+02] [ 6.51257089e-01 7.58857169e-01 0.00000000e+00 3.89109559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63433749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.790371743 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:124.32, Y:38.93, Z:0.01 [[ 7.59776317e-01 -6.50184549e-01 0.00000000e+00 1.24320981e+02] [ 6.50184549e-01 7.59776317e-01 0.00000000e+00 3.89296945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06981756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.820371743 meters Centerline goodness : 0.989761 Centerline is valid? [True, True] Translation: X:124.34, Y:38.95, Z:0.01 [[ 7.61545725e-01 -6.48111186e-01 0.00000000e+00 1.24340106e+02] [ 6.48111186e-01 7.61545725e-01 0.00000000e+00 3.89502649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03458121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.850371743 meters Centerline goodness : 0.990047 Centerline is valid? [True, True] Translation: X:124.36, Y:38.97, Z:0.01 [[ 7.61998482e-01 -6.47578809e-01 0.00000000e+00 1.24360775e+02] [ 6.47578809e-01 7.61998482e-01 0.00000000e+00 3.89691617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01045478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.880371743 meters Centerline goodness : 0.990765 Centerline is valid? [True, True] Translation: X:124.38, Y:38.99, Z:0.01 [[ 7.62579416e-01 -6.46894608e-01 0.00000000e+00 1.24380975e+02] [ 6.46894608e-01 7.62579416e-01 0.00000000e+00 3.89872084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03899655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.910371743 meters Centerline goodness : 0.990991 Centerline is valid? [True, True] Translation: X:124.40, Y:39.01, Z:0.01 [[ 7.63226845e-01 -6.46130624e-01 0.00000000e+00 1.24399510e+02] [ 6.46130624e-01 7.63226845e-01 0.00000000e+00 3.90070603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00618244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.940371743 meters Centerline goodness : 0.990382 Centerline is valid? [True, True] Translation: X:124.42, Y:39.03, Z:0.01 [[ 7.63577551e-01 -6.45716132e-01 0.00000000e+00 1.24419785e+02] [ 6.45716132e-01 7.63577551e-01 0.00000000e+00 3.90253357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62366691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.970371743 meters Centerline goodness : 0.990637 Centerline is valid? [True, True] Translation: X:124.44, Y:39.05, Z:0.01 [[ 7.65233171e-01 -6.43753210e-01 0.00000000e+00 1.24444648e+02] [ 6.43753210e-01 7.65233171e-01 0.00000000e+00 3.90453833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28372090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000371743 meters Centerline goodness : 0.990702 Centerline is valid? [True, True] Translation: X:124.47, Y:39.07, Z:0.01 [[ 7.64339183e-01 -6.44814402e-01 0.00000000e+00 1.24466158e+02] [ 6.44814402e-01 7.64339183e-01 0.00000000e+00 3.90679431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23008464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.030371743 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:124.49, Y:39.09, Z:0.01 [[ 7.64170635e-01 -6.45014140e-01 0.00000000e+00 1.24487095e+02] [ 6.45014140e-01 7.64170635e-01 0.00000000e+00 3.90866657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21321502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.060371743 meters Centerline goodness : 0.991111 Centerline is valid? [True, True] Translation: X:124.51, Y:39.11, Z:0.01 [[ 7.64478563e-01 -6.44649150e-01 0.00000000e+00 1.24507015e+02] [ 6.44649150e-01 7.64478563e-01 0.00000000e+00 3.91056737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20422663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09037174299999 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:124.53, Y:39.12, Z:0.01 [[ 7.64510261e-01 -6.44611558e-01 0.00000000e+00 1.24528350e+02] [ 6.44611558e-01 7.64510261e-01 0.00000000e+00 3.91234179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17542609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12037174299999 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:124.56, Y:39.14, Z:0.01 [[ 7.68655599e-01 -6.39662857e-01 0.00000000e+00 1.24563086e+02] [ 6.39662857e-01 7.68655599e-01 0.00000000e+00 3.91404162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11486824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.150371743 meters Centerline goodness : 0.990923 Centerline is valid? [True, True] Translation: X:124.57, Y:39.16, Z:0.01 [[ 7.65003352e-01 -6.44026297e-01 0.00000000e+00 1.24571756e+02] [ 6.44026297e-01 7.65003352e-01 0.00000000e+00 3.91622805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14590593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.180371743 meters Centerline goodness : 0.990736 Centerline is valid? [True, True] Translation: X:124.59, Y:39.18, Z:0.01 [[ 7.65259115e-01 -6.43722368e-01 0.00000000e+00 1.24593978e+02] [ 6.43722368e-01 7.65259115e-01 0.00000000e+00 3.91807961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19536215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.210371743 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:124.61, Y:39.20, Z:0.01 [[ 7.65281259e-01 -6.43696042e-01 0.00000000e+00 1.24614174e+02] [ 6.43696042e-01 7.65281259e-01 0.00000000e+00 3.91983351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17914485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.240371743 meters Centerline goodness : 0.990687 Centerline is valid? [True, True] Translation: X:124.63, Y:39.22, Z:0.01 [[ 7.64921925e-01 -6.44123008e-01 0.00000000e+00 1.24634866e+02] [ 6.44123008e-01 7.64921925e-01 0.00000000e+00 3.92178458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26829739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.270371743 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:124.66, Y:39.23, Z:0.01 [[ 7.64613651e-01 -6.44488917e-01 0.00000000e+00 1.24655589e+02] [ 6.44488917e-01 7.64613651e-01 0.00000000e+00 3.92346107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30391649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.300371743 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:124.68, Y:39.25, Z:0.01 [[ 7.63878567e-01 -6.45360005e-01 0.00000000e+00 1.24676784e+02] [ 6.45360005e-01 7.63878567e-01 0.00000000e+00 3.92520687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27030585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.330371743 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:124.71, Y:39.27, Z:0.01 [[ 7.68141158e-01 -6.40280533e-01 0.00000000e+00 1.24714716e+02] [ 6.40280533e-01 7.68141158e-01 0.00000000e+00 3.92704490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27842511e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360371743 meters Centerline goodness : 0.991980 Centerline is valid? [True, True] Translation: X:124.74, Y:39.29, Z:0.01 [[ 7.67747128e-01 -6.40752954e-01 0.00000000e+00 1.24738553e+02] [ 6.40752954e-01 7.67747128e-01 0.00000000e+00 3.92903799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77973785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.390371743 meters Centerline goodness : 0.992599 Centerline is valid? [True, True] Translation: X:124.74, Y:39.31, Z:0.01 [[ 7.62080690e-01 -6.47482063e-01 0.00000000e+00 1.24743719e+02] [ 6.47482063e-01 7.62080690e-01 0.00000000e+00 3.93132005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31038359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.420371743 meters Centerline goodness : 0.992691 Centerline is valid? [True, True] Translation: X:124.76, Y:39.33, Z:0.01 [[ 7.61838856e-01 -6.47766592e-01 0.00000000e+00 1.24764940e+02] [ 6.47766592e-01 7.61838856e-01 0.00000000e+00 3.93319871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34658668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45037174299999 meters Centerline goodness : 0.992298 Centerline is valid? [True, True] Translation: X:124.79, Y:39.35, Z:0.01 [[ 7.62132532e-01 -6.47421041e-01 0.00000000e+00 1.24785766e+02] [ 6.47421041e-01 7.62132532e-01 0.00000000e+00 3.93497277e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38497842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48037174299999 meters Centerline goodness : 0.992102 Centerline is valid? [True, True] Translation: X:124.83, Y:39.37, Z:0.01 [[ 7.67610805e-01 -6.40916260e-01 0.00000000e+00 1.24826485e+02] [ 6.40916260e-01 7.67610805e-01 0.00000000e+00 3.93690227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60012656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.510371743 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:124.85, Y:39.39, Z:0.01 [[ 7.67999107e-01 -6.40450913e-01 0.00000000e+00 1.24848175e+02] [ 6.40450913e-01 7.67999107e-01 0.00000000e+00 3.93903898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.01192894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.540371743 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:124.86, Y:39.41, Z:0.01 [[ 7.63075882e-01 -6.46308903e-01 0.00000000e+00 1.24855616e+02] [ 6.46308903e-01 7.63075882e-01 0.00000000e+00 3.94117121e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36047012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.570371743 meters Centerline goodness : 0.992697 Centerline is valid? [True, True] Translation: X:124.88, Y:39.43, Z:0.01 [[ 7.62829535e-01 -6.46599644e-01 0.00000000e+00 1.24875178e+02] [ 6.46599644e-01 7.62829535e-01 0.00000000e+00 3.94306586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39821746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.600371743 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:124.90, Y:39.45, Z:0.01 [[ 7.62429679e-01 -6.47071082e-01 0.00000000e+00 1.24896177e+02] [ 6.47071082e-01 7.62429679e-01 0.00000000e+00 3.94481693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38084392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.630371743 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:124.92, Y:39.46, Z:0.01 [[ 7.62755052e-01 -6.46687506e-01 0.00000000e+00 1.24917863e+02] [ 6.46687506e-01 7.62755052e-01 0.00000000e+00 3.94648345e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34838973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.660371743 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:124.94, Y:39.48, Z:0.01 [[ 7.62022005e-01 -6.47551129e-01 0.00000000e+00 1.24937973e+02] [ 6.47551129e-01 7.62022005e-01 0.00000000e+00 3.94842747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16502431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.690371743 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:124.96, Y:39.50, Z:0.01 [[ 7.62001550e-01 -6.47575199e-01 0.00000000e+00 1.24959190e+02] [ 6.47575199e-01 7.62001550e-01 0.00000000e+00 3.95021217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25059091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720371743 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:124.98, Y:39.52, Z:0.01 [[ 7.62159466e-01 -6.47389333e-01 0.00000000e+00 1.24979509e+02] [ 6.47389333e-01 7.62159466e-01 0.00000000e+00 3.95197242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20270105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.750371743 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:125.00, Y:39.54, Z:0.01 [[ 7.62058647e-01 -6.47508006e-01 0.00000000e+00 1.25000420e+02] [ 6.47508006e-01 7.62058647e-01 0.00000000e+00 3.95381707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30695263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780371743 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:125.04, Y:39.56, Z:0.01 [[ 7.67996735e-01 -6.40453757e-01 0.00000000e+00 1.25039681e+02] [ 6.40453757e-01 7.67996735e-01 0.00000000e+00 3.95600127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03979864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.810371743 meters Centerline goodness : 0.994014 Centerline is valid? [True, True] Translation: X:125.06, Y:39.58, Z:0.01 [[ 7.67784456e-01 -6.40708224e-01 0.00000000e+00 1.25062614e+02] [ 6.40708224e-01 7.67784456e-01 0.00000000e+00 3.95807844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11984010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84037174299999 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:125.07, Y:39.60, Z:0.01 [[ 7.62768466e-01 -6.46671685e-01 0.00000000e+00 1.25066824e+02] [ 6.46671685e-01 7.62768466e-01 0.00000000e+00 3.96017621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49468818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87037174299999 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:125.09, Y:39.62, Z:0.02 [[ 7.63044116e-01 -6.46346407e-01 0.00000000e+00 1.25091716e+02] [ 6.46346407e-01 7.63044116e-01 0.00000000e+00 3.96230861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57767868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.900371743 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:125.13, Y:39.64, Z:0.02 [[ 7.66532100e-01 -6.42205995e-01 0.00000000e+00 1.25127532e+02] [ 6.42205995e-01 7.66532100e-01 0.00000000e+00 3.96432597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58225041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.930371743 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:125.15, Y:39.67, Z:0.02 [[ 7.67276408e-01 -6.41316547e-01 0.00000000e+00 1.25150939e+02] [ 6.41316547e-01 7.67276408e-01 0.00000000e+00 3.96668726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81438190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.960371743 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:125.16, Y:39.69, Z:0.02 [[ 7.64189160e-01 -6.44992192e-01 0.00000000e+00 1.25161109e+02] [ 6.44992192e-01 7.64189160e-01 0.00000000e+00 3.96873609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95275628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.990371743 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:125.19, Y:39.71, Z:0.02 [[ 7.64259720e-01 -6.44908583e-01 0.00000000e+00 1.25187868e+02] [ 6.44908583e-01 7.64259720e-01 0.00000000e+00 3.97075775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95275628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.020371743 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:125.21, Y:39.73, Z:0.02 [[ 7.65709918e-01 -6.43186071e-01 0.00000000e+00 1.25211794e+02] [ 6.43186071e-01 7.65709918e-01 0.00000000e+00 3.97298016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99818687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.050371743 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:125.25, Y:39.75, Z:0.02 [[ 7.70094250e-01 -6.37930127e-01 0.00000000e+00 1.25248033e+02] [ 6.37930127e-01 7.70094250e-01 0.00000000e+00 3.97501829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00563801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.080371743 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:125.26, Y:39.77, Z:0.02 [[ 7.67745601e-01 -6.40754783e-01 0.00000000e+00 1.25259665e+02] [ 6.40754783e-01 7.67745601e-01 0.00000000e+00 3.97709000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00843724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.110371743 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:125.28, Y:39.79, Z:0.02 [[ 7.69965184e-01 -6.38085900e-01 0.00000000e+00 1.25283935e+02] [ 6.38085900e-01 7.69965184e-01 0.00000000e+00 3.97930997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91124998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140371743 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:125.32, Y:39.81, Z:0.02 [[ 7.74262269e-01 -6.32864867e-01 0.00000000e+00 1.25321434e+02] [ 6.32864867e-01 7.74262269e-01 0.00000000e+00 3.98128048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96016979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.170371743 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:125.34, Y:39.83, Z:0.02 [[ 7.75126662e-01 -6.31805871e-01 0.00000000e+00 1.25343058e+02] [ 6.31805871e-01 7.75126662e-01 0.00000000e+00 3.98342772e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79967229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20037174299999 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:125.37, Y:39.86, Z:0.02 [[ 7.76428112e-01 -6.30205829e-01 0.00000000e+00 1.25370585e+02] [ 6.30205829e-01 7.76428112e-01 0.00000000e+00 3.98553615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03224531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23037174299999 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:125.39, Y:39.87, Z:0.02 [[ 7.77503817e-01 -6.28878219e-01 0.00000000e+00 1.25394521e+02] [ 6.28878219e-01 7.77503817e-01 0.00000000e+00 3.98747499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02968832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.260371743 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:125.41, Y:39.89, Z:0.02 [[ 7.75175195e-01 -6.31746323e-01 0.00000000e+00 1.25405924e+02] [ 6.31746323e-01 7.75175195e-01 0.00000000e+00 3.98943379e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90280447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.290371743 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:125.43, Y:39.91, Z:0.02 [[ 7.78346038e-01 -6.27835524e-01 0.00000000e+00 1.25430222e+02] [ 6.27835524e-01 7.78346038e-01 0.00000000e+00 3.99146134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92419751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.320371743 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:125.46, Y:39.94, Z:0.02 [[ 7.79857493e-01 -6.25957099e-01 0.00000000e+00 1.25455797e+02] [ 6.25957099e-01 7.79857493e-01 0.00000000e+00 3.99352175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90295942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.350371743 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:125.49, Y:39.95, Z:0.02 [[ 7.84823778e-01 -6.19718999e-01 0.00000000e+00 1.25493525e+02] [ 6.19718999e-01 7.84823778e-01 0.00000000e+00 3.99541197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03660936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.380371743 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:125.52, Y:39.97, Z:0.02 [[ 7.86201910e-01 -6.17969705e-01 0.00000000e+00 1.25520548e+02] [ 6.17969705e-01 7.86201910e-01 0.00000000e+00 3.99747413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93168160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.410371743 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:125.53, Y:39.99, Z:0.02 [[ 7.85536253e-01 -6.18815639e-01 0.00000000e+00 1.25530717e+02] [ 6.18815639e-01 7.85536253e-01 0.00000000e+00 3.99948465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90238468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.440371743 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:125.57, Y:40.01, Z:0.02 [[ 7.91458848e-01 -6.11222456e-01 0.00000000e+00 1.25570027e+02] [ 6.11222456e-01 7.91458848e-01 0.00000000e+00 4.00142556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05429415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.470371743 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:125.58, Y:40.03, Z:0.02 [[ 7.90171718e-01 -6.12885516e-01 0.00000000e+00 1.25581828e+02] [ 6.12885516e-01 7.90171718e-01 0.00000000e+00 4.00325870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01431182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500371743 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:125.61, Y:40.05, Z:0.02 [[ 7.91255991e-01 -6.11485042e-01 0.00000000e+00 1.25608121e+02] [ 6.11485042e-01 7.91255991e-01 0.00000000e+00 4.00515632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97145800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.530371743 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:125.63, Y:40.07, Z:0.02 [[ 7.92362842e-01 -6.10050101e-01 0.00000000e+00 1.25634168e+02] [ 6.10050101e-01 7.92362842e-01 0.00000000e+00 4.00694432e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96891556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.560371743 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:125.66, Y:40.08, Z:0.02 [[ 7.92908217e-01 -6.09341086e-01 0.00000000e+00 1.25659423e+02] [ 6.09341086e-01 7.92908217e-01 0.00000000e+00 4.00843714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02238425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59037174299999 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:125.70, Y:40.10, Z:0.02 [[ 7.96613951e-01 -6.04488389e-01 0.00000000e+00 1.25700419e+02] [ 6.04488389e-01 7.96613951e-01 0.00000000e+00 4.01021876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04678650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62037174299999 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:125.71, Y:40.12, Z:0.02 [[ 7.92167426e-01 -6.10303834e-01 0.00000000e+00 1.25712468e+02] [ 6.10303834e-01 7.92167426e-01 0.00000000e+00 4.01198793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16660143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.650371743 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:125.74, Y:40.14, Z:0.02 [[ 7.91170374e-01 -6.11595813e-01 0.00000000e+00 1.25742103e+02] [ 6.11595813e-01 7.91170374e-01 0.00000000e+00 4.01353050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18419106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.680371743 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:125.78, Y:40.15, Z:0.02 [[ 7.95301309e-01 -6.06214342e-01 0.00000000e+00 1.25784887e+02] [ 6.06214342e-01 7.95301309e-01 0.00000000e+00 4.01515500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94585215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.710371743 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:125.80, Y:40.17, Z:0.02 [[ 7.88456022e-01 -6.15091133e-01 0.00000000e+00 1.25796819e+02] [ 6.15091133e-01 7.88456022e-01 0.00000000e+00 4.01666841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10468593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.740371743 meters Centerline goodness : 0.993068 Centerline is valid? [True, True] Translation: X:125.82, Y:40.18, Z:0.02 [[ 7.87275727e-01 -6.16601110e-01 0.00000000e+00 1.25824705e+02] [ 6.16601110e-01 7.87275727e-01 0.00000000e+00 4.01849697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05936697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.770371743 meters Centerline goodness : 0.992853 Centerline is valid? [True, True] Translation: X:125.87, Y:40.20, Z:0.02 [[ 7.91715465e-01 -6.10890025e-01 0.00000000e+00 1.25869616e+02] [ 6.10890025e-01 7.91715465e-01 0.00000000e+00 4.02011563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73378241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.800371743 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:125.88, Y:40.22, Z:0.02 [[ 7.81818063e-01 -6.23506628e-01 0.00000000e+00 1.25878659e+02] [ 6.23506628e-01 7.81818063e-01 0.00000000e+00 4.02153061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74454404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.830371743 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:125.92, Y:40.23, Z:0.01 [[ 7.85230919e-01 -6.19203039e-01 0.00000000e+00 1.25923305e+02] [ 6.19203039e-01 7.85230919e-01 0.00000000e+00 4.02309934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42622673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860371743 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:125.93, Y:40.25, Z:0.02 [[ 7.77186529e-01 -6.29270291e-01 0.00000000e+00 1.25931762e+02] [ 6.29270291e-01 7.77186529e-01 0.00000000e+00 4.02479439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59536345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.890371743 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:125.96, Y:40.26, Z:0.02 [[ 7.72831329e-01 -6.34611485e-01 0.00000000e+00 1.25958448e+02] [ 6.34611485e-01 7.72831329e-01 0.00000000e+00 4.02612006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60456057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920371743 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:125.98, Y:40.28, Z:0.02 [[ 7.70794500e-01 -6.37083855e-01 0.00000000e+00 1.25981660e+02] [ 6.37083855e-01 7.70794500e-01 0.00000000e+00 4.02759879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67791273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95037174299999 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:126.01, Y:40.29, Z:0.02 [[ 7.68049499e-01 -6.40390480e-01 0.00000000e+00 1.26009511e+02] [ 6.40390480e-01 7.68049499e-01 0.00000000e+00 4.02929143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79086647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98037174299999 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:126.04, Y:40.31, Z:0.02 [[ 7.68095942e-01 -6.40334774e-01 0.00000000e+00 1.26035511e+02] [ 6.40334774e-01 7.68095942e-01 0.00000000e+00 4.03127275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79086647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01037174299998 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:126.06, Y:40.33, Z:0.02 [[ 7.66674364e-01 -6.42036151e-01 0.00000000e+00 1.26063022e+02] [ 6.42036151e-01 7.66674364e-01 0.00000000e+00 4.03293122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87871656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04037174299998 meters Centerline goodness : 0.992114 Centerline is valid? [True, True] Translation: X:126.09, Y:40.35, Z:0.02 [[ 7.66128610e-01 -6.42687290e-01 0.00000000e+00 1.26088965e+02] [ 6.42687290e-01 7.66128610e-01 0.00000000e+00 4.03474943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88678076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07037174299998 meters Centerline goodness : 0.992613 Centerline is valid? [True, True] Translation: X:126.13, Y:40.36, Z:0.02 [[ 7.70715124e-01 -6.37179878e-01 0.00000000e+00 1.26129784e+02] [ 6.37179878e-01 7.70715124e-01 0.00000000e+00 4.03642167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87519023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10037174299998 meters Centerline goodness : 0.991298 Centerline is valid? [True, True] Translation: X:126.15, Y:40.38, Z:0.02 [[ 7.69198996e-01 -6.39009315e-01 0.00000000e+00 1.26151124e+02] [ 6.39009315e-01 7.69198996e-01 0.00000000e+00 4.03829596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01573218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13037174299998 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:126.17, Y:40.40, Z:0.02 [[ 7.68553130e-01 -6.39785969e-01 0.00000000e+00 1.26172837e+02] [ 6.39785969e-01 7.68553130e-01 0.00000000e+00 4.04024612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12686530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16037174299998 meters Centerline goodness : 0.991260 Centerline is valid? [True, True] Translation: X:126.20, Y:40.42, Z:0.02 [[ 7.68183187e-01 -6.40230108e-01 0.00000000e+00 1.26195098e+02] [ 6.40230108e-01 7.68183187e-01 0.00000000e+00 4.04215489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18404656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.190371743 meters Centerline goodness : 0.991499 Centerline is valid? [True, True] Translation: X:126.22, Y:40.44, Z:0.02 [[ 7.69147525e-01 -6.39071267e-01 0.00000000e+00 1.26219797e+02] [ 6.39071267e-01 7.69147525e-01 0.00000000e+00 4.04403357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10182417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220371743 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:126.24, Y:40.46, Z:0.02 [[ 7.68968394e-01 -6.39286798e-01 0.00000000e+00 1.26238720e+02] [ 6.39286798e-01 7.68968394e-01 0.00000000e+00 4.04582868e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83083195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.250371743 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:126.27, Y:40.48, Z:0.02 [[ 7.69931118e-01 -6.38127004e-01 0.00000000e+00 1.26266494e+02] [ 6.38127004e-01 7.69931118e-01 0.00000000e+00 4.04766141e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11322326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.280371743 meters Centerline goodness : 0.991832 Centerline is valid? [True, True] Translation: X:126.29, Y:40.50, Z:0.02 [[ 7.69046050e-01 -6.39193377e-01 0.00000000e+00 1.26289392e+02] [ 6.39193377e-01 7.69046050e-01 0.00000000e+00 4.04963582e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18575610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.310371743 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:126.32, Y:40.52, Z:0.02 [[ 7.70662799e-01 -6.37243165e-01 0.00000000e+00 1.26316832e+02] [ 6.37243165e-01 7.70662799e-01 0.00000000e+00 4.05159685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03247025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340371743 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:126.34, Y:40.54, Z:0.02 [[ 7.71211532e-01 -6.36578960e-01 0.00000000e+00 1.26342088e+02] [ 6.36578960e-01 7.71211532e-01 0.00000000e+00 4.05357566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01928649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.370371743 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:126.37, Y:40.55, Z:0.02 [[ 7.72347774e-01 -6.35199902e-01 0.00000000e+00 1.26366102e+02] [ 6.35199902e-01 7.72347774e-01 0.00000000e+00 4.05548313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91222418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400371743 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:126.38, Y:40.57, Z:0.02 [[ 7.72601901e-01 -6.34890780e-01 0.00000000e+00 1.26384859e+02] [ 6.34890780e-01 7.72601901e-01 0.00000000e+00 4.05744235e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83792416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.430371743 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:126.41, Y:40.60, Z:0.02 [[ 7.74375836e-01 -6.32725900e-01 0.00000000e+00 1.26409162e+02] [ 6.32725900e-01 7.74375836e-01 0.00000000e+00 4.05963108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82755983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.460371743 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:126.44, Y:40.62, Z:0.02 [[ 7.77641600e-01 -6.28707835e-01 0.00000000e+00 1.26444659e+02] [ 6.28707835e-01 7.77641600e-01 0.00000000e+00 4.06163092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09942799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.490371743 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:126.46, Y:40.64, Z:0.02 [[ 7.75074405e-01 -6.31869976e-01 0.00000000e+00 1.26457051e+02] [ 6.31869976e-01 7.75074405e-01 0.00000000e+00 4.06375982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74445550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52037174299997 meters Centerline goodness : 0.992970 Centerline is valid? [True, True] Translation: X:126.48, Y:40.66, Z:0.02 [[ 7.74539626e-01 -6.32525389e-01 0.00000000e+00 1.26480150e+02] [ 6.32525389e-01 7.74539626e-01 0.00000000e+00 4.06569932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71862376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55037174299997 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:126.50, Y:40.68, Z:0.02 [[ 7.73551308e-01 -6.33733677e-01 0.00000000e+00 1.26502508e+02] [ 6.33733677e-01 7.73551308e-01 0.00000000e+00 4.06752824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75101621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58037174299997 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:126.52, Y:40.69, Z:0.02 [[ 7.72223608e-01 -6.35350848e-01 0.00000000e+00 1.26523998e+02] [ 6.35350848e-01 7.72223608e-01 0.00000000e+00 4.06924400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81421052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61037174299997 meters Centerline goodness : 0.992536 Centerline is valid? [True, True] Translation: X:126.56, Y:40.71, Z:0.02 [[ 7.74300866e-01 -6.32817643e-01 0.00000000e+00 1.26564941e+02] [ 6.32817643e-01 7.74300866e-01 0.00000000e+00 4.07122770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76787153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64037174299997 meters Centerline goodness : 0.993009 Centerline is valid? [True, True] Translation: X:126.59, Y:40.73, Z:0.02 [[ 7.71497170e-01 -6.36232754e-01 0.00000000e+00 1.26588429e+02] [ 6.36232754e-01 7.71497170e-01 0.00000000e+00 4.07318528e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11371953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67037174299998 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:126.60, Y:40.75, Z:0.02 [[ 7.63140699e-01 -6.46232368e-01 0.00000000e+00 1.26598648e+02] [ 6.46232368e-01 7.63140699e-01 0.00000000e+00 4.07518937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97494135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70037174299998 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:126.64, Y:40.77, Z:0.02 [[ 7.65273845e-01 -6.43704856e-01 0.00000000e+00 1.26637285e+02] [ 6.43704856e-01 7.65273845e-01 0.00000000e+00 4.07699482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17387608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73037174299998 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:126.66, Y:40.79, Z:0.02 [[ 7.63443513e-01 -6.45874603e-01 0.00000000e+00 1.26662310e+02] [ 6.45874603e-01 7.63443513e-01 0.00000000e+00 4.07895437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07305007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76037174299998 meters Centerline goodness : 0.992769 Centerline is valid? [True, True] Translation: X:126.67, Y:40.81, Z:0.02 [[ 7.57531937e-01 -6.52798104e-01 0.00000000e+00 1.26673036e+02] [ 6.52798104e-01 7.57531937e-01 0.00000000e+00 4.08100503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18688630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79037174299998 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:126.71, Y:40.83, Z:0.02 [[ 7.59759072e-01 -6.50204700e-01 0.00000000e+00 1.26710124e+02] [ 6.50204700e-01 7.59759072e-01 0.00000000e+00 4.08282840e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94327709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82037174299998 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:126.74, Y:40.85, Z:0.02 [[ 7.58772005e-01 -6.51356311e-01 0.00000000e+00 1.26735492e+02] [ 6.51356311e-01 7.58772005e-01 0.00000000e+00 4.08491580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91706770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85037174299998 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:126.74, Y:40.87, Z:0.02 [[ 7.54337756e-01 -6.56486520e-01 0.00000000e+00 1.26744980e+02] [ 6.56486520e-01 7.54337756e-01 0.00000000e+00 4.08698331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02598426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88037174299998 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:126.77, Y:40.89, Z:0.02 [[ 7.54385894e-01 -6.56431202e-01 0.00000000e+00 1.26770935e+02] [ 6.56431202e-01 7.54385894e-01 0.00000000e+00 4.08897021e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02598426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91037174299998 meters Centerline goodness : 0.992699 Centerline is valid? [True, True] Translation: X:126.80, Y:40.91, Z:0.02 [[ 7.61136267e-01 -6.48592000e-01 0.00000000e+00 1.26803046e+02] [ 6.48592000e-01 7.61136267e-01 0.00000000e+00 4.09084918e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06917345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940371743 meters Centerline goodness : 0.992970 Centerline is valid? [True, True] Translation: X:126.83, Y:40.93, Z:0.02 [[ 7.60983043e-01 -6.48771770e-01 0.00000000e+00 1.26829678e+02] [ 6.48771770e-01 7.60983043e-01 0.00000000e+00 4.09312750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02549541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.970371743 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:126.86, Y:40.95, Z:0.02 [[ 7.61320572e-01 -6.48375653e-01 0.00000000e+00 1.26855040e+02] [ 6.48375653e-01 7.61320572e-01 0.00000000e+00 4.09543507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09022607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000371743 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:126.88, Y:40.98, Z:0.02 [[ 7.63154922e-01 -6.46215572e-01 0.00000000e+00 1.26878954e+02] [ 6.46215572e-01 7.63154922e-01 0.00000000e+00 4.09791707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05008515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.030371743 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:126.89, Y:41.00, Z:0.02 [[ 7.58762159e-01 -6.51367781e-01 0.00000000e+00 1.26886749e+02] [ 6.51367781e-01 7.58762159e-01 0.00000000e+00 4.10000756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29355737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.060371743 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:126.91, Y:41.02, Z:0.02 [[ 7.59234377e-01 -6.50817302e-01 0.00000000e+00 1.26909233e+02] [ 6.50817302e-01 7.59234377e-01 0.00000000e+00 4.10199758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34901417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.090371743 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:126.93, Y:41.04, Z:0.02 [[ 7.59333009e-01 -6.50702222e-01 0.00000000e+00 1.26933152e+02] [ 6.50702222e-01 7.59333009e-01 0.00000000e+00 4.10409220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34708977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120371743 meters Centerline goodness : 0.994078 Centerline is valid? [True, True] Translation: X:126.97, Y:41.06, Z:0.02 [[ 7.64414437e-01 -6.44725189e-01 0.00000000e+00 1.26972751e+02] [ 6.44725189e-01 7.64414437e-01 0.00000000e+00 4.10620645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74035191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.150371743 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:127.00, Y:41.08, Z:0.02 [[ 7.63985803e-01 -6.45233053e-01 0.00000000e+00 1.26999391e+02] [ 6.45233053e-01 7.63985803e-01 0.00000000e+00 4.10847310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53098157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.180371743 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:127.00, Y:41.11, Z:0.02 [[ 7.56234593e-01 -6.54300574e-01 0.00000000e+00 1.27002114e+02] [ 6.54300574e-01 7.56234593e-01 0.00000000e+00 4.11052877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18399032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.210371743 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:127.03, Y:41.13, Z:0.02 [[ 7.55347561e-01 -6.55324395e-01 0.00000000e+00 1.27026646e+02] [ 6.55324395e-01 7.55347561e-01 0.00000000e+00 4.11257951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26270148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.240371743 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:127.05, Y:41.15, Z:0.02 [[ 7.54139627e-01 -6.56714110e-01 0.00000000e+00 1.27050154e+02] [ 6.56714110e-01 7.54139627e-01 0.00000000e+00 4.11472809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32383242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27037174299997 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:127.07, Y:41.17, Z:0.02 [[ 7.53455725e-01 -6.57498647e-01 0.00000000e+00 1.27074768e+02] [ 6.57498647e-01 7.53455725e-01 0.00000000e+00 4.11676036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28550164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30037174299997 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:127.12, Y:41.19, Z:0.02 [[ 7.59537155e-01 -6.50463920e-01 0.00000000e+00 1.27118244e+02] [ 6.50463920e-01 7.59537155e-01 0.00000000e+00 4.11864455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72969942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33037174299997 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:127.14, Y:41.21, Z:0.02 [[ 7.57508216e-01 -6.52825629e-01 0.00000000e+00 1.27141485e+02] [ 6.52825629e-01 7.57508216e-01 0.00000000e+00 4.12078474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77950155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36037174299997 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:127.14, Y:41.23, Z:0.02 [[ 7.48245903e-01 -6.63421486e-01 0.00000000e+00 1.27144454e+02] [ 6.63421486e-01 7.48245903e-01 0.00000000e+00 4.12301660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36728960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39037174299997 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:127.18, Y:41.25, Z:0.02 [[ 7.52578836e-01 -6.58502160e-01 0.00000000e+00 1.27184200e+02] [ 6.58502160e-01 7.52578836e-01 0.00000000e+00 4.12490851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89310096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42037174299998 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:127.21, Y:41.27, Z:0.02 [[ 7.50622664e-01 -6.60731123e-01 0.00000000e+00 1.27205409e+02] [ 6.60731123e-01 7.50622664e-01 0.00000000e+00 4.12714983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75837169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45037174299998 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:127.21, Y:41.29, Z:0.02 [[ 7.45692883e-01 -6.66289820e-01 0.00000000e+00 1.27213064e+02] [ 6.66289820e-01 7.45692883e-01 0.00000000e+00 4.12929834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28974039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48037174299998 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:127.24, Y:41.32, Z:0.02 [[ 7.45520736e-01 -6.66482432e-01 0.00000000e+00 1.27235343e+02] [ 6.66482432e-01 7.45520736e-01 0.00000000e+00 4.13158187e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22330971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51037174299998 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:127.27, Y:41.34, Z:0.02 [[ 7.51332169e-01 -6.59924217e-01 0.00000000e+00 1.27273867e+02] [ 6.59924217e-01 7.51332169e-01 0.00000000e+00 4.13355027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72276131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54037174299998 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:127.28, Y:41.36, Z:0.02 [[ 7.46185206e-01 -6.65738416e-01 0.00000000e+00 1.27281478e+02] [ 6.65738416e-01 7.46185206e-01 0.00000000e+00 4.13571570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19973781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57037174299998 meters Centerline goodness : 0.995973 Centerline is valid? [True, True] Translation: X:127.32, Y:41.38, Z:0.02 [[ 7.52381134e-01 -6.58728039e-01 0.00000000e+00 1.27319838e+02] [ 6.58728039e-01 7.52381134e-01 0.00000000e+00 4.13769412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71781267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60037174299998 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:127.33, Y:41.40, Z:0.02 [[ 7.47302919e-01 -6.64483520e-01 0.00000000e+00 1.27326577e+02] [ 6.64483520e-01 7.47302919e-01 0.00000000e+00 4.13983945e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20221511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63037174299998 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:127.36, Y:41.42, Z:0.02 [[ 7.53823183e-01 -6.57077323e-01 0.00000000e+00 1.27361271e+02] [ 6.57077323e-01 7.53823183e-01 0.00000000e+00 4.14210636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73755958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66037174299998 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:127.39, Y:41.44, Z:0.02 [[ 7.55415287e-01 -6.55246323e-01 0.00000000e+00 1.27385474e+02] [ 6.55246323e-01 7.55415287e-01 0.00000000e+00 4.14421181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69900111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.690371743 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:127.39, Y:41.46, Z:0.02 [[ 7.52190672e-01 -6.58945515e-01 0.00000000e+00 1.27393313e+02] [ 6.58945515e-01 7.52190672e-01 0.00000000e+00 4.14630657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26842545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.720371743 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:127.42, Y:41.49, Z:0.02 [[ 7.55054226e-01 -6.55662349e-01 0.00000000e+00 1.27417010e+02] [ 6.55662349e-01 7.55054226e-01 0.00000000e+00 4.14862168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48610922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.750371743 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:127.45, Y:41.50, Z:0.02 [[ 7.60584314e-01 -6.49239171e-01 0.00000000e+00 1.27448672e+02] [ 6.49239171e-01 7.60584314e-01 0.00000000e+00 4.15047032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45668452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780371743 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:127.47, Y:41.53, Z:0.02 [[ 7.61645562e-01 -6.47993856e-01 0.00000000e+00 1.27472354e+02] [ 6.47993856e-01 7.61645562e-01 0.00000000e+00 4.15258704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46742058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.810371743 meters Centerline goodness : 0.995720 Centerline is valid? [True, True] Translation: X:127.49, Y:41.55, Z:0.03 [[ 7.59458938e-01 -6.50555241e-01 0.00000000e+00 1.27489211e+02] [ 6.50555241e-01 7.59458938e-01 0.00000000e+00 4.15519893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62817000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840371743 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:127.53, Y:41.57, Z:0.02 [[ 7.64551367e-01 -6.44562803e-01 0.00000000e+00 1.27525142e+02] [ 6.44562803e-01 7.64551367e-01 0.00000000e+00 4.15709609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33044561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.870371743 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:127.55, Y:41.59, Z:0.02 [[ 7.65748414e-01 -6.43140238e-01 0.00000000e+00 1.27552341e+02] [ 6.43140238e-01 7.65748414e-01 0.00000000e+00 4.15916951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30279546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900371743 meters Centerline goodness : 0.995778 Centerline is valid? [True, True] Translation: X:127.57, Y:41.61, Z:0.02 [[ 7.65297059e-01 -6.43677258e-01 0.00000000e+00 1.27573375e+02] [ 6.43677258e-01 7.65297059e-01 0.00000000e+00 4.16102732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86350339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.930371743 meters Centerline goodness : 0.996633 Centerline is valid? [True, True] Translation: X:127.60, Y:41.63, Z:0.02 [[ 7.59299839e-01 -6.50740928e-01 0.00000000e+00 1.27595286e+02] [ 6.50740928e-01 7.59299839e-01 0.00000000e+00 4.16341221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94984890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.960371743 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:127.61, Y:41.65, Z:0.02 [[ 7.53353946e-01 -6.57615261e-01 0.00000000e+00 1.27607431e+02] [ 6.57615261e-01 7.53353946e-01 0.00000000e+00 4.16549781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14958870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.990371743 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:127.65, Y:41.68, Z:0.02 [[ 7.56365452e-01 -6.54149297e-01 0.00000000e+00 1.27650721e+02] [ 6.54149297e-01 7.56365452e-01 0.00000000e+00 4.16766322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60562260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02037174299997 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:127.65, Y:41.70, Z:0.02 [[ 7.47580610e-01 -6.64171086e-01 0.00000000e+00 1.27652664e+02] [ 6.64171086e-01 7.47580610e-01 0.00000000e+00 4.16958577e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10507484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05037174299997 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:127.68, Y:41.72, Z:0.02 [[ 7.47523169e-01 -6.64235735e-01 0.00000000e+00 1.27675514e+02] [ 6.64235735e-01 7.47523169e-01 0.00000000e+00 4.17153904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00305032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08037174299997 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:127.70, Y:41.74, Z:0.02 [[ 7.46271080e-01 -6.65642153e-01 0.00000000e+00 1.27699927e+02] [ 6.65642153e-01 7.46271080e-01 0.00000000e+00 4.17378538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04071327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11037174299997 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:127.74, Y:41.76, Z:0.02 [[ 7.50482764e-01 -6.60890022e-01 0.00000000e+00 1.27735504e+02] [ 6.60890022e-01 7.50482764e-01 0.00000000e+00 4.17580721e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78235622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14037174299997 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:127.76, Y:41.78, Z:0.02 [[ 7.50677177e-01 -6.60669188e-01 0.00000000e+00 1.27760405e+02] [ 6.60669188e-01 7.50677177e-01 0.00000000e+00 4.17800000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85040988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17037174299998 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:127.78, Y:41.80, Z:0.02 [[ 7.53935704e-01 -6.56948213e-01 0.00000000e+00 1.27779724e+02] [ 6.56948213e-01 7.53935704e-01 0.00000000e+00 4.18000321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09170487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20037174299998 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:127.81, Y:41.82, Z:0.02 [[ 7.55417895e-01 -6.55243317e-01 0.00000000e+00 1.27807377e+02] [ 6.55243317e-01 7.55417895e-01 0.00000000e+00 4.18220903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08362812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23037174299998 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:127.83, Y:41.84, Z:0.02 [[ 7.55118570e-01 -6.55588244e-01 0.00000000e+00 1.27832970e+02] [ 6.55588244e-01 7.55118570e-01 0.00000000e+00 4.18449560e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05040673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26037174299998 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:127.85, Y:41.86, Z:0.02 [[ 7.54330291e-01 -6.56495097e-01 0.00000000e+00 1.27850430e+02] [ 6.56495097e-01 7.54330291e-01 0.00000000e+00 4.18646613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25152537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29037174299998 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:127.88, Y:41.89, Z:0.02 [[ 7.56561661e-01 -6.53922360e-01 0.00000000e+00 1.27876597e+02] [ 6.53922360e-01 7.56561661e-01 0.00000000e+00 4.18868765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16028506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32037174299998 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:127.89, Y:41.91, Z:0.02 [[ 7.52715146e-01 -6.58346344e-01 0.00000000e+00 1.27886111e+02] [ 6.58346344e-01 7.52715146e-01 0.00000000e+00 4.19080934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38285201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35037174299998 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:127.92, Y:41.92, Z:0.02 [[ 7.59918880e-01 -6.50017920e-01 0.00000000e+00 1.27918476e+02] [ 6.50017920e-01 7.59918880e-01 0.00000000e+00 4.19232640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22747919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38037174299998 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:127.93, Y:41.95, Z:0.02 [[ 7.53396710e-01 -6.57566269e-01 0.00000000e+00 1.27933866e+02] [ 6.57566269e-01 7.53396710e-01 0.00000000e+00 4.19485185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26475092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41037174299998 meters Centerline goodness : 0.994966 Centerline is valid? [True, True] Translation: X:127.97, Y:41.97, Z:0.02 [[ 7.59278658e-01 -6.50765641e-01 0.00000000e+00 1.27969066e+02] [ 6.50765641e-01 7.59278658e-01 0.00000000e+00 4.19663475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02038175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440371743 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:128.00, Y:41.99, Z:0.02 [[ 7.58352569e-01 -6.51844598e-01 0.00000000e+00 1.27995034e+02] [ 6.51844598e-01 7.58352569e-01 0.00000000e+00 4.19902524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86479641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.470371743 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:128.01, Y:42.01, Z:0.02 [[ 7.54813882e-01 -6.55939024e-01 0.00000000e+00 1.28005596e+02] [ 6.55939024e-01 7.54813882e-01 0.00000000e+00 4.20114451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12911232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.500371743 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:128.04, Y:42.03, Z:0.02 [[ 7.60000851e-01 -6.49922077e-01 0.00000000e+00 1.28038516e+02] [ 6.49922077e-01 7.60000851e-01 0.00000000e+00 4.20304353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10996196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.530371743 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:128.06, Y:42.05, Z:0.02 [[ 7.61047940e-01 -6.48695639e-01 0.00000000e+00 1.28062693e+02] [ 6.48695639e-01 7.61047940e-01 0.00000000e+00 4.20530868e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11337112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560371743 meters Centerline goodness : 0.994785 Centerline is valid? [True, True] Translation: X:128.09, Y:42.08, Z:0.02 [[ 7.60145253e-01 -6.49753179e-01 0.00000000e+00 1.28088813e+02] [ 6.49753179e-01 7.60145253e-01 0.00000000e+00 4.20751859e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92043262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.590371743 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:128.11, Y:42.09, Z:0.02 [[ 7.61636169e-01 -6.48004896e-01 0.00000000e+00 1.28110194e+02] [ 6.48004896e-01 7.61636169e-01 0.00000000e+00 4.20934875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08453689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620371743 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:128.14, Y:42.12, Z:0.02 [[ 7.60533093e-01 -6.49299172e-01 0.00000000e+00 1.28137703e+02] [ 6.49299172e-01 7.60533093e-01 0.00000000e+00 4.21166789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70333063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.650371743 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:128.15, Y:42.14, Z:0.02 [[ 7.55714315e-01 -6.54901424e-01 0.00000000e+00 1.28148499e+02] [ 6.54901424e-01 7.55714315e-01 0.00000000e+00 4.21368012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93398804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.680371743 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:128.19, Y:42.16, Z:0.02 [[ 7.60176738e-01 -6.49716344e-01 0.00000000e+00 1.28188145e+02] [ 6.49716344e-01 7.60176738e-01 0.00000000e+00 4.21567282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53850835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.710371743 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:128.21, Y:42.18, Z:0.02 [[ 7.58078765e-01 -6.52163006e-01 0.00000000e+00 1.28211113e+02] [ 6.52163006e-01 7.58078765e-01 0.00000000e+00 4.21763551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58788235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.740371743 meters Centerline goodness : 0.994250 Centerline is valid? [True, True] Translation: X:128.24, Y:42.20, Z:0.02 [[ 7.56888756e-01 -6.53543733e-01 0.00000000e+00 1.28236550e+02] [ 6.53543733e-01 7.56888756e-01 0.00000000e+00 4.21971766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63840859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77037174299997 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:128.26, Y:42.22, Z:0.02 [[ 7.53816845e-01 -6.57084594e-01 0.00000000e+00 1.28257847e+02] [ 6.57084594e-01 7.53816845e-01 0.00000000e+00 4.22170359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78635147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80037174299997 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:128.28, Y:42.24, Z:0.02 [[ 7.53657588e-01 -6.57267251e-01 0.00000000e+00 1.28283238e+02] [ 6.57267251e-01 7.53657588e-01 0.00000000e+00 4.22371892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78635147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83037174299997 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:128.31, Y:42.26, Z:0.02 [[ 7.52037784e-01 -6.59119998e-01 0.00000000e+00 1.28308803e+02] [ 6.59119998e-01 7.52037784e-01 0.00000000e+00 4.22568573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78211351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86037174299997 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:128.33, Y:42.28, Z:0.02 [[ 7.51112442e-01 -6.60174295e-01 0.00000000e+00 1.28333319e+02] [ 6.60174295e-01 7.51112442e-01 0.00000000e+00 4.22770342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78205062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89037174299997 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:128.36, Y:42.30, Z:0.02 [[ 7.50226778e-01 -6.61180597e-01 0.00000000e+00 1.28359424e+02] [ 6.61180597e-01 7.50226778e-01 0.00000000e+00 4.22976907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70084388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92037174299998 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:128.38, Y:42.32, Z:0.02 [[ 7.47737347e-01 -6.63994623e-01 0.00000000e+00 1.28380311e+02] [ 6.63994623e-01 7.47737347e-01 0.00000000e+00 4.23183498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69156747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95037174299998 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:128.41, Y:42.34, Z:0.02 [[ 7.46953115e-01 -6.64876713e-01 0.00000000e+00 1.28405458e+02] [ 6.64876713e-01 7.46953115e-01 0.00000000e+00 4.23391266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57027529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98037174299998 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:128.43, Y:42.36, Z:0.02 [[ 7.46168555e-01 -6.65757078e-01 0.00000000e+00 1.28428333e+02] [ 6.65757078e-01 7.46168555e-01 0.00000000e+00 4.23596004e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56454785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01037174299998 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:128.45, Y:42.38, Z:0.02 [[ 7.45855112e-01 -6.66108213e-01 0.00000000e+00 1.28451130e+02] [ 6.66108213e-01 7.45855112e-01 0.00000000e+00 4.23819464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60499403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04037174299998 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:128.47, Y:42.40, Z:0.02 [[ 7.46316686e-01 -6.65591019e-01 0.00000000e+00 1.28474791e+02] [ 6.65591019e-01 7.46316686e-01 0.00000000e+00 4.24022746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56601601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07037174299998 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:128.50, Y:42.42, Z:0.02 [[ 7.46089794e-01 -6.65845342e-01 0.00000000e+00 1.28496992e+02] [ 6.65845342e-01 7.46089794e-01 0.00000000e+00 4.24228966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66086923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10037174299998 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:128.52, Y:42.44, Z:0.02 [[ 7.46455052e-01 -6.65435839e-01 0.00000000e+00 1.28520573e+02] [ 6.65435839e-01 7.46455052e-01 0.00000000e+00 4.24435832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66936031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13037174299998 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:128.55, Y:42.47, Z:0.02 [[ 7.46661767e-01 -6.65203883e-01 0.00000000e+00 1.28545921e+02] [ 6.65203883e-01 7.46661767e-01 0.00000000e+00 4.24653797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69649770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16037174299998 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:128.57, Y:42.49, Z:0.02 [[ 7.47249445e-01 -6.64543653e-01 0.00000000e+00 1.28567186e+02] [ 6.64543653e-01 7.47249445e-01 0.00000000e+00 4.24869597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65945880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.190371743 meters Centerline goodness : 0.993970 Centerline is valid? [True, True] Translation: X:128.59, Y:42.51, Z:0.02 [[ 7.47226615e-01 -6.64569324e-01 0.00000000e+00 1.28591576e+02] [ 6.64569324e-01 7.47226615e-01 0.00000000e+00 4.25083026e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64167987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220371743 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:128.62, Y:42.53, Z:0.01 [[ 7.48301712e-01 -6.63358537e-01 0.00000000e+00 1.28618010e+02] [ 6.63358537e-01 7.48301712e-01 0.00000000e+00 4.25290438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43082944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.250371743 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:128.64, Y:42.55, Z:0.01 [[ 7.45584139e-01 -6.66411503e-01 0.00000000e+00 1.28638690e+02] [ 6.66411503e-01 7.45584139e-01 0.00000000e+00 4.25503534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46764192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.280371743 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:128.66, Y:42.57, Z:0.01 [[ 7.44672640e-01 -6.67429890e-01 0.00000000e+00 1.28664019e+02] [ 6.67429890e-01 7.44672640e-01 0.00000000e+00 4.25713326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40642639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.310371743 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:128.68, Y:42.59, Z:0.01 [[ 7.43239433e-01 -6.69025519e-01 0.00000000e+00 1.28683349e+02] [ 6.69025519e-01 7.43239433e-01 0.00000000e+00 4.25908884e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37021752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.340371743 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:128.71, Y:42.61, Z:0.01 [[ 7.41634071e-01 -6.70804669e-01 0.00000000e+00 1.28712309e+02] [ 6.70804669e-01 7.41634071e-01 0.00000000e+00 4.26132668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37717924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.370371743 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:128.74, Y:42.63, Z:0.01 [[ 7.41290326e-01 -6.71184514e-01 0.00000000e+00 1.28737420e+02] [ 6.71184514e-01 7.41290326e-01 0.00000000e+00 4.26342849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27944166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.400371743 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:128.76, Y:42.66, Z:0.01 [[ 7.41275212e-01 -6.71201207e-01 0.00000000e+00 1.28760627e+02] [ 6.71201207e-01 7.41275212e-01 0.00000000e+00 4.26557866e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27081989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.430371743 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:128.78, Y:42.68, Z:0.01 [[ 7.42123008e-01 -6.70263710e-01 0.00000000e+00 1.28783607e+02] [ 6.70263710e-01 7.42123008e-01 0.00000000e+00 4.26759955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19185549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.460371743 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:128.80, Y:42.70, Z:0.01 [[ 7.39976560e-01 -6.72632656e-01 0.00000000e+00 1.28797666e+02] [ 6.72632656e-01 7.39976560e-01 0.00000000e+00 4.26968521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24185321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.490371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:128.83, Y:42.72, Z:0.01 [[ 7.44938845e-01 -6.67132758e-01 0.00000000e+00 1.28832110e+02] [ 6.67132758e-01 7.44938845e-01 0.00000000e+00 4.27184802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11912622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52037174299997 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:128.86, Y:42.74, Z:0.01 [[ 7.45635286e-01 -6.66354275e-01 0.00000000e+00 1.28857245e+02] [ 6.66354275e-01 7.45635286e-01 0.00000000e+00 4.27398719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11709506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55037174299997 meters Centerline goodness : 0.993294 Centerline is valid? [True, True] Translation: X:128.88, Y:42.76, Z:0.01 [[ 7.46258830e-01 -6.65655886e-01 0.00000000e+00 1.28881588e+02] [ 6.65655886e-01 7.46258830e-01 0.00000000e+00 4.27610882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20629333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58037174299997 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:128.90, Y:42.78, Z:0.02 [[ 7.46962330e-01 -6.64866361e-01 0.00000000e+00 1.28903916e+02] [ 6.64866361e-01 7.46962330e-01 0.00000000e+00 4.27817174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51437903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61037174299997 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:128.93, Y:42.80, Z:0.01 [[ 7.49680805e-01 -6.61799584e-01 0.00000000e+00 1.28928784e+02] [ 6.61799584e-01 7.49680805e-01 0.00000000e+00 4.28033386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26900534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64037174299997 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:128.95, Y:42.82, Z:0.01 [[ 7.50416012e-01 -6.60965815e-01 0.00000000e+00 1.28952443e+02] [ 6.60965815e-01 7.50416012e-01 0.00000000e+00 4.28244653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34943443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67037174299998 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:128.98, Y:42.85, Z:0.01 [[ 7.52730049e-01 -6.58329305e-01 0.00000000e+00 1.28976205e+02] [ 6.58329305e-01 7.52730049e-01 0.00000000e+00 4.28465318e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44253611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70037174299998 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:129.00, Y:42.87, Z:0.01 [[ 7.53461818e-01 -6.57491664e-01 0.00000000e+00 1.29001610e+02] [ 6.57491664e-01 7.53461818e-01 0.00000000e+00 4.28682163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48084205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73037174299998 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:129.02, Y:42.89, Z:0.01 [[ 7.53195994e-01 -6.57796165e-01 0.00000000e+00 1.29024523e+02] [ 6.57796165e-01 7.53195994e-01 0.00000000e+00 4.28887628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47448373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76037174299998 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:129.05, Y:42.91, Z:0.01 [[ 7.54590756e-01 -6.56195696e-01 0.00000000e+00 1.29049981e+02] [ 6.56195696e-01 7.54590756e-01 0.00000000e+00 4.29093795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26519820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79037174299998 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:129.07, Y:42.93, Z:0.01 [[ 7.55444141e-01 -6.55213057e-01 0.00000000e+00 1.29068703e+02] [ 6.55213057e-01 7.55444141e-01 0.00000000e+00 4.29268176e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30284292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82037174299998 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:129.09, Y:42.95, Z:0.01 [[ 7.55508390e-01 -6.55138972e-01 0.00000000e+00 1.29094764e+02] [ 6.55138972e-01 7.55508390e-01 0.00000000e+00 4.29472598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19193497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85037174299998 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:129.12, Y:42.97, Z:0.01 [[ 7.52701877e-01 -6.58361515e-01 0.00000000e+00 1.29122794e+02] [ 6.58361515e-01 7.52701877e-01 0.00000000e+00 4.29695425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23277261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88037174299998 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:129.15, Y:42.99, Z:0.01 [[ 7.52409619e-01 -6.58695503e-01 0.00000000e+00 1.29148344e+02] [ 6.58695503e-01 7.52409619e-01 0.00000000e+00 4.29895065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17692646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91037174299998 meters Centerline goodness : 0.993660 Centerline is valid? [True, True] Translation: X:129.17, Y:43.01, Z:0.01 [[ 7.51970288e-01 -6.59197001e-01 0.00000000e+00 1.29174449e+02] [ 6.59197001e-01 7.51970288e-01 0.00000000e+00 4.30098686e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11673985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940371743 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:129.20, Y:43.03, Z:0.01 [[ 7.50912787e-01 -6.60401382e-01 0.00000000e+00 1.29196902e+02] [ 6.60401382e-01 7.50912787e-01 0.00000000e+00 4.30291825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34331233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.970371743 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:129.22, Y:43.05, Z:0.01 [[ 7.50661200e-01 -6.60687341e-01 0.00000000e+00 1.29221932e+02] [ 6.60687341e-01 7.50661200e-01 0.00000000e+00 4.30489406e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30813104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000371743 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:129.25, Y:43.07, Z:0.01 [[ 7.50812703e-01 -6.60515166e-01 0.00000000e+00 1.29246510e+02] [ 6.60515166e-01 7.50812703e-01 0.00000000e+00 4.30683677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25136518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.030371743 meters Centerline goodness : 0.993471 Centerline is valid? [True, True] Translation: X:129.27, Y:43.09, Z:0.01 [[ 7.50915126e-01 -6.60398723e-01 0.00000000e+00 1.29272672e+02] [ 6.60398723e-01 7.50915126e-01 0.00000000e+00 4.30885780e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28054374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060371743 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:129.30, Y:43.11, Z:0.01 [[ 7.50503798e-01 -6.60866136e-01 0.00000000e+00 1.29298693e+02] [ 6.60866136e-01 7.50503798e-01 0.00000000e+00 4.31086952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32677560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.090371743 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:129.32, Y:43.13, Z:0.01 [[ 7.50704610e-01 -6.60638016e-01 0.00000000e+00 1.29323662e+02] [ 6.60638016e-01 7.50704610e-01 0.00000000e+00 4.31283939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31838175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120371743 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:129.35, Y:43.15, Z:0.01 [[ 7.50161637e-01 -6.61254503e-01 0.00000000e+00 1.29349214e+02] [ 6.61254503e-01 7.50161637e-01 0.00000000e+00 4.31473726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33176399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.150371743 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:129.38, Y:43.17, Z:0.01 [[ 7.50185340e-01 -6.61227612e-01 0.00000000e+00 1.29375427e+02] [ 6.61227612e-01 7.50185340e-01 0.00000000e+00 4.31681579e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23215771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.180371743 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:129.40, Y:43.19, Z:0.01 [[ 7.49449258e-01 -6.62061787e-01 0.00000000e+00 1.29401873e+02] [ 6.62061787e-01 7.49449258e-01 0.00000000e+00 4.31882359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05843598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.210371743 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:129.43, Y:43.21, Z:0.01 [[ 7.49224855e-01 -6.62315723e-01 0.00000000e+00 1.29426516e+02] [ 6.62315723e-01 7.49224855e-01 0.00000000e+00 4.32070516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68250355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.240371743 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:129.45, Y:43.23, Z:0.01 [[ 7.49143925e-01 -6.62407261e-01 0.00000000e+00 1.29451295e+02] [ 6.62407261e-01 7.49143925e-01 0.00000000e+00 4.32260382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03295471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27037174299997 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:129.46, Y:43.24, Z:0.01 [[ 7.45513371e-01 -6.66490671e-01 0.00000000e+00 1.29463627e+02] [ 6.66490671e-01 7.45513371e-01 0.00000000e+00 4.32445663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12109189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30037174299997 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:129.50, Y:43.26, Z:0.01 [[ 7.49256083e-01 -6.62280395e-01 0.00000000e+00 1.29500017e+02] [ 6.62280395e-01 7.49256083e-01 0.00000000e+00 4.32640531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72769369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33037174299997 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:129.53, Y:43.28, Z:0.01 [[ 7.49333756e-01 -6.62192512e-01 0.00000000e+00 1.29525592e+02] [ 6.62192512e-01 7.49333756e-01 0.00000000e+00 4.32842494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92537611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36037174299997 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:129.55, Y:43.30, Z:0.01 [[ 7.48660226e-01 -6.62953895e-01 0.00000000e+00 1.29550237e+02] [ 6.62953895e-01 7.48660226e-01 0.00000000e+00 4.33040460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42838508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39037174299997 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:129.57, Y:43.32, Z:0.01 [[ 7.48554228e-01 -6.63073576e-01 0.00000000e+00 1.29574720e+02] [ 6.63073576e-01 7.48554228e-01 0.00000000e+00 4.33232898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59859764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42037174299998 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:129.60, Y:43.34, Z:0.01 [[ 7.49348329e-01 -6.62176020e-01 0.00000000e+00 1.29603779e+02] [ 6.62176020e-01 7.49348329e-01 0.00000000e+00 4.33416951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24831849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45037174299998 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:129.63, Y:43.36, Z:0.01 [[ 7.49560557e-01 -6.61935776e-01 0.00000000e+00 1.29628248e+02] [ 6.61935776e-01 7.49560557e-01 0.00000000e+00 4.33605563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18742599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48037174299998 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:129.66, Y:43.38, Z:0.01 [[ 7.50875439e-01 -6.60443847e-01 0.00000000e+00 1.29656304e+02] [ 6.60443847e-01 7.50875439e-01 0.00000000e+00 4.33794498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97199822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51037174299998 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:129.68, Y:43.40, Z:0.01 [[ 7.49025954e-01 -6.62540655e-01 0.00000000e+00 1.29677254e+02] [ 6.62540655e-01 7.49025954e-01 0.00000000e+00 4.33988950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02866510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54037174299998 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:129.70, Y:43.42, Z:0.01 [[ 7.49042384e-01 -6.62522080e-01 0.00000000e+00 1.29703297e+02] [ 6.62522080e-01 7.49042384e-01 0.00000000e+00 4.34190592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00864961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57037174299998 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:129.73, Y:43.44, Z:0.01 [[ 7.49571556e-01 -6.61923321e-01 0.00000000e+00 1.29728872e+02] [ 6.61923321e-01 7.49571556e-01 0.00000000e+00 4.34379424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09921020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60037174299998 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:129.75, Y:43.46, Z:0.01 [[ 7.50182236e-01 -6.61231134e-01 0.00000000e+00 1.29754506e+02] [ 6.61231134e-01 7.50182236e-01 0.00000000e+00 4.34567646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52137588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63037174299998 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:129.78, Y:43.48, Z:0.01 [[ 7.50173452e-01 -6.61241100e-01 0.00000000e+00 1.29782089e+02] [ 6.61241100e-01 7.50173452e-01 0.00000000e+00 4.34755811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34925531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66037174299998 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:129.81, Y:43.50, Z:0.01 [[ 7.49193514e-01 -6.62351174e-01 0.00000000e+00 1.29807610e+02] [ 6.62351174e-01 7.49193514e-01 0.00000000e+00 4.34959005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12483923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.690371743 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:129.83, Y:43.52, Z:0.01 [[ 7.49067032e-01 -6.62494212e-01 0.00000000e+00 1.29832764e+02] [ 6.62494212e-01 7.49067032e-01 0.00000000e+00 4.35163853e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12483923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720371743 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:129.86, Y:43.54, Z:0.01 [[ 7.49650208e-01 -6.61834243e-01 0.00000000e+00 1.29858322e+02] [ 6.61834243e-01 7.49650208e-01 0.00000000e+00 4.35357221e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.93983848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.750371743 meters Centerline goodness : 0.993312 Centerline is valid? [True, True] Translation: X:129.88, Y:43.56, Z:0.01 [[ 7.48261278e-01 -6.63404145e-01 0.00000000e+00 1.29882690e+02] [ 6.63404145e-01 7.48261278e-01 0.00000000e+00 4.35562801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.66965540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780371743 meters Centerline goodness : 0.992775 Centerline is valid? [True, True] Translation: X:129.90, Y:43.57, Z:0.01 [[ 7.49129693e-01 -6.62423357e-01 0.00000000e+00 1.29904857e+02] [ 6.62423357e-01 7.49129693e-01 0.00000000e+00 4.35731464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18026422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.810371743 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:129.93, Y:43.59, Z:0.01 [[ 7.45748923e-01 -6.66227096e-01 0.00000000e+00 1.29933049e+02] [ 6.66227096e-01 7.45748923e-01 0.00000000e+00 4.35940384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03140712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840371743 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:129.96, Y:43.61, Z:0.01 [[ 7.44843664e-01 -6.67239025e-01 0.00000000e+00 1.29958183e+02] [ 6.67239025e-01 7.44843664e-01 0.00000000e+00 4.36133972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50906052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.870371743 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:129.98, Y:43.63, Z:0.01 [[ 7.42908045e-01 -6.69393485e-01 0.00000000e+00 1.29980461e+02] [ 6.69393485e-01 7.42908045e-01 0.00000000e+00 4.36331057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29735794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.900371743 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:130.01, Y:43.65, Z:0.01 [[ 7.41249170e-01 -6.71229967e-01 0.00000000e+00 1.30006644e+02] [ 6.71229967e-01 7.41249170e-01 0.00000000e+00 4.36531903e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62446259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.930371743 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:130.03, Y:43.67, Z:0.01 [[ 7.39364928e-01 -6.73304911e-01 0.00000000e+00 1.30033116e+02] [ 6.73304911e-01 7.39364928e-01 0.00000000e+00 4.36726413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77651329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.960371743 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:130.06, Y:43.69, Z:0.01 [[ 7.38393072e-01 -6.74370574e-01 0.00000000e+00 1.30059804e+02] [ 6.74370574e-01 7.38393072e-01 0.00000000e+00 4.36921947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84026386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.990371743 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:130.08, Y:43.71, Z:0.01 [[ 7.37597734e-01 -6.75240389e-01 0.00000000e+00 1.30083598e+02] [ 6.75240389e-01 7.37597734e-01 0.00000000e+00 4.37111025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21244745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02037174299997 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:130.11, Y:43.73, Z:0.01 [[ 7.36776215e-01 -6.76136680e-01 0.00000000e+00 1.30108443e+02] [ 6.76136680e-01 7.36776215e-01 0.00000000e+00 4.37296907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75091402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05037174299997 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:130.13, Y:43.75, Z:0.01 [[ 7.36707626e-01 -6.76211412e-01 0.00000000e+00 1.30134925e+02] [ 6.76211412e-01 7.36707626e-01 0.00000000e+00 4.37500570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46574325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08037174299997 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:130.16, Y:43.77, Z:0.00 [[ 7.37137186e-01 -6.75743124e-01 0.00000000e+00 1.30160081e+02] [ 6.75743124e-01 7.37137186e-01 0.00000000e+00 4.37696541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43822879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11037174299997 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:130.17, Y:43.79, Z:0.01 [[ 7.33195053e-01 -6.80018393e-01 0.00000000e+00 1.30170653e+02] [ 6.80018393e-01 7.33195053e-01 0.00000000e+00 4.37892947e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.30824143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14037174299997 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:130.21, Y:43.81, Z:0.01 [[ 7.38731007e-01 -6.74000371e-01 0.00000000e+00 1.30211951e+02] [ 6.74000371e-01 7.38731007e-01 0.00000000e+00 4.38079820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88552448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17037174299998 meters Centerline goodness : 0.993219 Centerline is valid? [True, True] Translation: X:130.24, Y:43.83, Z:0.01 [[ 7.38859893e-01 -6.73859080e-01 0.00000000e+00 1.30238371e+02] [ 6.73859080e-01 7.38859893e-01 0.00000000e+00 4.38278535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70550054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20037174299998 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:130.26, Y:43.85, Z:0.01 [[ 7.38877349e-01 -6.73839939e-01 0.00000000e+00 1.30262034e+02] [ 6.73839939e-01 7.38877349e-01 0.00000000e+00 4.38468590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.33002099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23037174299998 meters Centerline goodness : 0.992100 Centerline is valid? [True, True] Translation: X:130.29, Y:43.86, Z:0.01 [[ 7.41054923e-01 -6.71444414e-01 0.00000000e+00 1.30285230e+02] [ 6.71444414e-01 7.41054923e-01 0.00000000e+00 4.38640255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34573374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26037174299998 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:130.29, Y:43.89, Z:0.01 [[ 7.34875499e-01 -6.78202036e-01 0.00000000e+00 1.30294581e+02] [ 6.78202036e-01 7.34875499e-01 0.00000000e+00 4.38850312e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00685220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29037174299998 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:130.32, Y:43.90, Z:0.01 [[ 7.35730829e-01 -6.77274056e-01 0.00000000e+00 1.30321902e+02] [ 6.77274056e-01 7.35730829e-01 0.00000000e+00 4.39046935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38895227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32037174299998 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:130.35, Y:43.92, Z:0.01 [[ 7.36250845e-01 -6.76708721e-01 0.00000000e+00 1.30348493e+02] [ 6.76708721e-01 7.36250845e-01 0.00000000e+00 4.39248172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86748312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35037174299998 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:130.39, Y:43.94, Z:0.01 [[ 7.40910839e-01 -6.71603402e-01 0.00000000e+00 1.30385960e+02] [ 6.71603402e-01 7.40910839e-01 0.00000000e+00 4.39437340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01649047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38037174299998 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:130.42, Y:43.96, Z:0.00 [[ 7.42958984e-01 -6.69336947e-01 0.00000000e+00 1.30415846e+02] [ 6.69336947e-01 7.42958984e-01 0.00000000e+00 4.39620802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48483156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41037174299998 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:130.45, Y:43.98, Z:0.00 [[ 7.45346410e-01 -6.66677380e-01 0.00000000e+00 1.30446069e+02] [ 6.66677380e-01 7.45346410e-01 0.00000000e+00 4.39818520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96110710e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440371743 meters Centerline goodness : 0.992983 Centerline is valid? [True, True] Translation: X:130.47, Y:44.00, Z:0.00 [[ 7.44223083e-01 -6.67931136e-01 0.00000000e+00 1.30466602e+02] [ 6.67931136e-01 7.44223083e-01 0.00000000e+00 4.39996785e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15098085e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.470371743 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:130.49, Y:44.02, Z:-0.00 [[ 7.43366628e-01 -6.68884188e-01 0.00000000e+00 1.30492626e+02] [ 6.68884188e-01 7.43366628e-01 0.00000000e+00 4.40196053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.54786138e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500371743 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:130.52, Y:44.04, Z:-0.00 [[ 7.44242017e-01 -6.67910039e-01 0.00000000e+00 1.30519585e+02] [ 6.67910039e-01 7.44242017e-01 0.00000000e+00 4.40373064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59458471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.530371743 meters Centerline goodness : 0.993400 Centerline is valid? [True, True] Translation: X:130.54, Y:44.06, Z:-0.00 [[ 7.43903683e-01 -6.68286847e-01 0.00000000e+00 1.30544963e+02] [ 6.68286847e-01 7.43903683e-01 0.00000000e+00 4.40561876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92038827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560371743 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:130.57, Y:44.08, Z:-0.00 [[ 7.42360520e-01 -6.70000640e-01 0.00000000e+00 1.30569563e+02] [ 6.70000640e-01 7.42360520e-01 0.00000000e+00 4.40753060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.97809342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.590371743 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:130.59, Y:44.09, Z:-0.00 [[ 7.41383601e-01 -6.71081483e-01 0.00000000e+00 1.30592487e+02] [ 6.71081483e-01 7.41383601e-01 0.00000000e+00 4.40927846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.70075677e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.620371743 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:130.62, Y:44.11, Z:-0.00 [[ 7.41647873e-01 -6.70789410e-01 0.00000000e+00 1.30619596e+02] [ 6.70789410e-01 7.41647873e-01 0.00000000e+00 4.41121412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.66845413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.650371743 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:130.64, Y:44.13, Z:-0.00 [[ 7.41532178e-01 -6.70917305e-01 0.00000000e+00 1.30643581e+02] [ 6.70917305e-01 7.41532178e-01 0.00000000e+00 4.41312684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28710347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.680371743 meters Centerline goodness : 0.993678 Centerline is valid? [True, True] Translation: X:130.67, Y:44.15, Z:-0.00 [[ 7.42736382e-01 -6.69583950e-01 0.00000000e+00 1.30667398e+02] [ 6.69583950e-01 7.42736382e-01 0.00000000e+00 4.41488760e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65450682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.710371743 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:130.69, Y:44.17, Z:-0.00 [[ 7.42292071e-01 -6.70076474e-01 0.00000000e+00 1.30692527e+02] [ 6.70076474e-01 7.42292071e-01 0.00000000e+00 4.41693178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67142963e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.740371743 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:130.72, Y:44.19, Z:-0.00 [[ 7.42170940e-01 -6.70210636e-01 0.00000000e+00 1.30717615e+02] [ 6.70210636e-01 7.42170940e-01 0.00000000e+00 4.41884422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.83410152e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77037174299997 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:130.74, Y:44.21, Z:-0.00 [[ 7.41892015e-01 -6.70519379e-01 0.00000000e+00 1.30742371e+02] [ 6.70519379e-01 7.41892015e-01 0.00000000e+00 4.42083933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11335936e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80037174299997 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:130.75, Y:44.23, Z:-0.00 [[ 7.37344458e-01 -6.75516951e-01 0.00000000e+00 1.30752819e+02] [ 6.75516951e-01 7.37344458e-01 0.00000000e+00 4.42281101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04776804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83037174299997 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:130.79, Y:44.25, Z:0.00 [[ 7.40857383e-01 -6.71662369e-01 0.00000000e+00 1.30790156e+02] [ 6.71662369e-01 7.40857383e-01 0.00000000e+00 4.42468892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51331465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86037174299997 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:130.82, Y:44.27, Z:0.00 [[ 7.40189372e-01 -6.72398464e-01 0.00000000e+00 1.30815198e+02] [ 6.72398464e-01 7.40189372e-01 0.00000000e+00 4.42666931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39738333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89037174299997 meters Centerline goodness : 0.994274 Centerline is valid? [True, True] Translation: X:130.84, Y:44.29, Z:0.00 [[ 7.38687275e-01 -6.74048299e-01 0.00000000e+00 1.30837777e+02] [ 6.74048299e-01 7.38687275e-01 0.00000000e+00 4.42868351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08871991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92037174299998 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:130.86, Y:44.31, Z:0.00 [[ 7.38769440e-01 -6.73958243e-01 0.00000000e+00 1.30863871e+02] [ 6.73958243e-01 7.38769440e-01 0.00000000e+00 4.43058225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32098191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95037174299998 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:130.89, Y:44.33, Z:0.01 [[ 7.37734789e-01 -6.75090646e-01 0.00000000e+00 1.30889582e+02] [ 6.75090646e-01 7.37734789e-01 0.00000000e+00 4.43267668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15095532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98037174299998 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:130.92, Y:44.35, Z:0.01 [[ 7.36846442e-01 -6.76060146e-01 0.00000000e+00 1.30915612e+02] [ 6.76060146e-01 7.36846442e-01 0.00000000e+00 4.43463431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62394450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01037174299998 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:130.94, Y:44.37, Z:0.01 [[ 7.36645610e-01 -6.76278970e-01 0.00000000e+00 1.30940007e+02] [ 6.76278970e-01 7.36645610e-01 0.00000000e+00 4.43659800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27909256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04037174299998 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:130.97, Y:44.39, Z:0.01 [[ 7.36070958e-01 -6.76904384e-01 0.00000000e+00 1.30966138e+02] [ 6.76904384e-01 7.36070958e-01 0.00000000e+00 4.43857913e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11715128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07037174299998 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:130.99, Y:44.41, Z:0.00 [[ 7.36079620e-01 -6.76894964e-01 0.00000000e+00 1.30993543e+02] [ 6.76894964e-01 7.36079620e-01 0.00000000e+00 4.44059694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05516366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10037174299998 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:131.02, Y:44.43, Z:0.00 [[ 7.34949437e-01 -6.78121910e-01 0.00000000e+00 1.31018149e+02] [ 6.78121910e-01 7.34949437e-01 0.00000000e+00 4.44261901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55843829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13037174299998 meters Centerline goodness : 0.996064 Centerline is valid? [True, True] Translation: X:131.03, Y:44.45, Z:0.00 [[ 7.30497272e-01 -6.82915613e-01 0.00000000e+00 1.31030325e+02] [ 6.82915613e-01 7.30497272e-01 0.00000000e+00 4.44452944e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56648593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16037174299998 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:131.06, Y:44.46, Z:0.00 [[ 7.30346884e-01 -6.83076444e-01 0.00000000e+00 1.31056135e+02] [ 6.83076444e-01 7.30346884e-01 0.00000000e+00 4.44645185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58325778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.190371743 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:131.08, Y:44.49, Z:0.00 [[ 7.30216375e-01 -6.83215959e-01 0.00000000e+00 1.31081495e+02] [ 6.83215959e-01 7.30216375e-01 0.00000000e+00 4.44852756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80045289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220371743 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:131.11, Y:44.50, Z:0.00 [[ 7.30140009e-01 -6.83297569e-01 0.00000000e+00 1.31106847e+02] [ 6.83297569e-01 7.30140009e-01 0.00000000e+00 4.45047535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27488995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.250371743 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:131.13, Y:44.53, Z:0.00 [[ 7.30330601e-01 -6.83093854e-01 0.00000000e+00 1.31133256e+02] [ 6.83093854e-01 7.30330601e-01 0.00000000e+00 4.45253033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29932224e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280371743 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:131.16, Y:44.55, Z:0.00 [[ 7.30685998e-01 -6.82713683e-01 0.00000000e+00 1.31159034e+02] [ 6.82713683e-01 7.30685998e-01 0.00000000e+00 4.45450057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29127312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.310371743 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:131.19, Y:44.57, Z:0.00 [[ 7.31762169e-01 -6.81560069e-01 0.00000000e+00 1.31185403e+02] [ 6.81560069e-01 7.31762169e-01 0.00000000e+00 4.45657890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52281403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340371743 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:131.21, Y:44.59, Z:0.00 [[ 7.32589995e-01 -6.80670184e-01 0.00000000e+00 1.31209584e+02] [ 6.80670184e-01 7.32589995e-01 0.00000000e+00 4.45863123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16515934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.370371743 meters Centerline goodness : 0.995715 Centerline is valid? [True, True] Translation: X:131.23, Y:44.61, Z:0.00 [[ 7.33782860e-01 -6.79384069e-01 0.00000000e+00 1.31234370e+02] [ 6.79384069e-01 7.33782860e-01 0.00000000e+00 4.46070898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28572512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400371743 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:131.26, Y:44.63, Z:0.01 [[ 7.35239185e-01 -6.77807746e-01 0.00000000e+00 1.31259844e+02] [ 6.77807746e-01 7.35239185e-01 0.00000000e+00 4.46284284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43538042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.430371743 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:131.30, Y:44.65, Z:0.00 [[ 7.44148253e-01 -6.68014504e-01 0.00000000e+00 1.31302093e+02] [ 6.68014504e-01 7.44148253e-01 0.00000000e+00 4.46471501e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42763824e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.460371743 meters Centerline goodness : 0.995467 Centerline is valid? [True, True] Translation: X:131.33, Y:44.67, Z:0.00 [[ 7.45202462e-01 -6.66838280e-01 0.00000000e+00 1.31330279e+02] [ 6.66838280e-01 7.45202462e-01 0.00000000e+00 4.46680755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26510139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.490371743 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:131.35, Y:44.69, Z:0.00 [[ 7.44526865e-01 -6.67592500e-01 0.00000000e+00 1.31353911e+02] [ 6.67592500e-01 7.44526865e-01 0.00000000e+00 4.46890267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03751439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52037174299997 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:131.35, Y:44.71, Z:0.01 [[ 7.37177450e-01 -6.75699199e-01 0.00000000e+00 1.31353824e+02] [ 6.75699199e-01 7.37177450e-01 0.00000000e+00 4.47075949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.28221266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55037174299997 meters Centerline goodness : 0.995212 Centerline is valid? [True, True] Translation: X:131.40, Y:44.73, Z:0.00 [[ 7.43618098e-01 -6.68604610e-01 0.00000000e+00 1.31399063e+02] [ 6.68604610e-01 7.43618098e-01 0.00000000e+00 4.47276203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28134591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58037174299997 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:131.40, Y:44.75, Z:0.01 [[ 7.35915692e-01 -6.77073182e-01 0.00000000e+00 1.31400013e+02] [ 6.77073182e-01 7.35915692e-01 0.00000000e+00 4.47467137e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79008714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61037174299997 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:131.43, Y:44.77, Z:0.01 [[ 7.36112600e-01 -6.76859099e-01 0.00000000e+00 1.31425952e+02] [ 6.76859099e-01 7.36112600e-01 0.00000000e+00 4.47681132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79008714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64037174299997 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:131.45, Y:44.79, Z:0.01 [[ 7.34881339e-01 -6.78195707e-01 0.00000000e+00 1.31452140e+02] [ 6.78195707e-01 7.34881339e-01 0.00000000e+00 4.47884468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76972954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67037174299998 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:131.50, Y:44.81, Z:0.00 [[ 7.41004993e-01 -6.71499516e-01 0.00000000e+00 1.31496407e+02] [ 6.71499516e-01 7.41004993e-01 0.00000000e+00 4.48074886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90895003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70037174299998 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:131.50, Y:44.83, Z:0.01 [[ 7.33435867e-01 -6.79758655e-01 0.00000000e+00 1.31499953e+02] [ 6.79758655e-01 7.33435867e-01 0.00000000e+00 4.48270461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58367169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73037174299998 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:131.54, Y:44.85, Z:0.00 [[ 7.40264202e-01 -6.72316080e-01 0.00000000e+00 1.31544141e+02] [ 6.72316080e-01 7.40264202e-01 0.00000000e+00 4.48470326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92357729e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76037174299998 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:131.55, Y:44.87, Z:0.01 [[ 7.31896772e-01 -6.81415523e-01 0.00000000e+00 1.31545427e+02] [ 6.81415523e-01 7.31896772e-01 0.00000000e+00 4.48678835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83598328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79037174299998 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:131.57, Y:44.89, Z:0.01 [[ 7.31535956e-01 -6.81802864e-01 0.00000000e+00 1.31570677e+02] [ 6.81802864e-01 7.31535956e-01 0.00000000e+00 4.48893027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43014818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82037174299998 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:131.61, Y:44.91, Z:0.00 [[ 7.36832879e-01 -6.76074928e-01 0.00000000e+00 1.31611557e+02] [ 6.76074928e-01 7.36832879e-01 0.00000000e+00 4.49093935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50367903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85037174299998 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:131.63, Y:44.93, Z:-0.00 [[ 7.38576336e-01 -6.74169857e-01 0.00000000e+00 1.31630369e+02] [ 6.74169857e-01 7.38576336e-01 0.00000000e+00 4.49269923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.78122301e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88037174299998 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:131.64, Y:44.95, Z:0.01 [[ 7.31319754e-01 -6.82034763e-01 0.00000000e+00 1.31641828e+02] [ 6.82034763e-01 7.31319754e-01 0.00000000e+00 4.49508213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55144510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91037174299998 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:131.68, Y:44.97, Z:0.00 [[ 7.36225222e-01 -6.76736598e-01 0.00000000e+00 1.31681465e+02] [ 6.76736598e-01 7.36225222e-01 0.00000000e+00 4.49704899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82803101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940371743 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:131.69, Y:44.99, Z:0.01 [[ 7.31343647e-01 -6.82009142e-01 0.00000000e+00 1.31689363e+02] [ 6.82009142e-01 7.31343647e-01 0.00000000e+00 4.49918894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26833441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.970371743 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:131.71, Y:45.01, Z:0.01 [[ 7.31153867e-01 -6.82212594e-01 0.00000000e+00 1.31714310e+02] [ 6.82212594e-01 7.31153867e-01 0.00000000e+00 4.50138226e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69285229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000371743 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:131.75, Y:45.03, Z:0.00 [[ 7.35706253e-01 -6.77300752e-01 0.00000000e+00 1.31752209e+02] [ 6.77300752e-01 7.35706253e-01 0.00000000e+00 4.50331488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71053542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.030371743 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:131.78, Y:45.05, Z:0.00 [[ 7.34745867e-01 -6.78342473e-01 0.00000000e+00 1.31775341e+02] [ 6.78342473e-01 7.34745867e-01 0.00000000e+00 4.50542321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92302619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060371743 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:131.80, Y:45.07, Z:0.00 [[ 7.33599283e-01 -6.79582293e-01 0.00000000e+00 1.31798128e+02] [ 6.79582293e-01 7.33599283e-01 0.00000000e+00 4.50749346e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37151168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.090371743 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:131.83, Y:45.10, Z:0.00 [[ 7.35474185e-01 -6.77552746e-01 0.00000000e+00 1.31826574e+02] [ 6.77552746e-01 7.35474185e-01 0.00000000e+00 4.50951664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.00892064e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120371743 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:131.85, Y:45.12, Z:0.00 [[ 7.35008704e-01 -6.78057671e-01 0.00000000e+00 1.31851927e+02] [ 6.78057671e-01 7.35008704e-01 0.00000000e+00 4.51165457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68535749e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.150371743 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:131.86, Y:45.14, Z:0.01 [[ 7.28414969e-01 -6.85136215e-01 0.00000000e+00 1.31856520e+02] [ 6.85136215e-01 7.28414969e-01 0.00000000e+00 4.51364325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18965365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.180371743 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:131.88, Y:45.16, Z:0.01 [[ 7.28881450e-01 -6.84639929e-01 0.00000000e+00 1.31880919e+02] [ 6.84639929e-01 7.28881450e-01 0.00000000e+00 4.51576206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42771416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.210371743 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:131.90, Y:45.18, Z:0.01 [[ 7.30686932e-01 -6.82712683e-01 0.00000000e+00 1.31904491e+02] [ 6.82712683e-01 7.30686932e-01 0.00000000e+00 4.51794185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65017578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.240371743 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:131.94, Y:45.20, Z:0.00 [[ 7.35864544e-01 -6.77128771e-01 0.00000000e+00 1.31940618e+02] [ 6.77128771e-01 7.35864544e-01 0.00000000e+00 4.52000592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23489827e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27037174299997 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:131.97, Y:45.22, Z:-0.00 [[ 7.37522272e-01 -6.75322811e-01 0.00000000e+00 1.31965739e+02] [ 6.75322811e-01 7.37522272e-01 0.00000000e+00 4.52206926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01652731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30037174299997 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:131.99, Y:45.24, Z:-0.00 [[ 7.39641752e-01 -6.73000801e-01 0.00000000e+00 1.31990672e+02] [ 6.73000801e-01 7.39641752e-01 0.00000000e+00 4.52441360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57521197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33037174299997 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:132.02, Y:45.27, Z:-0.00 [[ 7.42568566e-01 -6.69770054e-01 0.00000000e+00 1.32018046e+02] [ 6.69770054e-01 7.42568566e-01 0.00000000e+00 4.52653705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44559709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36037174299997 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:132.04, Y:45.29, Z:-0.00 [[ 7.42196448e-01 -6.70182387e-01 0.00000000e+00 1.32038623e+02] [ 6.70182387e-01 7.42196448e-01 0.00000000e+00 4.52868717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61331259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39037174299997 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:132.04, Y:45.31, Z:0.01 [[ 7.38660271e-01 -6.74077891e-01 0.00000000e+00 1.32044821e+02] [ 6.74077891e-01 7.38660271e-01 0.00000000e+00 4.53083079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74453646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42037174299998 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:132.09, Y:45.33, Z:-0.00 [[ 7.46577285e-01 -6.65298698e-01 0.00000000e+00 1.32090864e+02] [ 6.65298698e-01 7.46577285e-01 0.00000000e+00 4.53312103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17093727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45037174299998 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:132.09, Y:45.35, Z:0.01 [[ 7.39312191e-01 -6.73362817e-01 0.00000000e+00 1.32090043e+02] [ 6.73362817e-01 7.39312191e-01 0.00000000e+00 4.53476621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25892563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48037174299998 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:132.11, Y:45.37, Z:0.00 [[ 7.39435381e-01 -6.73227537e-01 0.00000000e+00 1.32114806e+02] [ 6.73227537e-01 7.39435381e-01 0.00000000e+00 4.53687575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39514003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51037174299998 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:132.14, Y:45.39, Z:0.01 [[ 7.39505247e-01 -6.73150793e-01 0.00000000e+00 1.32140567e+02] [ 6.73150793e-01 7.39505247e-01 0.00000000e+00 4.53897906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20148476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54037174299998 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:132.18, Y:45.41, Z:-0.00 [[ 7.45527960e-01 -6.66474351e-01 0.00000000e+00 1.32184056e+02] [ 6.66474351e-01 7.45527960e-01 0.00000000e+00 4.54110745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.17373627e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57037174299998 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:132.21, Y:45.43, Z:0.00 [[ 7.43241466e-01 -6.69023260e-01 0.00000000e+00 1.32205059e+02] [ 6.69023260e-01 7.43241466e-01 0.00000000e+00 4.54302422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72514495e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60037174299998 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:132.23, Y:45.45, Z:0.00 [[ 7.42048848e-01 -6.70345812e-01 0.00000000e+00 1.32229582e+02] [ 6.70345812e-01 7.42048848e-01 0.00000000e+00 4.54505806e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.75144883e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63037174299998 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:132.25, Y:45.47, Z:0.00 [[ 7.41171505e-01 -6.71315723e-01 0.00000000e+00 1.32252323e+02] [ 6.71315723e-01 7.41171505e-01 0.00000000e+00 4.54694546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51458621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66037174299998 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:132.28, Y:45.49, Z:0.00 [[ 7.38521068e-01 -6.74230400e-01 0.00000000e+00 1.32276929e+02] [ 6.74230400e-01 7.38521068e-01 0.00000000e+00 4.54901878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79869674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.690371743 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:132.30, Y:45.51, Z:0.00 [[ 7.38049970e-01 -6.74746058e-01 0.00000000e+00 1.32302730e+02] [ 6.74746058e-01 7.38049970e-01 0.00000000e+00 4.55106979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24941978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720371743 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:132.33, Y:45.53, Z:0.00 [[ 7.37225554e-01 -6.75646715e-01 0.00000000e+00 1.32327974e+02] [ 6.75646715e-01 7.37225554e-01 0.00000000e+00 4.55312424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13332545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.750371743 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:132.35, Y:45.55, Z:0.00 [[ 7.36716651e-01 -6.76201579e-01 0.00000000e+00 1.32352435e+02] [ 6.76201579e-01 7.36716651e-01 0.00000000e+00 4.55506441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28717433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780371743 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:132.36, Y:45.57, Z:0.00 [[ 7.30809072e-01 -6.82581936e-01 0.00000000e+00 1.32364454e+02] [ 6.82581936e-01 7.30809072e-01 0.00000000e+00 4.55699181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02703380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.810371743 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:132.40, Y:45.59, Z:0.00 [[ 7.33999653e-01 -6.79149843e-01 0.00000000e+00 1.32401340e+02] [ 6.79149843e-01 7.33999653e-01 0.00000000e+00 4.55891122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49548951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840371743 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:132.43, Y:45.61, Z:0.00 [[ 7.32503882e-01 -6.80762853e-01 0.00000000e+00 1.32425607e+02] [ 6.80762853e-01 7.32503882e-01 0.00000000e+00 4.56100360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34884348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.870371743 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:132.45, Y:45.63, Z:0.00 [[ 7.31694804e-01 -6.81632389e-01 0.00000000e+00 1.32449755e+02] [ 6.81632389e-01 7.31694804e-01 0.00000000e+00 4.56298752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17342470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900371743 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:132.46, Y:45.65, Z:0.01 [[ 7.26478613e-01 -6.87189076e-01 0.00000000e+00 1.32463206e+02] [ 6.87189076e-01 7.26478613e-01 0.00000000e+00 4.56494061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17150381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.930371743 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:132.50, Y:45.67, Z:0.00 [[ 7.29516675e-01 -6.83963026e-01 0.00000000e+00 1.32500602e+02] [ 6.83963026e-01 7.29516675e-01 0.00000000e+00 4.56691147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99213599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.960371743 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:132.51, Y:45.69, Z:0.01 [[ 7.24239545e-01 -6.89548462e-01 0.00000000e+00 1.32512453e+02] [ 6.89548462e-01 7.24239545e-01 0.00000000e+00 4.56885805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67535819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.990371743 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:132.55, Y:45.71, Z:0.00 [[ 7.27778616e-01 -6.85812136e-01 0.00000000e+00 1.32548121e+02] [ 6.85812136e-01 7.27778616e-01 0.00000000e+00 4.57076019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79772423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02037174299997 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:132.57, Y:45.73, Z:0.00 [[ 7.27656813e-01 -6.85941370e-01 0.00000000e+00 1.32572546e+02] [ 6.85941370e-01 7.27656813e-01 0.00000000e+00 4.57284641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82751347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05037174299997 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:132.60, Y:45.75, Z:0.00 [[ 7.26799984e-01 -6.86849170e-01 0.00000000e+00 1.32595856e+02] [ 6.86849170e-01 7.26799984e-01 0.00000000e+00 4.57490031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23755808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08037174299997 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:132.62, Y:45.77, Z:0.00 [[ 7.26622374e-01 -6.87037063e-01 0.00000000e+00 1.32620903e+02] [ 6.87037063e-01 7.26622374e-01 0.00000000e+00 4.57696599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94092977e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11037174299997 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:132.65, Y:45.79, Z:0.00 [[ 7.26716928e-01 -6.86937047e-01 0.00000000e+00 1.32645943e+02] [ 6.86937047e-01 7.26716928e-01 0.00000000e+00 4.57896312e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79767173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14037174299997 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:132.67, Y:45.81, Z:0.00 [[ 7.25744390e-01 -6.87964447e-01 0.00000000e+00 1.32670599e+02] [ 6.87964447e-01 7.25744390e-01 0.00000000e+00 4.58102702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92028630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17037174299998 meters Centerline goodness : 0.995780 Centerline is valid? [True, True] Translation: X:132.68, Y:45.83, Z:0.00 [[ 7.22273151e-01 -6.91607906e-01 0.00000000e+00 1.32683981e+02] [ 6.91607906e-01 7.22273151e-01 0.00000000e+00 4.58300494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78265238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20037174299998 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:132.72, Y:45.85, Z:0.00 [[ 7.25960603e-01 -6.87736289e-01 0.00000000e+00 1.32719334e+02] [ 6.87736289e-01 7.25960603e-01 0.00000000e+00 4.58491961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93478486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23037174299998 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:132.74, Y:45.87, Z:0.00 [[ 7.26762290e-01 -6.86889055e-01 0.00000000e+00 1.32743797e+02] [ 6.86889055e-01 7.26762290e-01 0.00000000e+00 4.58691418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04727278e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26037174299998 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:132.77, Y:45.89, Z:0.00 [[ 7.26894178e-01 -6.86749484e-01 0.00000000e+00 1.32770057e+02] [ 6.86749484e-01 7.26894178e-01 0.00000000e+00 4.58907429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37066507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29037174299998 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:132.79, Y:45.91, Z:0.00 [[ 7.26875028e-01 -6.86769753e-01 0.00000000e+00 1.32793224e+02] [ 6.86769753e-01 7.26875028e-01 0.00000000e+00 4.59114317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18539078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32037174299998 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:132.82, Y:45.93, Z:0.00 [[ 7.26956921e-01 -6.86683067e-01 0.00000000e+00 1.32818722e+02] [ 6.86683067e-01 7.26956921e-01 0.00000000e+00 4.59326131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85443096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35037174299998 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:132.84, Y:45.95, Z:0.00 [[ 7.26913156e-01 -6.86729397e-01 0.00000000e+00 1.32843957e+02] [ 6.86729397e-01 7.26913156e-01 0.00000000e+00 4.59534323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92031192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38037174299998 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:132.85, Y:45.97, Z:0.01 [[ 7.21814601e-01 -6.92086470e-01 0.00000000e+00 1.32853511e+02] [ 6.92086470e-01 7.21814601e-01 0.00000000e+00 4.59731620e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23370723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41037174299998 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:132.89, Y:45.99, Z:0.00 [[ 7.25026386e-01 -6.88721090e-01 0.00000000e+00 1.32890342e+02] [ 6.88721090e-01 7.25026386e-01 0.00000000e+00 4.59939737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38425262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440371743 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:132.91, Y:46.01, Z:0.00 [[ 7.24118553e-01 -6.89675519e-01 0.00000000e+00 1.32914465e+02] [ 6.89675519e-01 7.24118553e-01 0.00000000e+00 4.60148570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54029654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.470371743 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:132.94, Y:46.04, Z:0.00 [[ 7.23497448e-01 -6.90327055e-01 0.00000000e+00 1.32939787e+02] [ 6.90327055e-01 7.23497448e-01 0.00000000e+00 4.60357851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14368765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500371743 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:132.96, Y:46.06, Z:0.00 [[ 7.23358811e-01 -6.90472324e-01 0.00000000e+00 1.32964524e+02] [ 6.90472324e-01 7.23358811e-01 0.00000000e+00 4.60567814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14368765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.530371743 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:132.99, Y:46.08, Z:0.00 [[ 7.20732432e-01 -6.93213359e-01 0.00000000e+00 1.32987502e+02] [ 6.93213359e-01 7.20732432e-01 0.00000000e+00 4.60779626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62362207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.560371743 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:133.01, Y:46.10, Z:0.00 [[ 7.19318839e-01 -6.94680076e-01 0.00000000e+00 1.33010157e+02] [ 6.94680076e-01 7.19318839e-01 0.00000000e+00 4.60980092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39372999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.590371743 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:133.02, Y:46.12, Z:0.01 [[ 7.15607358e-01 -6.98502763e-01 0.00000000e+00 1.33024877e+02] [ 6.98502763e-01 7.15607358e-01 0.00000000e+00 4.61180966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57566726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.620371743 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:133.06, Y:46.14, Z:0.00 [[ 7.16573679e-01 -6.97511407e-01 0.00000000e+00 1.33059319e+02] [ 6.97511407e-01 7.16573679e-01 0.00000000e+00 4.61394321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35827049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.650371743 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:133.07, Y:46.16, Z:0.00 [[ 7.13145576e-01 -7.01015968e-01 0.00000000e+00 1.33073892e+02] [ 7.01015968e-01 7.13145576e-01 0.00000000e+00 4.61588102e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05835644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.680371743 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:133.11, Y:46.18, Z:-0.00 [[ 7.17490019e-01 -6.96568785e-01 0.00000000e+00 1.33114301e+02] [ 6.96568785e-01 7.17490019e-01 0.00000000e+00 4.61806115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.41733920e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.710371743 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:133.13, Y:46.20, Z:-0.00 [[ 7.17957299e-01 -6.96087148e-01 0.00000000e+00 1.33132791e+02] [ 6.96087148e-01 7.17957299e-01 0.00000000e+00 4.61986626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38669333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.740371743 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:133.16, Y:46.22, Z:0.00 [[ 7.15735674e-01 -6.98371280e-01 0.00000000e+00 1.33158376e+02] [ 6.98371280e-01 7.15735674e-01 0.00000000e+00 4.62222724e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.93520183e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77037174299997 meters Centerline goodness : 0.995844 Centerline is valid? [True, True] Translation: X:133.18, Y:46.24, Z:0.00 [[ 7.15401298e-01 -6.98713806e-01 0.00000000e+00 1.33180790e+02] [ 6.98713806e-01 7.15401298e-01 0.00000000e+00 4.62433659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39794450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80037174299997 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:133.20, Y:46.27, Z:0.00 [[ 7.17618294e-01 -6.96436634e-01 0.00000000e+00 1.33203542e+02] [ 6.96436634e-01 7.17618294e-01 0.00000000e+00 4.62654629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78588808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83037174299997 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:133.23, Y:46.29, Z:-0.00 [[ 7.19383904e-01 -6.94612697e-01 0.00000000e+00 1.33229103e+02] [ 6.94612697e-01 7.19383904e-01 0.00000000e+00 4.62874980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10818083e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86037174299997 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:133.25, Y:46.31, Z:0.00 [[ 7.20256075e-01 -6.93708286e-01 0.00000000e+00 1.33250482e+02] [ 6.93708286e-01 7.20256075e-01 0.00000000e+00 4.63085099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96871857e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89037174299997 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:133.27, Y:46.33, Z:0.00 [[ 7.21712731e-01 -6.92192701e-01 0.00000000e+00 1.33271987e+02] [ 6.92192701e-01 7.21712731e-01 0.00000000e+00 4.63319959e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87190153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92037174299998 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:133.30, Y:46.35, Z:0.00 [[ 7.22207769e-01 -6.91676180e-01 0.00000000e+00 1.33296373e+02] [ 6.91676180e-01 7.22207769e-01 0.00000000e+00 4.63545756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54940874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95037174299998 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:133.32, Y:46.38, Z:0.00 [[ 7.21678706e-01 -6.92228174e-01 0.00000000e+00 1.33317867e+02] [ 6.92228174e-01 7.21678706e-01 0.00000000e+00 4.63756761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88647720e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98037174299998 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:133.34, Y:46.40, Z:0.00 [[ 7.22694467e-01 -6.91167641e-01 0.00000000e+00 1.33343590e+02] [ 6.91167641e-01 7.22694467e-01 0.00000000e+00 4.63970597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28514521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01037174299998 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:133.37, Y:46.42, Z:0.00 [[ 7.23033486e-01 -6.90812984e-01 0.00000000e+00 1.33367263e+02] [ 6.90812984e-01 7.23033486e-01 0.00000000e+00 4.64191613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06873326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04037174299998 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:133.39, Y:46.44, Z:0.00 [[ 7.22392684e-01 -6.91483051e-01 0.00000000e+00 1.33389259e+02] [ 6.91483051e-01 7.22392684e-01 0.00000000e+00 4.64408590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06186795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07037174299998 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:133.41, Y:46.46, Z:0.00 [[ 7.22775761e-01 -6.91082629e-01 0.00000000e+00 1.33412616e+02] [ 6.91082629e-01 7.22775761e-01 0.00000000e+00 4.64615396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32925361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10037174299998 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:133.44, Y:46.48, Z:0.00 [[ 7.24234392e-01 -6.89553874e-01 0.00000000e+00 1.33440285e+02] [ 6.89553874e-01 7.24234392e-01 0.00000000e+00 4.64832901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45258306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13037174299998 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:133.46, Y:46.50, Z:0.00 [[ 7.24378859e-01 -6.89402110e-01 0.00000000e+00 1.33464434e+02] [ 6.89402110e-01 7.24378859e-01 0.00000000e+00 4.65041265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61637465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16037174299998 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:133.49, Y:46.52, Z:0.00 [[ 7.25215528e-01 -6.88521923e-01 0.00000000e+00 1.33489786e+02] [ 6.88521923e-01 7.25215528e-01 0.00000000e+00 4.65244196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55551782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.190371743 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:133.51, Y:46.55, Z:0.00 [[ 7.24296299e-01 -6.89488848e-01 0.00000000e+00 1.33505140e+02] [ 6.89488848e-01 7.24296299e-01 0.00000000e+00 4.65455050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17828337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.220371743 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:133.54, Y:46.57, Z:0.00 [[ 7.27603784e-01 -6.85997619e-01 0.00000000e+00 1.33537114e+02] [ 6.85997619e-01 7.27603784e-01 0.00000000e+00 4.65660240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96340231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.250371743 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:133.56, Y:46.59, Z:0.00 [[ 7.28858189e-01 -6.84664692e-01 0.00000000e+00 1.33562036e+02] [ 6.84664692e-01 7.28858189e-01 0.00000000e+00 4.65874593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25051101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280371743 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:133.59, Y:46.61, Z:0.00 [[ 7.32232139e-01 -6.81055133e-01 0.00000000e+00 1.33589800e+02] [ 6.81055133e-01 7.32232139e-01 0.00000000e+00 4.66088075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05643553e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.310371743 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:133.62, Y:46.63, Z:0.00 [[ 7.34233021e-01 -6.78897541e-01 0.00000000e+00 1.33615836e+02] [ 6.78897541e-01 7.34233021e-01 0.00000000e+00 4.66292498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62381010e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340371743 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:133.64, Y:46.65, Z:0.00 [[ 7.32709547e-01 -6.80541490e-01 0.00000000e+00 1.33635018e+02] [ 6.80541490e-01 7.32709547e-01 0.00000000e+00 4.66499115e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12017255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.370371743 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:133.65, Y:46.67, Z:0.01 [[ 7.31080927e-01 -6.82290758e-01 0.00000000e+00 1.33648362e+02] [ 6.82290758e-01 7.31080927e-01 0.00000000e+00 4.66693699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57509460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.400371743 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:133.67, Y:46.69, Z:0.01 [[ 7.31849313e-01 -6.81466495e-01 0.00000000e+00 1.33673098e+02] [ 6.81466495e-01 7.31849313e-01 0.00000000e+00 4.66897646e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71701418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.430371743 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:133.70, Y:46.71, Z:0.01 [[ 7.32193626e-01 -6.81096538e-01 0.00000000e+00 1.33698966e+02] [ 6.81096538e-01 7.32193626e-01 0.00000000e+00 4.67109552e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53623569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.460371743 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:133.72, Y:46.73, Z:0.00 [[ 7.32248133e-01 -6.81037937e-01 0.00000000e+00 1.33723862e+02] [ 6.81037937e-01 7.32248133e-01 0.00000000e+00 4.67309766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91147756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.490371743 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:133.76, Y:46.75, Z:0.00 [[ 7.36405164e-01 -6.76540785e-01 0.00000000e+00 1.33764009e+02] [ 6.76540785e-01 7.36405164e-01 0.00000000e+00 4.67501096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52261543e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52037174299997 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:133.77, Y:46.77, Z:0.00 [[ 7.31174267e-01 -6.82190729e-01 0.00000000e+00 1.33773995e+02] [ 6.82190729e-01 7.31174267e-01 0.00000000e+00 4.67683251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13583190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55037174299997 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:133.81, Y:46.79, Z:0.00 [[ 7.35047273e-01 -6.78015860e-01 0.00000000e+00 1.33812641e+02] [ 6.78015860e-01 7.35047273e-01 0.00000000e+00 4.67880777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47738472e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58037174299997 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:133.84, Y:46.81, Z:-0.00 [[ 7.33675956e-01 -6.79499515e-01 0.00000000e+00 1.33836942e+02] [ 6.79499515e-01 7.33675956e-01 0.00000000e+00 4.68057126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40786214e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61037174299997 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:133.86, Y:46.83, Z:-0.00 [[ 7.32573727e-01 -6.80687693e-01 0.00000000e+00 1.33863244e+02] [ 6.80687693e-01 7.32573727e-01 0.00000000e+00 4.68261952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42863201e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64037174299997 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:133.88, Y:46.84, Z:0.00 [[ 7.27813206e-01 -6.85775428e-01 0.00000000e+00 1.33875275e+02] [ 6.85775428e-01 7.27813206e-01 0.00000000e+00 4.68446445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43941429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67037174299998 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:133.91, Y:46.86, Z:-0.00 [[ 7.30548662e-01 -6.82860639e-01 0.00000000e+00 1.33913621e+02] [ 6.82860639e-01 7.30548662e-01 0.00000000e+00 4.68623521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81545902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70037174299998 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:133.94, Y:46.88, Z:-0.00 [[ 7.29377290e-01 -6.84111663e-01 0.00000000e+00 1.33938624e+02] [ 6.84111663e-01 7.29377290e-01 0.00000000e+00 4.68825205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43894989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73037174299998 meters Centerline goodness : 0.995900 Centerline is valid? [True, True] Translation: X:133.96, Y:46.90, Z:-0.00 [[ 7.28502600e-01 -6.85043036e-01 0.00000000e+00 1.33963713e+02] [ 6.85043036e-01 7.28502600e-01 0.00000000e+00 4.69020190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05684144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76037174299998 meters Centerline goodness : 0.996347 Centerline is valid? [True, True] Translation: X:133.98, Y:46.92, Z:0.00 [[ 7.23802648e-01 -6.90007049e-01 0.00000000e+00 1.33977846e+02] [ 6.90007049e-01 7.23802648e-01 0.00000000e+00 4.69193629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08828347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79037174299998 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:134.00, Y:46.94, Z:0.00 [[ 7.23513471e-01 -6.90310262e-01 0.00000000e+00 1.34003947e+02] [ 6.90310262e-01 7.23513471e-01 0.00000000e+00 4.69397165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68502520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82037174299998 meters Centerline goodness : 0.996005 Centerline is valid? [True, True] Translation: X:134.04, Y:46.96, Z:0.00 [[ 7.26172100e-01 -6.87512968e-01 0.00000000e+00 1.34038633e+02] [ 6.87512968e-01 7.26172100e-01 0.00000000e+00 4.69592177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.69020819e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85037174299998 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:134.06, Y:46.98, Z:0.00 [[ 7.25078485e-01 -6.88666240e-01 0.00000000e+00 1.34063844e+02] [ 6.88666240e-01 7.25078485e-01 0.00000000e+00 4.69770242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53789693e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88037174299998 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:134.09, Y:47.00, Z:-0.00 [[ 7.25002479e-01 -6.88746257e-01 0.00000000e+00 1.34089850e+02] [ 6.88746257e-01 7.25002479e-01 0.00000000e+00 4.69963794e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.37724908e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91037174299998 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:134.12, Y:47.02, Z:-0.00 [[ 7.24437907e-01 -6.89340060e-01 0.00000000e+00 1.34116534e+02] [ 6.89340060e-01 7.24437907e-01 0.00000000e+00 4.70169539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99400923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940371743 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:134.14, Y:47.04, Z:-0.00 [[ 7.22969985e-01 -6.90879440e-01 0.00000000e+00 1.34142446e+02] [ 6.90879440e-01 7.22969985e-01 0.00000000e+00 4.70364722e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.84981546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.970371743 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:134.17, Y:47.06, Z:-0.00 [[ 7.22157748e-01 -6.91728406e-01 0.00000000e+00 1.34167480e+02] [ 6.91728406e-01 7.22157748e-01 0.00000000e+00 4.70567375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99187506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000371743 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:134.19, Y:47.08, Z:-0.00 [[ 7.21698244e-01 -6.92207804e-01 0.00000000e+00 1.34193225e+02] [ 6.92207804e-01 7.21698244e-01 0.00000000e+00 4.70770132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67581681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.030371743 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:134.21, Y:47.10, Z:-0.00 [[ 7.17278069e-01 -6.96787035e-01 0.00000000e+00 1.34207931e+02] [ 6.96787035e-01 7.17278069e-01 0.00000000e+00 4.70962637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.21507096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.060371743 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:134.24, Y:47.12, Z:-0.01 [[ 7.21079539e-01 -6.92852292e-01 0.00000000e+00 1.34244760e+02] [ 6.92852292e-01 7.21079539e-01 0.00000000e+00 4.71163009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.05116869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.090371743 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:134.26, Y:47.14, Z:-0.00 [[ 7.16686594e-01 -6.97395387e-01 0.00000000e+00 1.34257192e+02] [ 6.97395387e-01 7.16686594e-01 0.00000000e+00 4.71361196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59162222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.120371743 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:134.29, Y:47.16, Z:-0.00 [[ 7.20630819e-01 -6.93318990e-01 0.00000000e+00 1.34292729e+02] [ 6.93318990e-01 7.20630819e-01 0.00000000e+00 4.71559422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69862431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.150371743 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:134.31, Y:47.18, Z:-0.00 [[ 7.16835678e-01 -6.97242146e-01 0.00000000e+00 1.34305445e+02] [ 6.97242146e-01 7.16835678e-01 0.00000000e+00 4.71753225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89270356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.180371743 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:134.34, Y:47.20, Z:-0.01 [[ 7.21237250e-01 -6.92688118e-01 0.00000000e+00 1.34342732e+02] [ 6.92688118e-01 7.21237250e-01 0.00000000e+00 4.71954754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.04320170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.210371743 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:134.35, Y:47.22, Z:-0.00 [[ 7.16970477e-01 -6.97103533e-01 0.00000000e+00 1.34353948e+02] [ 6.97103533e-01 7.16970477e-01 0.00000000e+00 4.72158180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.37140053e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.240371743 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:134.38, Y:47.24, Z:-0.00 [[ 7.17535970e-01 -6.96521451e-01 0.00000000e+00 1.34378450e+02] [ 6.96521451e-01 7.17535970e-01 0.00000000e+00 4.72367429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.19692666e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27037174299997 meters Centerline goodness : 0.995846 Centerline is valid? [True, True] Translation: X:134.40, Y:47.26, Z:0.00 [[ 7.17776471e-01 -6.96273608e-01 0.00000000e+00 1.34403631e+02] [ 6.96273608e-01 7.17776471e-01 0.00000000e+00 4.72575693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17949881e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30037174299997 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:134.44, Y:47.28, Z:-0.00 [[ 7.21073419e-01 -6.92858662e-01 0.00000000e+00 1.34438576e+02] [ 6.92858662e-01 7.21073419e-01 0.00000000e+00 4.72774852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09004240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33037174299997 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:134.46, Y:47.30, Z:-0.00 [[ 7.19934640e-01 -6.94041868e-01 0.00000000e+00 1.34463874e+02] [ 6.94041868e-01 7.19934640e-01 0.00000000e+00 4.72977046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06770690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36037174299997 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:134.48, Y:47.32, Z:-0.00 [[ 7.15839844e-01 -6.98264504e-01 0.00000000e+00 1.34477085e+02] [ 6.98264504e-01 7.15839844e-01 0.00000000e+00 4.73180423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32274034e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39037174299997 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:134.51, Y:47.34, Z:-0.00 [[ 7.18901429e-01 -6.95112030e-01 0.00000000e+00 1.34513912e+02] [ 6.95112030e-01 7.18901429e-01 0.00000000e+00 4.73384397e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36318723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42037174299998 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:134.54, Y:47.36, Z:-0.00 [[ 7.18691886e-01 -6.95328680e-01 0.00000000e+00 1.34538636e+02] [ 6.95328680e-01 7.18691886e-01 0.00000000e+00 4.73596370e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36318723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45037174299998 meters Centerline goodness : 0.996242 Centerline is valid? [True, True] Translation: X:134.55, Y:47.38, Z:-0.00 [[ 7.13340104e-01 -7.00818020e-01 0.00000000e+00 1.34551058e+02] [ 7.00818020e-01 7.13340104e-01 0.00000000e+00 4.73800723e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92658811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48037174299998 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:134.59, Y:47.40, Z:-0.00 [[ 7.16231354e-01 -6.97862915e-01 0.00000000e+00 1.34587287e+02] [ 6.97862915e-01 7.16231354e-01 0.00000000e+00 4.74011093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.83680398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51037174299998 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:134.61, Y:47.42, Z:-0.01 [[ 7.15430057e-01 -6.98684359e-01 0.00000000e+00 1.34612610e+02] [ 6.98684359e-01 7.15430057e-01 0.00000000e+00 4.74221860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.06686761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54037174299998 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:134.64, Y:47.44, Z:-0.01 [[ 7.14261234e-01 -6.99879197e-01 0.00000000e+00 1.34637230e+02] [ 6.99879197e-01 7.14261234e-01 0.00000000e+00 4.74430937e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17608473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57037174299998 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:134.66, Y:47.46, Z:-0.00 [[ 7.13507759e-01 -7.00647328e-01 0.00000000e+00 1.34660381e+02] [ 7.00647328e-01 7.13507759e-01 0.00000000e+00 4.74644155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.94600425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60037174299998 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:134.68, Y:47.49, Z:-0.00 [[ 7.13859634e-01 -7.00288814e-01 0.00000000e+00 1.34684442e+02] [ 7.00288814e-01 7.13859634e-01 0.00000000e+00 4.74853489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94635310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63037174299998 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:134.71, Y:47.51, Z:-0.00 [[ 7.14474696e-01 -6.99661281e-01 0.00000000e+00 1.34708539e+02] [ 6.99661281e-01 7.14474696e-01 0.00000000e+00 4.75077260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47730536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66037174299998 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:134.73, Y:47.53, Z:-0.00 [[ 7.15606541e-01 -6.98503600e-01 0.00000000e+00 1.34733880e+02] [ 6.98503600e-01 7.15606541e-01 0.00000000e+00 4.75309539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.15214555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.690371743 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:134.75, Y:47.55, Z:-0.00 [[ 7.15111036e-01 -6.99010877e-01 0.00000000e+00 1.34753771e+02] [ 6.99010877e-01 7.15111036e-01 0.00000000e+00 4.75517828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73901605e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.720371743 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:134.78, Y:47.57, Z:-0.00 [[ 7.17216612e-01 -6.96850294e-01 0.00000000e+00 1.34779064e+02] [ 6.96850294e-01 7.17216612e-01 0.00000000e+00 4.75736238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76156164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.750371743 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:134.80, Y:47.60, Z:-0.00 [[ 7.17169533e-01 -6.96898745e-01 0.00000000e+00 1.34802044e+02] [ 6.96898745e-01 7.17169533e-01 0.00000000e+00 4.75950473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47285148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.780371743 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:134.81, Y:47.62, Z:0.00 [[ 7.14121396e-01 -7.00021879e-01 0.00000000e+00 1.34814424e+02] [ 7.00021879e-01 7.14121396e-01 0.00000000e+00 4.76166645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62845367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.810371743 meters Centerline goodness : 0.996346 Centerline is valid? [True, True] Translation: X:134.85, Y:47.64, Z:-0.00 [[ 7.18274969e-01 -6.95759347e-01 0.00000000e+00 1.34851953e+02] [ 6.95759347e-01 7.18274969e-01 0.00000000e+00 4.76386878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.41143421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840371743 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:134.86, Y:47.66, Z:0.00 [[ 7.14258816e-01 -6.99881664e-01 0.00000000e+00 1.34861240e+02] [ 6.99881664e-01 7.14258816e-01 0.00000000e+00 4.76598110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09209716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.870371743 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:134.90, Y:47.68, Z:-0.00 [[ 7.18056799e-01 -6.95984507e-01 0.00000000e+00 1.34896284e+02] [ 6.95984507e-01 7.18056799e-01 0.00000000e+00 4.76798849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76669805e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900371743 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:134.92, Y:47.70, Z:-0.00 [[ 7.17686739e-01 -6.96366099e-01 0.00000000e+00 1.34918954e+02] [ 6.96366099e-01 7.17686739e-01 0.00000000e+00 4.77002386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.08476609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.930371743 meters Centerline goodness : 0.996361 Centerline is valid? [True, True] Translation: X:134.93, Y:47.72, Z:-0.00 [[ 7.13601739e-01 -7.00551609e-01 0.00000000e+00 1.34929147e+02] [ 7.00551609e-01 7.13601739e-01 0.00000000e+00 4.77213651e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51173587e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.960371743 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:134.96, Y:47.74, Z:-0.00 [[ 7.16693687e-01 -6.97388098e-01 0.00000000e+00 1.34961764e+02] [ 6.97388098e-01 7.16693687e-01 0.00000000e+00 4.77388372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.51560760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99037174299997 meters Centerline goodness : 0.995669 Centerline is valid? [True, True] Translation: X:134.97, Y:47.76, Z:-0.00 [[ 7.12975976e-01 -7.01188461e-01 0.00000000e+00 1.34972557e+02] [ 7.01188461e-01 7.12975976e-01 0.00000000e+00 4.77600464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26322713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02037174299997 meters Centerline goodness : 0.996284 Centerline is valid? [True, True] Translation: X:134.99, Y:47.78, Z:-0.00 [[ 7.13785091e-01 -7.00364793e-01 0.00000000e+00 1.34992117e+02] [ 7.00364793e-01 7.13785091e-01 0.00000000e+00 4.77794750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21282769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05037174299997 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:135.01, Y:47.80, Z:-0.00 [[ 7.14360596e-01 -6.99777778e-01 0.00000000e+00 1.35012433e+02] [ 6.99777778e-01 7.14360596e-01 0.00000000e+00 4.77981939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95594310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08037174299997 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:135.03, Y:47.82, Z:-0.00 [[ 7.15015228e-01 -6.99108879e-01 0.00000000e+00 1.35032881e+02] [ 6.99108879e-01 7.15015228e-01 0.00000000e+00 4.78166313e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.04291368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11037174299997 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:135.06, Y:47.83, Z:-0.00 [[ 7.19949970e-01 -6.94025965e-01 0.00000000e+00 1.35062995e+02] [ 6.94025965e-01 7.19949970e-01 0.00000000e+00 4.78332265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14276660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14037174299997 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:135.08, Y:47.86, Z:-0.00 [[ 7.17431915e-01 -6.96628630e-01 0.00000000e+00 1.35077576e+02] [ 6.96628630e-01 7.17431915e-01 0.00000000e+00 4.78568781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50015580e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17037174299998 meters Centerline goodness : 0.995797 Centerline is valid? [True, True] Translation: X:135.10, Y:47.88, Z:-0.00 [[ 7.19017685e-01 -6.94991776e-01 0.00000000e+00 1.35101387e+02] [ 6.94991776e-01 7.19017685e-01 0.00000000e+00 4.78782251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.67260448e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20037174299998 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:135.12, Y:47.90, Z:-0.00 [[ 7.21877837e-01 -6.92020511e-01 0.00000000e+00 1.35124107e+02] [ 6.92020511e-01 7.21877837e-01 0.00000000e+00 4.79005206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.39348950e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23037174299998 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:135.15, Y:47.92, Z:-0.00 [[ 7.22951164e-01 -6.90899135e-01 0.00000000e+00 1.35147770e+02] [ 6.90899135e-01 7.22951164e-01 0.00000000e+00 4.79224640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20564338e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26037174299998 meters Centerline goodness : 0.996185 Centerline is valid? [True, True] Translation: X:135.17, Y:47.94, Z:0.00 [[ 7.24052346e-01 -6.89745026e-01 0.00000000e+00 1.35172648e+02] [ 6.89745026e-01 7.24052346e-01 0.00000000e+00 4.79449607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84187936e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29037174299998 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:135.20, Y:47.97, Z:0.00 [[ 7.25901616e-01 -6.87798549e-01 0.00000000e+00 1.35196782e+02] [ 6.87798549e-01 7.25901616e-01 0.00000000e+00 4.79664619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.65149498e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32037174299998 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:135.22, Y:47.99, Z:0.00 [[ 7.26752448e-01 -6.86899468e-01 0.00000000e+00 1.35221636e+02] [ 6.86899468e-01 7.26752448e-01 0.00000000e+00 4.79877725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01218164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35037174299998 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:135.26, Y:48.01, Z:-0.00 [[ 7.30929458e-01 -6.82453022e-01 0.00000000e+00 1.35256870e+02] [ 6.82453022e-01 7.30929458e-01 0.00000000e+00 4.80086308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.11610023e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38037174299998 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:135.28, Y:48.03, Z:0.00 [[ 7.30667132e-01 -6.82733874e-01 0.00000000e+00 1.35279629e+02] [ 6.82733874e-01 7.30667132e-01 0.00000000e+00 4.80305185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32117039e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41037174299998 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:135.29, Y:48.05, Z:0.00 [[ 7.27156760e-01 -6.86471446e-01 0.00000000e+00 1.35292618e+02] [ 6.86471446e-01 7.27156760e-01 0.00000000e+00 4.80511013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48850875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.440371743 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:135.32, Y:48.07, Z:0.00 [[ 7.27537144e-01 -6.86068294e-01 0.00000000e+00 1.35318435e+02] [ 6.86068294e-01 7.27537144e-01 0.00000000e+00 4.80723419e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65809574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.470371743 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:135.35, Y:48.09, Z:-0.00 [[ 7.30569843e-01 -6.82837979e-01 0.00000000e+00 1.35353514e+02] [ 6.82837979e-01 7.30569843e-01 0.00000000e+00 4.80926630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03665640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500371743 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:135.37, Y:48.11, Z:0.00 [[ 7.26843219e-01 -6.86803418e-01 0.00000000e+00 1.35365905e+02] [ 6.86803418e-01 7.26843219e-01 0.00000000e+00 4.81121481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17544736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.530371743 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:135.39, Y:48.13, Z:0.00 [[ 7.26766072e-01 -6.86885053e-01 0.00000000e+00 1.35390679e+02] [ 6.86885053e-01 7.26766072e-01 0.00000000e+00 4.81331082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19537463e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560371743 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:135.43, Y:48.16, Z:-0.00 [[ 7.32923801e-01 -6.80310739e-01 0.00000000e+00 1.35434309e+02] [ 6.80310739e-01 7.32923801e-01 0.00000000e+00 4.81550970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67962618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.590371743 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:135.43, Y:48.17, Z:0.00 [[ 7.24333281e-01 -6.89449996e-01 0.00000000e+00 1.35434707e+02] [ 6.89449996e-01 7.24333281e-01 0.00000000e+00 4.81735088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15580409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.620371743 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:135.46, Y:48.19, Z:0.00 [[ 7.23512453e-01 -6.90311328e-01 0.00000000e+00 1.35458932e+02] [ 6.90311328e-01 7.23512453e-01 0.00000000e+00 4.81944891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10326573e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.650371743 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:135.50, Y:48.22, Z:-0.00 [[ 7.26126322e-01 -6.87561317e-01 0.00000000e+00 1.35497385e+02] [ 6.87561317e-01 7.26126322e-01 0.00000000e+00 4.82159270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.04863419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.680371743 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:135.51, Y:48.24, Z:-0.00 [[ 7.20958247e-01 -6.92978503e-01 0.00000000e+00 1.35506772e+02] [ 6.92978503e-01 7.20958247e-01 0.00000000e+00 4.82352766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50087072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.710371743 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:135.55, Y:48.26, Z:-0.01 [[ 7.26615867e-01 -6.87043944e-01 0.00000000e+00 1.35549156e+02] [ 6.87043944e-01 7.26615867e-01 0.00000000e+00 4.82571495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.27142985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74037174299997 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:135.55, Y:48.28, Z:-0.00 [[ 7.19614630e-01 -6.94373664e-01 0.00000000e+00 1.35550930e+02] [ 6.94373664e-01 7.19614630e-01 0.00000000e+00 4.82774897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.85978742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77037174299997 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:135.57, Y:48.30, Z:-0.00 [[ 7.19826451e-01 -6.94154075e-01 0.00000000e+00 1.35574914e+02] [ 6.94154075e-01 7.19826451e-01 0.00000000e+00 4.82999846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62873037e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80037174299997 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:135.61, Y:48.32, Z:-0.00 [[ 7.23358630e-01 -6.90472514e-01 0.00000000e+00 1.35609263e+02] [ 6.90472514e-01 7.23358630e-01 0.00000000e+00 4.83218185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.18327272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83037174299997 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:135.63, Y:48.34, Z:-0.00 [[ 7.24062877e-01 -6.89733971e-01 0.00000000e+00 1.35633464e+02] [ 6.89733971e-01 7.24062877e-01 0.00000000e+00 4.83443396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.88399990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86037174299997 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:135.65, Y:48.37, Z:-0.00 [[ 7.23742056e-01 -6.90070602e-01 0.00000000e+00 1.35653977e+02] [ 6.90070602e-01 7.23742056e-01 0.00000000e+00 4.83652735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.70103874e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89037174299997 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:135.67, Y:48.39, Z:0.00 [[ 7.22531563e-01 -6.91337935e-01 0.00000000e+00 1.35667486e+02] [ 6.91337935e-01 7.22531563e-01 0.00000000e+00 4.83863082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50063082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92037174299998 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:135.70, Y:48.41, Z:-0.00 [[ 7.25652489e-01 -6.88061381e-01 0.00000000e+00 1.35699879e+02] [ 6.88061381e-01 7.25652489e-01 0.00000000e+00 4.84093000e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00681958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95037174299998 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:135.73, Y:48.43, Z:-0.00 [[ 7.28111273e-01 -6.85458952e-01 0.00000000e+00 1.35727792e+02] [ 6.85458952e-01 7.28111273e-01 0.00000000e+00 4.84309781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.88511452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98037174299998 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:135.75, Y:48.45, Z:-0.00 [[ 7.25524975e-01 -6.88195838e-01 0.00000000e+00 1.35745981e+02] [ 6.88195838e-01 7.25524975e-01 0.00000000e+00 4.84518810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89443165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01037174299998 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:135.77, Y:48.47, Z:-0.01 [[ 7.26597269e-01 -6.87063613e-01 0.00000000e+00 1.35774978e+02] [ 6.87063613e-01 7.26597269e-01 0.00000000e+00 4.84742007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42056453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04037174299998 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:135.80, Y:48.49, Z:-0.00 [[ 7.24327649e-01 -6.89455913e-01 0.00000000e+00 1.35795144e+02] [ 6.89455913e-01 7.24327649e-01 0.00000000e+00 4.84946515e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03584174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07037174299998 meters Centerline goodness : 0.996643 Centerline is valid? [True, True] Translation: X:135.82, Y:48.52, Z:-0.00 [[ 7.23510542e-01 -6.90313331e-01 0.00000000e+00 1.35817404e+02] [ 6.90313331e-01 7.23510542e-01 0.00000000e+00 4.85161017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.77739825e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10037174299998 meters Centerline goodness : 0.996683 Centerline is valid? [True, True] Translation: X:135.84, Y:48.54, Z:-0.00 [[ 7.23024788e-01 -6.90822087e-01 0.00000000e+00 1.35842240e+02] [ 6.90822087e-01 7.23024788e-01 0.00000000e+00 4.85388891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58127473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13037174299998 meters Centerline goodness : 0.996390 Centerline is valid? [True, True] Translation: X:135.87, Y:48.56, Z:-0.01 [[ 7.23686503e-01 -6.90128861e-01 0.00000000e+00 1.35866897e+02] [ 6.90128861e-01 7.23686503e-01 0.00000000e+00 4.85600968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.15290455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16037174299998 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:135.88, Y:48.58, Z:-0.00 [[ 7.19885690e-01 -6.94092640e-01 0.00000000e+00 1.35878077e+02] [ 6.94092640e-01 7.19885690e-01 0.00000000e+00 4.85805728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11140729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.190371743 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:135.90, Y:48.60, Z:0.00 [[ 7.20591396e-01 -6.93359964e-01 0.00000000e+00 1.35902808e+02] [ 6.93359964e-01 7.20591396e-01 0.00000000e+00 4.86033504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22553836e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220371743 meters Centerline goodness : 0.995767 Centerline is valid? [True, True] Translation: X:135.94, Y:48.63, Z:-0.00 [[ 7.25706336e-01 -6.88004589e-01 0.00000000e+00 1.35939789e+02] [ 6.88004589e-01 7.25706336e-01 0.00000000e+00 4.86255047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92115108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.250371743 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:135.97, Y:48.65, Z:-0.00 [[ 7.26481589e-01 -6.87185929e-01 0.00000000e+00 1.35965083e+02] [ 6.87185929e-01 7.26481589e-01 0.00000000e+00 4.86473378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92433083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280371743 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:135.98, Y:48.67, Z:0.00 [[ 7.24638927e-01 -6.89128744e-01 0.00000000e+00 1.35981083e+02] [ 6.89128744e-01 7.24638927e-01 0.00000000e+00 4.86692362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77123026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.310371743 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:136.01, Y:48.69, Z:0.00 [[ 7.24619254e-01 -6.89149430e-01 0.00000000e+00 1.36006429e+02] [ 6.89149430e-01 7.24619254e-01 0.00000000e+00 4.86911526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77123026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340371743 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:136.02, Y:48.71, Z:0.00 [[ 7.22111415e-01 -6.91776773e-01 0.00000000e+00 1.36021360e+02] [ 6.91776773e-01 7.22111415e-01 0.00000000e+00 4.87119180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20868057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.370371743 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:136.05, Y:48.73, Z:0.00 [[ 7.25578150e-01 -6.88139774e-01 0.00000000e+00 1.36054535e+02] [ 6.88139774e-01 7.25578150e-01 0.00000000e+00 4.87332850e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85762545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400371743 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:136.07, Y:48.75, Z:0.00 [[ 7.22565786e-01 -6.91302166e-01 0.00000000e+00 1.36068604e+02] [ 6.91302166e-01 7.22565786e-01 0.00000000e+00 4.87534731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62171941e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.430371743 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:136.10, Y:48.77, Z:0.00 [[ 7.24970482e-01 -6.88779936e-01 0.00000000e+00 1.36100755e+02] [ 6.88779936e-01 7.24970482e-01 0.00000000e+00 4.87749400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94730891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.460371743 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:136.12, Y:48.80, Z:0.00 [[ 7.22580051e-01 -6.91287256e-01 0.00000000e+00 1.36116437e+02] [ 6.91287256e-01 7.22580051e-01 0.00000000e+00 4.87954632e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36763386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49037174299997 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:136.14, Y:48.82, Z:0.00 [[ 7.23041264e-01 -6.90804843e-01 0.00000000e+00 1.36140612e+02] [ 6.90804843e-01 7.23041264e-01 0.00000000e+00 4.88167343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83435845e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52037174299997 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:136.17, Y:48.84, Z:0.00 [[ 7.26614416e-01 -6.87045479e-01 0.00000000e+00 1.36174248e+02] [ 6.87045479e-01 7.26614416e-01 0.00000000e+00 4.88381731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.76167318e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55037174299997 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:136.20, Y:48.86, Z:0.00 [[ 7.27468523e-01 -6.86141056e-01 0.00000000e+00 1.36196634e+02] [ 6.86141056e-01 7.27468523e-01 0.00000000e+00 4.88593784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47164562e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58037174299997 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:136.21, Y:48.88, Z:0.01 [[ 7.25262223e-01 -6.88472735e-01 0.00000000e+00 1.36211347e+02] [ 6.88472735e-01 7.25262223e-01 0.00000000e+00 4.88800061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13785160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61037174299997 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:136.24, Y:48.90, Z:0.00 [[ 7.29176835e-01 -6.84325319e-01 0.00000000e+00 1.36244732e+02] [ 6.84325319e-01 7.29176835e-01 0.00000000e+00 4.89012139e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19201225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64037174299997 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:136.26, Y:48.92, Z:0.01 [[ 7.26695048e-01 -6.86960194e-01 0.00000000e+00 1.36258427e+02] [ 6.86960194e-01 7.26695048e-01 0.00000000e+00 4.89225230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32414728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67037174299998 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:136.28, Y:48.94, Z:0.00 [[ 7.28598330e-01 -6.84941220e-01 0.00000000e+00 1.36283131e+02] [ 6.84941220e-01 7.28598330e-01 0.00000000e+00 4.89442922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82926025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70037174299998 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:136.31, Y:48.97, Z:0.01 [[ 7.29016654e-01 -6.84495959e-01 0.00000000e+00 1.36308127e+02] [ 6.84495959e-01 7.29016654e-01 0.00000000e+00 4.89663020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32410935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73037174299998 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:136.34, Y:48.99, Z:0.00 [[ 7.32349211e-01 -6.80929243e-01 0.00000000e+00 1.36340252e+02] [ 6.80929243e-01 7.32349211e-01 0.00000000e+00 4.89865899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95563039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76037174299998 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:136.36, Y:49.01, Z:0.00 [[ 7.31008205e-01 -6.82368672e-01 0.00000000e+00 1.36355254e+02] [ 6.82368672e-01 7.31008205e-01 0.00000000e+00 4.90074764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52562023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79037174299998 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:136.39, Y:49.03, Z:0.00 [[ 7.33721675e-01 -6.79450148e-01 0.00000000e+00 1.36386316e+02] [ 6.79450148e-01 7.33721675e-01 0.00000000e+00 4.90279714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87411450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82037174299998 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:136.41, Y:49.05, Z:0.00 [[ 7.33879342e-01 -6.79279847e-01 0.00000000e+00 1.36408995e+02] [ 6.79279847e-01 7.33879342e-01 0.00000000e+00 4.90484146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.94777978e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85037174299998 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:136.43, Y:49.07, Z:0.00 [[ 7.34115631e-01 -6.79024477e-01 0.00000000e+00 1.36434111e+02] [ 6.79024477e-01 7.34115631e-01 0.00000000e+00 4.90695538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.35121818e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88037174299998 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:136.46, Y:49.09, Z:0.00 [[ 7.33548109e-01 -6.79637530e-01 0.00000000e+00 1.36459282e+02] [ 6.79637530e-01 7.33548109e-01 0.00000000e+00 4.90914262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.98071417e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91037174299998 meters Centerline goodness : 0.993341 Centerline is valid? [True, True] Translation: X:136.49, Y:49.11, Z:-0.00 [[ 7.33454375e-01 -6.79738685e-01 0.00000000e+00 1.36485939e+02] [ 6.79738685e-01 7.33454375e-01 0.00000000e+00 4.91125493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00512212e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940371743 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:136.51, Y:49.13, Z:-0.00 [[ 7.33001020e-01 -6.80227539e-01 0.00000000e+00 1.36510524e+02] [ 6.80227539e-01 7.33001020e-01 0.00000000e+00 4.91329482e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26831923e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.970371743 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:136.53, Y:49.15, Z:0.00 [[ 7.31312714e-01 -6.82042311e-01 0.00000000e+00 1.36533601e+02] [ 6.82042311e-01 7.31312714e-01 0.00000000e+00 4.91540820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.35052166e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000371743 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:136.56, Y:49.18, Z:0.00 [[ 7.30645393e-01 -6.82757138e-01 0.00000000e+00 1.36559227e+02] [ 6.82757138e-01 7.30645393e-01 0.00000000e+00 4.91752596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26008644e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.030371743 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:136.58, Y:49.20, Z:-0.00 [[ 7.26572978e-01 -6.87089301e-01 0.00000000e+00 1.36576921e+02] [ 6.87089301e-01 7.26572978e-01 0.00000000e+00 4.91954273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.15899198e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060371743 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:136.60, Y:49.22, Z:0.00 [[ 7.24711245e-01 -6.89052691e-01 0.00000000e+00 1.36601647e+02] [ 6.89052691e-01 7.24711245e-01 0.00000000e+00 4.92175616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65211215e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.090371743 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:136.63, Y:49.24, Z:-0.00 [[ 7.24266087e-01 -6.89520583e-01 0.00000000e+00 1.36634324e+02] [ 6.89520583e-01 7.24266087e-01 0.00000000e+00 4.92366919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.89510840e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120371743 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:136.66, Y:49.26, Z:-0.00 [[ 7.22214794e-01 -6.91668845e-01 0.00000000e+00 1.36658698e+02] [ 6.91668845e-01 7.22214794e-01 0.00000000e+00 4.92570525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24349794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.150371743 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:136.68, Y:49.28, Z:-0.00 [[ 7.19777601e-01 -6.94204728e-01 0.00000000e+00 1.36682469e+02] [ 6.94204728e-01 7.19777601e-01 0.00000000e+00 4.92777092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.62133767e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.180371743 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:136.70, Y:49.30, Z:-0.00 [[ 7.15294304e-01 -6.98823338e-01 0.00000000e+00 1.36698808e+02] [ 6.98823338e-01 7.15294304e-01 0.00000000e+00 4.92973956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70869475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.210371743 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:136.73, Y:49.32, Z:-0.00 [[ 7.16769686e-01 -6.97309986e-01 0.00000000e+00 1.36730321e+02] [ 6.97309986e-01 7.16769686e-01 0.00000000e+00 4.93191152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89685967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24037174299997 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:136.75, Y:49.34, Z:-0.00 [[ 7.14176213e-01 -6.99965954e-01 0.00000000e+00 1.36746009e+02] [ 6.99965954e-01 7.14176213e-01 0.00000000e+00 4.93399122e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02209016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27037174299997 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:136.77, Y:49.36, Z:-0.00 [[ 7.15989226e-01 -6.98111329e-01 0.00000000e+00 1.36773112e+02] [ 6.98111329e-01 7.15989226e-01 0.00000000e+00 4.93620955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.70746375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30037174299997 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:136.79, Y:49.38, Z:-0.00 [[ 7.15767650e-01 -6.98338508e-01 0.00000000e+00 1.36791875e+02] [ 6.98338508e-01 7.15767650e-01 0.00000000e+00 4.93818413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04269058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33037174299997 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:136.82, Y:49.40, Z:-0.00 [[ 7.18390435e-01 -6.95640125e-01 0.00000000e+00 1.36822899e+02] [ 6.95640125e-01 7.18390435e-01 0.00000000e+00 4.94043292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47285991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36037174299997 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:136.84, Y:49.42, Z:-0.00 [[ 7.18022795e-01 -6.96019587e-01 0.00000000e+00 1.36843513e+02] [ 6.96019587e-01 7.18022795e-01 0.00000000e+00 4.94244594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.49022160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39037174299997 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:136.87, Y:49.45, Z:-0.00 [[ 7.20210951e-01 -6.93755134e-01 0.00000000e+00 1.36868361e+02] [ 6.93755134e-01 7.20210951e-01 0.00000000e+00 4.94481036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17192826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42037174299998 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:136.89, Y:49.47, Z:-0.00 [[ 7.22038628e-01 -6.91852745e-01 0.00000000e+00 1.36893788e+02] [ 6.91852745e-01 7.22038628e-01 0.00000000e+00 4.94698685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.62968494e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45037174299998 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:136.91, Y:49.49, Z:0.00 [[ 7.21039289e-01 -6.92894180e-01 0.00000000e+00 1.36908471e+02] [ 6.92894180e-01 7.21039289e-01 0.00000000e+00 4.94893273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60581886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48037174299998 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:136.94, Y:49.51, Z:0.00 [[ 7.25791646e-01 -6.87914593e-01 0.00000000e+00 1.36940687e+02] [ 6.87914593e-01 7.25791646e-01 0.00000000e+00 4.95134120e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.22407286e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51037174299998 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:136.96, Y:49.53, Z:0.00 [[ 7.25994862e-01 -6.87700124e-01 0.00000000e+00 1.36961103e+02] [ 6.87700124e-01 7.25994862e-01 0.00000000e+00 4.95338406e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43131304e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54037174299998 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:136.99, Y:49.56, Z:0.00 [[ 7.28325080e-01 -6.85231769e-01 0.00000000e+00 1.36985433e+02] [ 6.85231769e-01 7.28325080e-01 0.00000000e+00 4.95553438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30653580e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57037174299998 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:137.01, Y:49.58, Z:0.00 [[ 7.28296731e-01 -6.85261900e-01 0.00000000e+00 1.37009971e+02] [ 6.85261900e-01 7.28296731e-01 0.00000000e+00 4.95770207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49038312e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60037174299998 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:137.04, Y:49.60, Z:-0.00 [[ 7.27992438e-01 -6.85585160e-01 0.00000000e+00 1.37035546e+02] [ 6.85585160e-01 7.27992438e-01 0.00000000e+00 4.95989009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18958192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63037174299998 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:137.05, Y:49.62, Z:-0.00 [[ 7.24592381e-01 -6.89177685e-01 0.00000000e+00 1.37049367e+02] [ 6.89177685e-01 7.24592381e-01 0.00000000e+00 4.96185725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53412917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66037174299998 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:137.08, Y:49.64, Z:-0.01 [[ 7.24338384e-01 -6.89444635e-01 0.00000000e+00 1.37078587e+02] [ 6.89444635e-01 7.24338384e-01 0.00000000e+00 4.96393669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47517111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.690371743 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:137.10, Y:49.66, Z:-0.01 [[ 7.23420674e-01 -6.90407509e-01 0.00000000e+00 1.37102464e+02] [ 6.90407509e-01 7.23420674e-01 0.00000000e+00 4.96605307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.66519737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720371743 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:137.12, Y:49.68, Z:-0.01 [[ 7.21769703e-01 -6.92133293e-01 0.00000000e+00 1.37124428e+02] [ 6.92133293e-01 7.21769703e-01 0.00000000e+00 4.96828949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00750704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.750371743 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:137.15, Y:49.70, Z:-0.01 [[ 7.21227451e-01 -6.92698321e-01 0.00000000e+00 1.37148423e+02] [ 6.92698321e-01 7.21227451e-01 0.00000000e+00 4.97047385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88290928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780371743 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:137.17, Y:49.73, Z:-0.01 [[ 7.20865762e-01 -6.93074710e-01 0.00000000e+00 1.37172728e+02] [ 6.93074710e-01 7.20865762e-01 0.00000000e+00 4.97267522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.32437897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.810371743 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:137.19, Y:49.75, Z:-0.00 [[ 7.21338825e-01 -6.92582342e-01 0.00000000e+00 1.37189669e+02] [ 6.92582342e-01 7.21338825e-01 0.00000000e+00 4.97478242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12132543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840371743 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:137.22, Y:49.77, Z:-0.00 [[ 7.23460836e-01 -6.90365424e-01 0.00000000e+00 1.37218274e+02] [ 6.90365424e-01 7.23460836e-01 0.00000000e+00 4.97690336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.78667319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.870371743 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:137.24, Y:49.79, Z:-0.00 [[ 7.23126512e-01 -6.90715605e-01 0.00000000e+00 1.37235062e+02] [ 6.90715605e-01 7.23126512e-01 0.00000000e+00 4.97906766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58827492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900371743 meters Centerline goodness : 0.995694 Centerline is valid? [True, True] Translation: X:137.26, Y:49.81, Z:-0.00 [[ 7.25216384e-01 -6.88521021e-01 0.00000000e+00 1.37258814e+02] [ 6.88521021e-01 7.25216384e-01 0.00000000e+00 4.98139960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08158078e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.930371743 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:137.29, Y:49.84, Z:-0.00 [[ 7.27858767e-01 -6.85727070e-01 0.00000000e+00 1.37291541e+02] [ 6.85727070e-01 7.27858767e-01 0.00000000e+00 4.98357605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00794706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.960371743 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:137.32, Y:49.86, Z:0.00 [[ 7.28197266e-01 -6.85367596e-01 0.00000000e+00 1.37316065e+02] [ 6.85367596e-01 7.28197266e-01 0.00000000e+00 4.98567795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36995534e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99037174299997 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:137.34, Y:49.88, Z:0.00 [[ 7.29076749e-01 -6.84431950e-01 0.00000000e+00 1.37340419e+02] [ 6.84431950e-01 7.29076749e-01 0.00000000e+00 4.98780711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31943169e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02037174299997 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:137.37, Y:49.90, Z:0.00 [[ 7.28851795e-01 -6.84671498e-01 0.00000000e+00 1.37365402e+02] [ 6.84671498e-01 7.28851795e-01 0.00000000e+00 4.98997653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29171945e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05037174299997 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:137.39, Y:49.92, Z:-0.00 [[ 7.29069607e-01 -6.84439558e-01 0.00000000e+00 1.37389645e+02] [ 6.84439558e-01 7.29069607e-01 0.00000000e+00 4.99204575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05374870e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08037174299997 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:137.41, Y:49.94, Z:-0.00 [[ 7.29194394e-01 -6.84306610e-01 0.00000000e+00 1.37413895e+02] [ 6.84306610e-01 7.29194394e-01 0.00000000e+00 4.99412932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.79772300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11037174299997 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:137.44, Y:49.96, Z:-0.00 [[ 7.29142381e-01 -6.84362030e-01 0.00000000e+00 1.37437731e+02] [ 6.84362030e-01 7.29142381e-01 0.00000000e+00 4.99617622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35447745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14037174299997 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:137.46, Y:49.98, Z:-0.01 [[ 7.28993511e-01 -6.84520607e-01 0.00000000e+00 1.37461896e+02] [ 6.84520607e-01 7.28993511e-01 0.00000000e+00 4.99824323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.63779181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17037174299998 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:137.48, Y:50.00, Z:-0.01 [[ 7.28479841e-01 -6.85067239e-01 0.00000000e+00 1.37484721e+02] [ 6.85067239e-01 7.28479841e-01 0.00000000e+00 5.00038065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.29106833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20037174299998 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:137.51, Y:50.03, Z:-0.01 [[ 7.28219137e-01 -6.85344358e-01 0.00000000e+00 1.37509749e+02] [ 6.85344358e-01 7.28219137e-01 0.00000000e+00 5.00258490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55748991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23037174299998 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:137.53, Y:50.05, Z:-0.01 [[ 7.28166617e-01 -6.85400159e-01 0.00000000e+00 1.37534244e+02] [ 6.85400159e-01 7.28166617e-01 0.00000000e+00 5.00471665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.55748991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26037174299998 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:137.55, Y:50.07, Z:-0.01 [[ 7.26466275e-01 -6.87202118e-01 0.00000000e+00 1.37548156e+02] [ 6.87202118e-01 7.26466275e-01 0.00000000e+00 5.00670089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.70829035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29037174299998 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:137.58, Y:50.09, Z:-0.01 [[ 7.29536182e-01 -6.83942219e-01 0.00000000e+00 1.37579950e+02] [ 6.83942219e-01 7.29536182e-01 0.00000000e+00 5.00878334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60116820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32037174299998 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:137.60, Y:50.11, Z:-0.01 [[ 7.27690522e-01 -6.85905608e-01 0.00000000e+00 1.37595294e+02] [ 6.85905608e-01 7.27690522e-01 0.00000000e+00 5.01084325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.97092618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35037174299998 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:137.62, Y:50.13, Z:-0.01 [[ 7.27943272e-01 -6.85637363e-01 0.00000000e+00 1.37620364e+02] [ 6.85637363e-01 7.27943272e-01 0.00000000e+00 5.01306281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.88374505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38037174299998 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:137.65, Y:50.15, Z:-0.01 [[ 7.30088942e-01 -6.83352133e-01 0.00000000e+00 1.37653085e+02] [ 6.83352133e-01 7.30088942e-01 0.00000000e+00 5.01519237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.24365509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41037174299998 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:137.68, Y:50.17, Z:-0.01 [[ 7.29315153e-01 -6.84177907e-01 0.00000000e+00 1.37676819e+02] [ 6.84177907e-01 7.29315153e-01 0.00000000e+00 5.01736668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.41338433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440371743 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:137.70, Y:50.20, Z:-0.00 [[ 7.28599573e-01 -6.84939897e-01 0.00000000e+00 1.37701599e+02] [ 6.84939897e-01 7.28599573e-01 0.00000000e+00 5.01953351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.78583868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.470371743 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:137.73, Y:50.22, Z:-0.00 [[ 7.29376290e-01 -6.84112730e-01 0.00000000e+00 1.37727944e+02] [ 6.84112730e-01 7.29376290e-01 0.00000000e+00 5.02163155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86726846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500371743 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:137.75, Y:50.24, Z:-0.00 [[ 7.28871926e-01 -6.84650068e-01 0.00000000e+00 1.37750509e+02] [ 6.84650068e-01 7.28871926e-01 0.00000000e+00 5.02364505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60775343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.530371743 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:137.78, Y:50.26, Z:-0.00 [[ 7.29043088e-01 -6.84467804e-01 0.00000000e+00 1.37775759e+02] [ 6.84467804e-01 7.29043088e-01 0.00000000e+00 5.02578960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80440982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560371743 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:137.80, Y:50.28, Z:-0.00 [[ 7.28828768e-01 -6.84696010e-01 0.00000000e+00 1.37801935e+02] [ 6.84696010e-01 7.28828768e-01 0.00000000e+00 5.02787354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48485956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.590371743 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:137.81, Y:50.30, Z:-0.01 [[ 7.25000429e-01 -6.88748414e-01 0.00000000e+00 1.37814322e+02] [ 6.88748414e-01 7.25000429e-01 0.00000000e+00 5.02984085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46338030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620371743 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:137.85, Y:50.32, Z:-0.00 [[ 7.28148837e-01 -6.85419048e-01 0.00000000e+00 1.37851510e+02] [ 6.85419048e-01 7.28148837e-01 0.00000000e+00 5.03166231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.30071661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.650371743 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:137.88, Y:50.34, Z:-0.01 [[ 7.27961328e-01 -6.85618192e-01 0.00000000e+00 1.37877275e+02] [ 6.85618192e-01 7.27961328e-01 0.00000000e+00 5.03366625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01769967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.680371743 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:137.90, Y:50.36, Z:-0.01 [[ 7.27651976e-01 -6.85946501e-01 0.00000000e+00 1.37902160e+02] [ 6.85946501e-01 7.27651976e-01 0.00000000e+00 5.03567769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20126446e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.710371743 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:137.93, Y:50.38, Z:-0.01 [[ 7.27400347e-01 -6.86213330e-01 0.00000000e+00 1.37926504e+02] [ 6.86213330e-01 7.27400347e-01 0.00000000e+00 5.03764606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.62967448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74037174299997 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:137.95, Y:50.40, Z:-0.01 [[ 7.27263981e-01 -6.86357853e-01 0.00000000e+00 1.37953695e+02] [ 6.86357853e-01 7.27263981e-01 0.00000000e+00 5.03965656e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12663800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77037174299997 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:137.98, Y:50.42, Z:-0.01 [[ 7.26520004e-01 -6.87145315e-01 0.00000000e+00 1.37977886e+02] [ 6.87145315e-01 7.26520004e-01 0.00000000e+00 5.04180638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03359154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80037174299997 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:138.00, Y:50.44, Z:-0.01 [[ 7.27036879e-01 -6.86598410e-01 0.00000000e+00 1.38002896e+02] [ 6.86598410e-01 7.27036879e-01 0.00000000e+00 5.04387690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12248533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83037174299997 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:138.03, Y:50.46, Z:-0.01 [[ 7.26204987e-01 -6.87478230e-01 0.00000000e+00 1.38026608e+02] [ 6.87478230e-01 7.26204987e-01 0.00000000e+00 5.04599281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05317533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86037174299997 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:138.04, Y:50.48, Z:-0.01 [[ 7.20762895e-01 -6.93181686e-01 0.00000000e+00 1.38035438e+02] [ 6.93181686e-01 7.20762895e-01 0.00000000e+00 5.04792635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83097747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89037174299997 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:138.07, Y:50.50, Z:-0.01 [[ 7.24898869e-01 -6.88855304e-01 0.00000000e+00 1.38072625e+02] [ 6.88855304e-01 7.24898869e-01 0.00000000e+00 5.04982215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.73990992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92037174299998 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:138.10, Y:50.52, Z:-0.01 [[ 7.24959540e-01 -6.88791453e-01 0.00000000e+00 1.38098146e+02] [ 6.88791453e-01 7.24959540e-01 0.00000000e+00 5.05183135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.63566387e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95037174299998 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:138.12, Y:50.54, Z:-0.01 [[ 7.24191864e-01 -6.89598538e-01 0.00000000e+00 1.38122660e+02] [ 6.89598538e-01 7.24191864e-01 0.00000000e+00 5.05381017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.57968708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98037174299998 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:138.15, Y:50.56, Z:-0.01 [[ 7.23673349e-01 -6.90142655e-01 0.00000000e+00 1.38146666e+02] [ 6.90142655e-01 7.23673349e-01 0.00000000e+00 5.05591602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.99225215e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01037174299998 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:138.17, Y:50.58, Z:-0.01 [[ 7.22861990e-01 -6.90992434e-01 0.00000000e+00 1.38172483e+02] [ 6.90992434e-01 7.22861990e-01 0.00000000e+00 5.05791520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81203213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04037174299998 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:138.20, Y:50.60, Z:-0.01 [[ 7.22538911e-01 -6.91330255e-01 0.00000000e+00 1.38196887e+02] [ 6.91330255e-01 7.22538911e-01 0.00000000e+00 5.05991144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.65772976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07037174299998 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:138.22, Y:50.62, Z:-0.01 [[ 7.21025085e-01 -6.92908960e-01 0.00000000e+00 1.38220932e+02] [ 6.92908960e-01 7.21025085e-01 0.00000000e+00 5.06198882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.40966991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10037174299998 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:138.23, Y:50.64, Z:-0.00 [[ 7.15400476e-01 -6.98714648e-01 0.00000000e+00 1.38231145e+02] [ 6.98714648e-01 7.15400476e-01 0.00000000e+00 5.06385958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.05070517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13037174299998 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:138.27, Y:50.66, Z:-0.01 [[ 7.19385427e-01 -6.94611120e-01 0.00000000e+00 1.38267292e+02] [ 6.94611120e-01 7.19385427e-01 0.00000000e+00 5.06579657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.93345412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16037174299998 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:138.30, Y:50.68, Z:-0.01 [[ 7.20773325e-01 -6.93170841e-01 0.00000000e+00 1.38297331e+02] [ 6.93170841e-01 7.20773325e-01 0.00000000e+00 5.06804587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.27950931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.190371743 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:138.32, Y:50.70, Z:-0.00 [[ 7.18382026e-01 -6.95648809e-01 0.00000000e+00 1.38315383e+02] [ 6.95648809e-01 7.18382026e-01 0.00000000e+00 5.06987891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66255468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.220371743 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:138.34, Y:50.72, Z:-0.00 [[ 7.17314078e-01 -6.96749965e-01 0.00000000e+00 1.38338036e+02] [ 6.96749965e-01 7.17314078e-01 0.00000000e+00 5.07197514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38418786e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.250371743 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:138.36, Y:50.74, Z:-0.00 [[ 7.17131985e-01 -6.96937383e-01 0.00000000e+00 1.38362925e+02] [ 6.96937383e-01 7.17131985e-01 0.00000000e+00 5.07406732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.65677555e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280371743 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:138.39, Y:50.76, Z:0.00 [[ 7.16521641e-01 -6.97564863e-01 0.00000000e+00 1.38385263e+02] [ 6.97564863e-01 7.16521641e-01 0.00000000e+00 5.07608156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94562281e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.310371743 meters Centerline goodness : 0.995421 Centerline is valid? [True, True] Translation: X:138.41, Y:50.78, Z:0.00 [[ 7.15446339e-01 -6.98667686e-01 0.00000000e+00 1.38410059e+02] [ 6.98667686e-01 7.15446339e-01 0.00000000e+00 5.07814253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34137708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340371743 meters Centerline goodness : 0.995127 Centerline is valid? [True, True] Translation: X:138.43, Y:50.80, Z:0.00 [[ 7.14583957e-01 -6.99549690e-01 0.00000000e+00 1.38434616e+02] [ 6.99549690e-01 7.14583957e-01 0.00000000e+00 5.08027272e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40013186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.370371743 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:138.46, Y:50.82, Z:0.00 [[ 7.12300500e-01 -7.01874631e-01 0.00000000e+00 1.38459737e+02] [ 7.01874631e-01 7.12300500e-01 0.00000000e+00 5.08229064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94480797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400371743 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:138.48, Y:50.84, Z:0.00 [[ 7.10980442e-01 -7.03211783e-01 0.00000000e+00 1.38483031e+02] [ 7.03211783e-01 7.10980442e-01 0.00000000e+00 5.08432017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08391154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.430371743 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:138.50, Y:50.86, Z:0.00 [[ 7.07482185e-01 -7.06731178e-01 0.00000000e+00 1.38500147e+02] [ 7.06731178e-01 7.07482185e-01 0.00000000e+00 5.08643129e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70901404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.460371743 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:138.53, Y:50.88, Z:0.00 [[ 7.08235641e-01 -7.05976117e-01 0.00000000e+00 1.38532421e+02] [ 7.05976117e-01 7.08235641e-01 0.00000000e+00 5.08844627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29231716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49037174299997 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:138.56, Y:50.91, Z:0.00 [[ 7.06813852e-01 -7.07399589e-01 0.00000000e+00 1.38556198e+02] [ 7.07399589e-01 7.06813852e-01 0.00000000e+00 5.09055228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89088364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52037174299997 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:138.58, Y:50.93, Z:0.00 [[ 7.06124387e-01 -7.08087813e-01 0.00000000e+00 1.38580459e+02] [ 7.08087813e-01 7.06124387e-01 0.00000000e+00 5.09252215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65718849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55037174299997 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:138.60, Y:50.94, Z:0.00 [[ 7.02519807e-01 -7.11664191e-01 0.00000000e+00 1.38597604e+02] [ 7.11664191e-01 7.02519807e-01 0.00000000e+00 5.09449561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63362041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58037174299997 meters Centerline goodness : 0.995841 Centerline is valid? [True, True] Translation: X:138.63, Y:50.97, Z:0.00 [[ 7.05864285e-01 -7.08347098e-01 0.00000000e+00 1.38631219e+02] [ 7.08347098e-01 7.05864285e-01 0.00000000e+00 5.09652023e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53025914e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61037174299997 meters Centerline goodness : 0.996197 Centerline is valid? [True, True] Translation: X:138.65, Y:50.99, Z:0.00 [[ 7.02875384e-01 -7.11313007e-01 0.00000000e+00 1.38646051e+02] [ 7.11313007e-01 7.02875384e-01 0.00000000e+00 5.09857545e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63717713e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64037174299997 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:138.68, Y:51.01, Z:0.00 [[ 7.07259520e-01 -7.06954010e-01 0.00000000e+00 1.38678203e+02] [ 7.06954010e-01 7.07259520e-01 0.00000000e+00 5.10062609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58252960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67037174299998 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:138.70, Y:51.03, Z:0.00 [[ 7.08742242e-01 -7.05467529e-01 0.00000000e+00 1.38702693e+02] [ 7.05467529e-01 7.08742242e-01 0.00000000e+00 5.10273787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63164134e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70037174299998 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:138.73, Y:51.05, Z:0.00 [[ 7.12337755e-01 -7.01836821e-01 0.00000000e+00 1.38728637e+02] [ 7.01836821e-01 7.12337755e-01 0.00000000e+00 5.10485524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12677633e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73037174299998 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:138.75, Y:51.07, Z:0.00 [[ 7.13636167e-01 -7.00516538e-01 0.00000000e+00 1.38751587e+02] [ 7.00516538e-01 7.13636167e-01 0.00000000e+00 5.10697328e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68378164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76037174299998 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:138.78, Y:51.09, Z:0.00 [[ 7.15202425e-01 -6.98917371e-01 0.00000000e+00 1.38776801e+02] [ 6.98917371e-01 7.15202425e-01 0.00000000e+00 5.10917477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11135592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79037174299998 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:138.80, Y:51.11, Z:0.00 [[ 7.17551035e-01 -6.96505931e-01 0.00000000e+00 1.38800746e+02] [ 6.96505931e-01 7.17551035e-01 0.00000000e+00 5.11136673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90487056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82037174299998 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:138.83, Y:51.14, Z:-0.00 [[ 7.18893311e-01 -6.95120427e-01 0.00000000e+00 1.38827257e+02] [ 6.95120427e-01 7.18893311e-01 0.00000000e+00 5.11357534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01181912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85037174299998 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:138.85, Y:51.16, Z:-0.00 [[ 7.19135643e-01 -6.94869719e-01 0.00000000e+00 1.38848709e+02] [ 6.94869719e-01 7.19135643e-01 0.00000000e+00 5.11555351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.64807708e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88037174299998 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:138.87, Y:51.18, Z:-0.00 [[ 7.19872534e-01 -6.94106285e-01 0.00000000e+00 1.38874993e+02] [ 6.94106285e-01 7.19872534e-01 0.00000000e+00 5.11771660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.88471385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91037174299998 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:138.90, Y:51.20, Z:-0.01 [[ 7.21277580e-01 -6.92646124e-01 0.00000000e+00 1.38901418e+02] [ 6.92646124e-01 7.21277580e-01 0.00000000e+00 5.11984395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33490554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940371743 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:138.93, Y:51.22, Z:-0.01 [[ 7.21494158e-01 -6.92420523e-01 0.00000000e+00 1.38925510e+02] [ 6.92420523e-01 7.21494158e-01 0.00000000e+00 5.12191634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.60842769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.970371743 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:138.93, Y:51.24, Z:-0.00 [[ 7.16156397e-01 -6.97939837e-01 0.00000000e+00 1.38934569e+02] [ 6.97939837e-01 7.16156397e-01 0.00000000e+00 5.12403748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.33638552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.000371743 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:138.97, Y:51.26, Z:-0.00 [[ 7.20958535e-01 -6.92978203e-01 0.00000000e+00 1.38972073e+02] [ 6.92978203e-01 7.20958535e-01 0.00000000e+00 5.12614009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.28331200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.030371743 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:138.98, Y:51.28, Z:0.00 [[ 7.16012487e-01 -6.98087472e-01 0.00000000e+00 1.38981273e+02] [ 6.98087472e-01 7.16012487e-01 0.00000000e+00 5.12820333e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78778856e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.060371743 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:139.02, Y:51.30, Z:-0.00 [[ 7.20696788e-01 -6.93250416e-01 0.00000000e+00 1.39018235e+02] [ 6.93250416e-01 7.20696788e-01 0.00000000e+00 5.13020254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72919683e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.090371743 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:139.04, Y:51.32, Z:0.00 [[ 7.19849769e-01 -6.94129894e-01 0.00000000e+00 1.39041166e+02] [ 6.94129894e-01 7.19849769e-01 0.00000000e+00 5.13233976e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77099254e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120371743 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:139.07, Y:51.34, Z:0.00 [[ 7.19737205e-01 -6.94246610e-01 0.00000000e+00 1.39065460e+02] [ 6.94246610e-01 7.19737205e-01 0.00000000e+00 5.13449203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77099254e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.150371743 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:139.09, Y:51.37, Z:0.00 [[ 7.19447281e-01 -6.94547054e-01 0.00000000e+00 1.39090117e+02] [ 6.94547054e-01 7.19447281e-01 0.00000000e+00 5.13661574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20607060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.180371743 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:139.11, Y:51.39, Z:0.00 [[ 7.19609587e-01 -6.94378889e-01 0.00000000e+00 1.39114595e+02] [ 6.94378889e-01 7.19609587e-01 0.00000000e+00 5.13866766e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61296176e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.210371743 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:139.13, Y:51.41, Z:0.00 [[ 7.13688333e-01 -7.00463392e-01 0.00000000e+00 1.39125430e+02] [ 7.00463392e-01 7.13688333e-01 0.00000000e+00 5.14058387e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58451887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24037174299997 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:139.16, Y:51.43, Z:-0.00 [[ 7.17492936e-01 -6.96565780e-01 0.00000000e+00 1.39162507e+02] [ 6.96565780e-01 7.17492936e-01 0.00000000e+00 5.14253369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.79291513e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27037174299997 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:139.19, Y:51.44, Z:-0.00 [[ 7.16031218e-01 -6.98068259e-01 0.00000000e+00 1.39187408e+02] [ 6.98068259e-01 7.16031218e-01 0.00000000e+00 5.14448104e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31279526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30037174299997 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:139.20, Y:51.46, Z:0.00 [[ 7.11199023e-01 -7.02990719e-01 0.00000000e+00 1.39198673e+02] [ 7.02990719e-01 7.11199023e-01 0.00000000e+00 5.14649513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89744133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33037174299997 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:139.24, Y:51.49, Z:-0.00 [[ 7.16504437e-01 -6.97582534e-01 0.00000000e+00 1.39238574e+02] [ 6.97582534e-01 7.16504437e-01 0.00000000e+00 5.14853418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78503765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36037174299997 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:139.25, Y:51.50, Z:0.00 [[ 7.11385929e-01 -7.02801580e-01 0.00000000e+00 1.39247644e+02] [ 7.02801580e-01 7.11385929e-01 0.00000000e+00 5.15030675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13801459e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39037174299997 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:139.27, Y:51.52, Z:-0.00 [[ 7.11096199e-01 -7.03094727e-01 0.00000000e+00 1.39271937e+02] [ 7.03094727e-01 7.11096199e-01 0.00000000e+00 5.15239058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26924082e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42037174299998 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:139.31, Y:51.54, Z:-0.00 [[ 7.16089501e-01 -6.98008472e-01 0.00000000e+00 1.39308968e+02] [ 6.98008472e-01 7.16089501e-01 0.00000000e+00 5.15434789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.55710336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45037174299998 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:139.32, Y:51.56, Z:-0.00 [[ 7.12007036e-01 -7.02172330e-01 0.00000000e+00 1.39319898e+02] [ 7.02172330e-01 7.12007036e-01 0.00000000e+00 5.15630428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.30954139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48037174299998 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:139.36, Y:51.59, Z:-0.01 [[ 7.17793928e-01 -6.96255612e-01 0.00000000e+00 1.39360195e+02] [ 6.96255612e-01 7.17793928e-01 0.00000000e+00 5.15850575e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42430768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51037174299998 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:139.37, Y:51.60, Z:-0.00 [[ 7.11671239e-01 -7.02512667e-01 0.00000000e+00 1.39365659e+02] [ 7.02512667e-01 7.11671239e-01 0.00000000e+00 5.16043078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40279029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54037174299998 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:139.41, Y:51.63, Z:-0.01 [[ 7.17737135e-01 -6.96314157e-01 0.00000000e+00 1.39405501e+02] [ 6.96314157e-01 7.17737135e-01 0.00000000e+00 5.16253362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.40074817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57037174299998 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:139.41, Y:51.65, Z:0.00 [[ 7.12223622e-01 -7.01952642e-01 0.00000000e+00 1.39413520e+02] [ 7.01952642e-01 7.12223622e-01 0.00000000e+00 5.16461747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55438547e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60037174299998 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:139.44, Y:51.67, Z:0.00 [[ 7.12559086e-01 -7.01612107e-01 0.00000000e+00 1.39438122e+02] [ 7.01612107e-01 7.12559086e-01 0.00000000e+00 5.16676384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48957481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63037174299998 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:139.46, Y:51.69, Z:0.00 [[ 7.13025929e-01 -7.01137665e-01 0.00000000e+00 1.39463426e+02] [ 7.01137665e-01 7.13025929e-01 0.00000000e+00 5.16891273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09254315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66037174299998 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:139.50, Y:51.71, Z:-0.00 [[ 7.18298980e-01 -6.95734558e-01 0.00000000e+00 1.39503163e+02] [ 6.95734558e-01 7.18298980e-01 0.00000000e+00 5.17111736e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13930462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.690371743 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:139.51, Y:51.73, Z:0.00 [[ 7.11795481e-01 -7.02386783e-01 0.00000000e+00 1.39510596e+02] [ 7.02386783e-01 7.11795481e-01 0.00000000e+00 5.17308084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90590305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.720371743 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:139.55, Y:51.75, Z:-0.00 [[ 7.16595349e-01 -6.97489144e-01 0.00000000e+00 1.39550024e+02] [ 6.97489144e-01 7.16595349e-01 0.00000000e+00 5.17517626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47522929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.750371743 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:139.57, Y:51.77, Z:-0.00 [[ 7.14521943e-01 -6.99613031e-01 0.00000000e+00 1.39570778e+02] [ 6.99613031e-01 7.14521943e-01 0.00000000e+00 5.17709685e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.40935689e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.780371743 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:139.60, Y:51.79, Z:-0.00 [[ 7.11981309e-01 -7.02198417e-01 0.00000000e+00 1.39595962e+02] [ 7.02198417e-01 7.11981309e-01 0.00000000e+00 5.17904855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.47669319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.810371743 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:139.62, Y:51.81, Z:-0.00 [[ 7.09912108e-01 -7.04290280e-01 0.00000000e+00 1.39620329e+02] [ 7.04290280e-01 7.09912108e-01 0.00000000e+00 5.18116057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79291847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.840371743 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:139.65, Y:51.83, Z:-0.00 [[ 7.08404061e-01 -7.05807117e-01 0.00000000e+00 1.39645884e+02] [ 7.05807117e-01 7.08404061e-01 0.00000000e+00 5.18327325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03441712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.870371743 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:139.67, Y:51.85, Z:-0.00 [[ 7.05544467e-01 -7.08665651e-01 0.00000000e+00 1.39671826e+02] [ 7.08665651e-01 7.05544467e-01 0.00000000e+00 5.18531824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.37120827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.900371743 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:139.68, Y:51.87, Z:-0.00 [[ 6.99735702e-01 -7.14401811e-01 0.00000000e+00 1.39682512e+02] [ 7.14401811e-01 6.99735702e-01 0.00000000e+00 5.18734623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.60624695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.930371743 meters Centerline goodness : 0.995691 Centerline is valid? [True, True] Translation: X:139.72, Y:51.89, Z:-0.01 [[ 7.03657000e-01 -7.10539814e-01 0.00000000e+00 1.39719200e+02] [ 7.10539814e-01 7.03657000e-01 0.00000000e+00 5.18936228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12582277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.960371743 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:139.74, Y:51.91, Z:-0.00 [[ 7.02856149e-01 -7.11332014e-01 0.00000000e+00 1.39742803e+02] [ 7.11332014e-01 7.02856149e-01 0.00000000e+00 5.19146213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36053487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99037174299997 meters Centerline goodness : 0.995702 Centerline is valid? [True, True] Translation: X:139.77, Y:51.94, Z:-0.00 [[ 7.02552258e-01 -7.11632155e-01 0.00000000e+00 1.39765548e+02] [ 7.11632155e-01 7.02552258e-01 0.00000000e+00 5.19357958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.33499029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02037174299997 meters Centerline goodness : 0.996039 Centerline is valid? [True, True] Translation: X:139.78, Y:51.96, Z:-0.00 [[ 6.98745745e-01 -7.15370102e-01 0.00000000e+00 1.39777010e+02] [ 7.15370102e-01 6.98745745e-01 0.00000000e+00 5.19568978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45169048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05037174299997 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:139.80, Y:51.98, Z:-0.00 [[ 6.99621686e-01 -7.14513468e-01 0.00000000e+00 1.39801802e+02] [ 7.14513468e-01 6.99621686e-01 0.00000000e+00 5.19779126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.39956363e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08037174299997 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:139.83, Y:52.00, Z:-0.00 [[ 7.00465752e-01 -7.13686017e-01 0.00000000e+00 1.39827077e+02] [ 7.13686017e-01 7.00465752e-01 0.00000000e+00 5.19990399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48161824e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11037174299997 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:139.86, Y:52.02, Z:-0.00 [[ 7.05529093e-01 -7.08680957e-01 0.00000000e+00 1.39862400e+02] [ 7.08680957e-01 7.05529093e-01 0.00000000e+00 5.20188114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46774194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14037174299997 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:139.87, Y:52.04, Z:0.00 [[ 7.01893606e-01 -7.12281802e-01 0.00000000e+00 1.39874048e+02] [ 7.12281802e-01 7.01893606e-01 0.00000000e+00 5.20394519e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91896195e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17037174299998 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:139.90, Y:52.06, Z:0.00 [[ 7.02626322e-01 -7.11559029e-01 0.00000000e+00 1.39898725e+02] [ 7.11559029e-01 7.02626322e-01 0.00000000e+00 5.20612864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60573721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20037174299998 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:139.92, Y:52.08, Z:0.00 [[ 7.03893611e-01 -7.10305417e-01 0.00000000e+00 1.39922664e+02] [ 7.10305417e-01 7.03893611e-01 0.00000000e+00 5.20825649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22453489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23037174299998 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:139.96, Y:52.10, Z:-0.00 [[ 7.08043946e-01 -7.06168372e-01 0.00000000e+00 1.39956713e+02] [ 7.06168372e-01 7.08043946e-01 0.00000000e+00 5.21030915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.72298587e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26037174299998 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:139.97, Y:52.12, Z:0.00 [[ 7.05197381e-01 -7.09011040e-01 0.00000000e+00 1.39970191e+02] [ 7.09011040e-01 7.05197381e-01 0.00000000e+00 5.21236438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41143946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29037174299998 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:140.00, Y:52.15, Z:0.00 [[ 7.06098559e-01 -7.08113568e-01 0.00000000e+00 1.39995358e+02] [ 7.08113568e-01 7.06098559e-01 0.00000000e+00 5.21455923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24619884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32037174299998 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:140.02, Y:52.17, Z:0.00 [[ 7.08434051e-01 -7.05777016e-01 0.00000000e+00 1.40018105e+02] [ 7.05777016e-01 7.08434051e-01 0.00000000e+00 5.21670823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24752754e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35037174299998 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:140.04, Y:52.19, Z:0.00 [[ 7.09930313e-01 -7.04271930e-01 0.00000000e+00 1.40041451e+02] [ 7.04271930e-01 7.09930313e-01 0.00000000e+00 5.21888472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41282979e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38037174299998 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:140.07, Y:52.21, Z:0.00 [[ 7.11430475e-01 -7.02756486e-01 0.00000000e+00 1.40065560e+02] [ 7.02756486e-01 7.11430475e-01 0.00000000e+00 5.22114061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07290476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41037174299998 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:140.10, Y:52.23, Z:-0.00 [[ 7.20125082e-01 -6.93844267e-01 0.00000000e+00 1.40102492e+02] [ 6.93844267e-01 7.20125082e-01 0.00000000e+00 5.22341362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72006643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440371743 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:140.11, Y:52.26, Z:0.00 [[ 7.16572177e-01 -6.97512949e-01 0.00000000e+00 1.40109856e+02] [ 6.97512949e-01 7.16572177e-01 0.00000000e+00 5.22551347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90476901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.470371743 meters Centerline goodness : 0.995480 Centerline is valid? [True, True] Translation: X:140.13, Y:52.28, Z:0.00 [[ 7.18515809e-01 -6.95510627e-01 0.00000000e+00 1.40133788e+02] [ 6.95510627e-01 7.18515809e-01 0.00000000e+00 5.22774467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34594277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500371743 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:140.16, Y:52.30, Z:0.00 [[ 7.22145517e-01 -6.91741175e-01 0.00000000e+00 1.40156045e+02] [ 6.91741175e-01 7.22145517e-01 0.00000000e+00 5.23004703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01982101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.530371743 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:140.20, Y:52.32, Z:-0.00 [[ 7.30749248e-01 -6.82645982e-01 0.00000000e+00 1.40197457e+02] [ 6.82645982e-01 7.30749248e-01 0.00000000e+00 5.23234547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65660768e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560371743 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:140.20, Y:52.34, Z:0.01 [[ 7.27106760e-01 -6.86524406e-01 0.00000000e+00 1.40198294e+02] [ 6.86524406e-01 7.27106760e-01 0.00000000e+00 5.23440835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31530069e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.590371743 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:140.24, Y:52.37, Z:0.00 [[ 7.34580293e-01 -6.78521771e-01 0.00000000e+00 1.40238508e+02] [ 6.78521771e-01 7.34580293e-01 0.00000000e+00 5.23662882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22333044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620371743 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:140.26, Y:52.39, Z:0.00 [[ 7.35204288e-01 -6.77845598e-01 0.00000000e+00 1.40262263e+02] [ 6.77845598e-01 7.35204288e-01 0.00000000e+00 5.23878487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69468992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.650371743 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:140.27, Y:52.41, Z:0.01 [[ 7.29996310e-01 -6.83451086e-01 0.00000000e+00 1.40266139e+02] [ 6.83451086e-01 7.29996310e-01 0.00000000e+00 5.24080790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64618360e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.680371743 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:140.30, Y:52.43, Z:0.00 [[ 7.35174309e-01 -6.77878112e-01 0.00000000e+00 1.40302299e+02] [ 6.77878112e-01 7.35174309e-01 0.00000000e+00 5.24287168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76648458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.710371743 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:140.31, Y:52.45, Z:0.01 [[ 7.30718742e-01 -6.82678636e-01 0.00000000e+00 1.40312548e+02] [ 6.82678636e-01 7.30718742e-01 0.00000000e+00 5.24504858e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32035761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74037174299997 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:140.34, Y:52.47, Z:0.01 [[ 7.30919680e-01 -6.82463494e-01 0.00000000e+00 1.40336420e+02] [ 6.82463494e-01 7.30919680e-01 0.00000000e+00 5.24718635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73405644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77037174299997 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:140.36, Y:52.49, Z:0.01 [[ 7.30571405e-01 -6.82836307e-01 0.00000000e+00 1.40362051e+02] [ 6.82836307e-01 7.30571405e-01 0.00000000e+00 5.24935158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99165781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80037174299997 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:140.39, Y:52.51, Z:0.01 [[ 7.30224219e-01 -6.83207575e-01 0.00000000e+00 1.40387436e+02] [ 6.83207575e-01 7.30224219e-01 0.00000000e+00 5.25146935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12798982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83037174299997 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:140.42, Y:52.53, Z:0.00 [[ 7.31898577e-01 -6.81413585e-01 0.00000000e+00 1.40420191e+02] [ 6.81413585e-01 7.31898577e-01 0.00000000e+00 5.25346289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74647002e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86037174299997 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:140.43, Y:52.56, Z:0.00 [[ 7.28178221e-01 -6.85387830e-01 0.00000000e+00 1.40434915e+02] [ 6.85387830e-01 7.28178221e-01 0.00000000e+00 5.25558217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60932480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89037174299997 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:140.46, Y:52.58, Z:0.00 [[ 7.27686150e-01 -6.85910247e-01 0.00000000e+00 1.40460391e+02] [ 6.85910247e-01 7.27686150e-01 0.00000000e+00 5.25776465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90543029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92037174299998 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:140.49, Y:52.60, Z:0.00 [[ 7.25807837e-01 -6.87897509e-01 0.00000000e+00 1.40485412e+02] [ 6.87897509e-01 7.25807837e-01 0.00000000e+00 5.25996622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80380284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95037174299998 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:140.51, Y:52.62, Z:0.00 [[ 7.25192378e-01 -6.88546305e-01 0.00000000e+00 1.40509823e+02] [ 6.88546305e-01 7.25192378e-01 0.00000000e+00 5.26198951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28455543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98037174299998 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:140.55, Y:52.64, Z:-0.00 [[ 7.30100615e-01 -6.83339661e-01 0.00000000e+00 1.40551023e+02] [ 6.83339661e-01 7.30100615e-01 0.00000000e+00 5.26400695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.39073439e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01037174299998 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:140.56, Y:52.66, Z:0.00 [[ 7.21931549e-01 -6.91964477e-01 0.00000000e+00 1.40557848e+02] [ 6.91964477e-01 7.21931549e-01 0.00000000e+00 5.26583886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21824088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04037174299998 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:140.58, Y:52.68, Z:0.00 [[ 7.22124368e-01 -6.91763252e-01 0.00000000e+00 1.40583203e+02] [ 6.91763252e-01 7.22124368e-01 0.00000000e+00 5.26804779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21824088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07037174299998 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:140.61, Y:52.70, Z:0.00 [[ 7.20731750e-01 -6.93214068e-01 0.00000000e+00 1.40608154e+02] [ 6.93214068e-01 7.20731750e-01 0.00000000e+00 5.27021697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75518006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10037174299998 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:140.63, Y:52.72, Z:0.00 [[ 7.19061109e-01 -6.94946848e-01 0.00000000e+00 1.40633842e+02] [ 6.94946848e-01 7.19061109e-01 0.00000000e+00 5.27232930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45018896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13037174299998 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:140.66, Y:52.75, Z:0.00 [[ 7.18437406e-01 -6.95591614e-01 0.00000000e+00 1.40659292e+02] [ 6.95591614e-01 7.18437406e-01 0.00000000e+00 5.27452207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40721201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16037174299998 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:140.70, Y:52.77, Z:-0.00 [[ 7.23865267e-01 -6.89941356e-01 0.00000000e+00 1.40698760e+02] [ 6.89941356e-01 7.23865267e-01 0.00000000e+00 5.27658509e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.66837734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.190371743 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:140.71, Y:52.78, Z:-0.00 [[ 7.17434336e-01 -6.96626136e-01 0.00000000e+00 1.40706530e+02] [ 6.96626136e-01 7.17434336e-01 0.00000000e+00 5.27848580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18578626e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.220371743 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:140.74, Y:52.81, Z:-0.01 [[ 7.22191827e-01 -6.91692826e-01 0.00000000e+00 1.40744089e+02] [ 6.91692826e-01 7.22191827e-01 0.00000000e+00 5.28060988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.84137705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.250371743 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:140.76, Y:52.83, Z:-0.00 [[ 7.20437123e-01 -6.93520261e-01 0.00000000e+00 1.40762828e+02] [ 6.93520261e-01 7.20437123e-01 0.00000000e+00 5.28265105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.12893365e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.280371743 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:140.79, Y:52.85, Z:-0.00 [[ 7.19832563e-01 -6.94147737e-01 0.00000000e+00 1.40786196e+02] [ 6.94147737e-01 7.19832563e-01 0.00000000e+00 5.28475910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76238632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.310371743 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:140.81, Y:52.87, Z:-0.00 [[ 7.19075055e-01 -6.94932418e-01 0.00000000e+00 1.40809851e+02] [ 6.94932418e-01 7.19075055e-01 0.00000000e+00 5.28690563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67043794e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340371743 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:140.83, Y:52.89, Z:-0.00 [[ 7.15854204e-01 -6.98249782e-01 0.00000000e+00 1.40827796e+02] [ 6.98249782e-01 7.15854204e-01 0.00000000e+00 5.28891696e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63767004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.370371743 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:140.87, Y:52.91, Z:-0.01 [[ 7.20319382e-01 -6.93642551e-01 0.00000000e+00 1.40865671e+02] [ 6.93642551e-01 7.20319382e-01 0.00000000e+00 5.29103344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.94142704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400371743 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:140.89, Y:52.93, Z:-0.01 [[ 7.18581437e-01 -6.95442822e-01 0.00000000e+00 1.40889773e+02] [ 6.95442822e-01 7.18581437e-01 0.00000000e+00 5.29324604e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23938217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.430371743 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:140.90, Y:52.95, Z:-0.00 [[ 7.12325244e-01 -7.01849518e-01 0.00000000e+00 1.40898564e+02] [ 7.01849518e-01 7.12325244e-01 0.00000000e+00 5.29521123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.71466817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.460371743 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:140.92, Y:52.97, Z:-0.00 [[ 7.10422834e-01 -7.03775104e-01 0.00000000e+00 1.40923618e+02] [ 7.03775104e-01 7.10422834e-01 0.00000000e+00 5.29743908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87268631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49037174299997 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:140.95, Y:53.00, Z:-0.00 [[ 7.09483697e-01 -7.04721849e-01 0.00000000e+00 1.40947638e+02] [ 7.04721849e-01 7.09483697e-01 0.00000000e+00 5.29952898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.60523585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52037174299997 meters Centerline goodness : 0.995832 Centerline is valid? [True, True] Translation: X:140.98, Y:53.02, Z:-0.00 [[ 7.10070369e-01 -7.04130720e-01 0.00000000e+00 1.40978459e+02] [ 7.04130720e-01 7.10070369e-01 0.00000000e+00 5.30163580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85085793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55037174299997 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:140.99, Y:53.03, Z:-0.01 [[ 7.08712009e-01 -7.05497901e-01 0.00000000e+00 1.40993123e+02] [ 7.05497901e-01 7.08712009e-01 0.00000000e+00 5.30332108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.17449577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58037174299997 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:141.02, Y:53.05, Z:-0.00 [[ 7.08286140e-01 -7.05925452e-01 0.00000000e+00 1.41019038e+02] [ 7.05925452e-01 7.08286140e-01 0.00000000e+00 5.30546513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.14737669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61037174299997 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:141.04, Y:53.08, Z:-0.01 [[ 7.11159924e-01 -7.03030271e-01 0.00000000e+00 1.41043153e+02] [ 7.03030271e-01 7.11159924e-01 0.00000000e+00 5.30752999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.50351441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64037174299997 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:141.06, Y:53.10, Z:-0.00 [[ 7.06378782e-01 -7.07834032e-01 0.00000000e+00 1.41057772e+02] [ 7.07834032e-01 7.06378782e-01 0.00000000e+00 5.30990718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.83434473e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67037174299998 meters Centerline goodness : 0.996361 Centerline is valid? [True, True] Translation: X:141.09, Y:53.12, Z:-0.01 [[ 7.10561860e-01 -7.03634737e-01 0.00000000e+00 1.41090387e+02] [ 7.03634737e-01 7.10561860e-01 0.00000000e+00 5.31214166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77812583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70037174299998 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:141.11, Y:53.15, Z:-0.01 [[ 7.12812345e-01 -7.01354804e-01 0.00000000e+00 1.41112045e+02] [ 7.01354804e-01 7.12812345e-01 0.00000000e+00 5.31460847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.53032527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73037174299998 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:141.14, Y:53.17, Z:-0.01 [[ 7.14517606e-01 -6.99617461e-01 0.00000000e+00 1.41136043e+02] [ 6.99617461e-01 7.14517606e-01 0.00000000e+00 5.31691342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.92346556e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76037174299998 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:141.15, Y:53.19, Z:-0.00 [[ 7.11349323e-01 -7.02838631e-01 0.00000000e+00 1.41146217e+02] [ 7.02838631e-01 7.11349323e-01 0.00000000e+00 5.31914641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33970406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79037174299998 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:141.18, Y:53.22, Z:-0.01 [[ 7.17553281e-01 -6.96503617e-01 0.00000000e+00 1.41177426e+02] [ 6.96503617e-01 7.17553281e-01 0.00000000e+00 5.32162094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94370431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82037174299998 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:141.20, Y:53.24, Z:-0.01 [[ 7.18217457e-01 -6.95818716e-01 0.00000000e+00 1.41200208e+02] [ 6.95818716e-01 7.18217457e-01 0.00000000e+00 5.32391708e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.55275087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85037174299998 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:141.22, Y:53.26, Z:-0.00 [[ 7.18206799e-01 -6.95829716e-01 0.00000000e+00 1.41219653e+02] [ 6.95829716e-01 7.18206799e-01 0.00000000e+00 5.32626792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39219038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88037174299998 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:141.24, Y:53.28, Z:-0.00 [[ 7.17050984e-01 -6.97020722e-01 0.00000000e+00 1.41240956e+02] [ 6.97020722e-01 7.17050984e-01 0.00000000e+00 5.32848633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10946680e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91037174299998 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:141.26, Y:53.31, Z:0.00 [[ 7.16490448e-01 -6.97596902e-01 0.00000000e+00 1.41264585e+02] [ 6.97596902e-01 7.16490448e-01 0.00000000e+00 5.33071978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15037339e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940371743 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:141.28, Y:53.33, Z:0.00 [[ 7.12984289e-01 -7.01180008e-01 0.00000000e+00 1.41279383e+02] [ 7.01180008e-01 7.12984289e-01 0.00000000e+00 5.33290713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44137954e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.970371743 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:141.31, Y:53.35, Z:0.00 [[ 7.14117599e-01 -7.00025753e-01 0.00000000e+00 1.41310061e+02] [ 7.00025753e-01 7.14117599e-01 0.00000000e+00 5.33510317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11889191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000371743 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:141.33, Y:53.37, Z:0.00 [[ 7.11356219e-01 -7.02831651e-01 0.00000000e+00 1.41325470e+02] [ 7.02831651e-01 7.11356219e-01 0.00000000e+00 5.33713570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44151358e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.030371743 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:141.36, Y:53.39, Z:-0.00 [[ 7.16243950e-01 -6.97849987e-01 0.00000000e+00 1.41361995e+02] [ 6.97849987e-01 7.16243950e-01 0.00000000e+00 5.33927111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.94634752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060371743 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:141.37, Y:53.41, Z:0.00 [[ 7.12635040e-01 -7.01534960e-01 0.00000000e+00 1.41372267e+02] [ 7.01534960e-01 7.12635040e-01 0.00000000e+00 5.34123961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65279684e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.090371743 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:141.40, Y:53.43, Z:0.00 [[ 7.14702956e-01 -6.99428112e-01 0.00000000e+00 1.41396133e+02] [ 6.99428112e-01 7.14702956e-01 0.00000000e+00 5.34342215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30091901e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120371743 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:141.43, Y:53.46, Z:-0.00 [[ 7.19624766e-01 -6.94363159e-01 0.00000000e+00 1.41430967e+02] [ 6.94363159e-01 7.19624766e-01 0.00000000e+00 5.34569134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23996700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.150371743 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:141.45, Y:53.48, Z:-0.00 [[ 7.21099254e-01 -6.92831773e-01 0.00000000e+00 1.41454927e+02] [ 6.92831773e-01 7.21099254e-01 0.00000000e+00 5.34789973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23427187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.180371743 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:141.46, Y:53.50, Z:0.00 [[ 7.18976557e-01 -6.95034323e-01 0.00000000e+00 1.41464580e+02] [ 6.95034323e-01 7.18976557e-01 0.00000000e+00 5.35006231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63361377e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.210371743 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:141.49, Y:53.52, Z:0.00 [[ 7.20014815e-01 -6.93958692e-01 0.00000000e+00 1.41489247e+02] [ 6.93958692e-01 7.20014815e-01 0.00000000e+00 5.35228988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35254052e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24037174299997 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:141.51, Y:53.54, Z:0.00 [[ 7.20857291e-01 -6.93083520e-01 0.00000000e+00 1.41513070e+02] [ 6.93083520e-01 7.20857291e-01 0.00000000e+00 5.35443357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36147875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27037174299997 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:141.55, Y:53.57, Z:0.00 [[ 7.24484567e-01 -6.89291021e-01 0.00000000e+00 1.41546088e+02] [ 6.89291021e-01 7.24484567e-01 0.00000000e+00 5.35661932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77258009e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30037174299997 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:141.57, Y:53.59, Z:0.00 [[ 7.23986912e-01 -6.89813707e-01 0.00000000e+00 1.41569818e+02] [ 6.89813707e-01 7.23986912e-01 0.00000000e+00 5.35870779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86805714e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33037174299997 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:141.60, Y:53.61, Z:-0.00 [[ 7.22626890e-01 -6.91238293e-01 0.00000000e+00 1.41595432e+02] [ 6.91238293e-01 7.22626890e-01 0.00000000e+00 5.36081055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01139615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36037174299997 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:141.61, Y:53.63, Z:0.00 [[ 7.17498116e-01 -6.96560445e-01 0.00000000e+00 1.41607646e+02] [ 6.96560445e-01 7.17498116e-01 0.00000000e+00 5.36282237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59423403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39037174299997 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:141.64, Y:53.65, Z:-0.00 [[ 7.20764772e-01 -6.93179733e-01 0.00000000e+00 1.41644112e+02] [ 6.93179733e-01 7.20764772e-01 0.00000000e+00 5.36489784e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.04681065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42037174299998 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:141.67, Y:53.67, Z:-0.00 [[ 7.19233104e-01 -6.94768841e-01 0.00000000e+00 1.41668091e+02] [ 6.94768841e-01 7.19233104e-01 0.00000000e+00 5.36698675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12100501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45037174299998 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:141.69, Y:53.69, Z:-0.00 [[ 7.15973141e-01 -6.98127826e-01 0.00000000e+00 1.41691912e+02] [ 6.98127826e-01 7.15973141e-01 0.00000000e+00 5.36903316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.65626147e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48037174299998 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:141.72, Y:53.71, Z:-0.00 [[ 7.14063303e-01 -7.00081138e-01 0.00000000e+00 1.41718248e+02] [ 7.00081138e-01 7.14063303e-01 0.00000000e+00 5.37109583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92566281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51037174299998 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:141.74, Y:53.73, Z:-0.00 [[ 7.12523628e-01 -7.01648116e-01 0.00000000e+00 1.41741432e+02] [ 7.01648116e-01 7.12523628e-01 0.00000000e+00 5.37314623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18494715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54037174299998 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:141.77, Y:53.75, Z:-0.00 [[ 7.11795263e-01 -7.02387004e-01 0.00000000e+00 1.41766641e+02] [ 7.02387004e-01 7.11795263e-01 0.00000000e+00 5.37526243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.90299551e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57037174299998 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:141.79, Y:53.77, Z:-0.00 [[ 7.11751523e-01 -7.02431327e-01 0.00000000e+00 1.41790344e+02] [ 7.02431327e-01 7.11751523e-01 0.00000000e+00 5.37728116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28539949e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60037174299998 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:141.82, Y:53.79, Z:0.00 [[ 7.11048946e-01 -7.03142515e-01 0.00000000e+00 1.41815514e+02] [ 7.03142515e-01 7.11048946e-01 0.00000000e+00 5.37939592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90627921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63037174299998 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:141.83, Y:53.81, Z:0.01 [[ 7.07116337e-01 -7.07097225e-01 0.00000000e+00 1.41828052e+02] [ 7.07097225e-01 7.07116337e-01 0.00000000e+00 5.38141467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43734729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66037174299998 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:141.85, Y:53.84, Z:0.00 [[ 7.06883146e-01 -7.07330345e-01 0.00000000e+00 1.41853983e+02] [ 7.07330345e-01 7.06883146e-01 0.00000000e+00 5.38351182e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84778147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.690371743 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:141.89, Y:53.86, Z:0.00 [[ 7.09852272e-01 -7.04350589e-01 0.00000000e+00 1.41887698e+02] [ 7.04350589e-01 7.09852272e-01 0.00000000e+00 5.38555995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89635155e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720371743 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:141.90, Y:53.87, Z:0.00 [[ 7.06088514e-01 -7.08123585e-01 0.00000000e+00 1.41901700e+02] [ 7.08123585e-01 7.06088514e-01 0.00000000e+00 5.38745012e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64628508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.750371743 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:141.94, Y:53.89, Z:0.00 [[ 7.08617398e-01 -7.05592931e-01 0.00000000e+00 1.41936706e+02] [ 7.05592931e-01 7.08617398e-01 0.00000000e+00 5.38941493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48885965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780371743 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:141.95, Y:53.92, Z:-0.00 [[ 7.04407510e-01 -7.09795787e-01 0.00000000e+00 1.41950726e+02] [ 7.09795787e-01 7.04407510e-01 0.00000000e+00 5.39151633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12196368e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.810371743 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:141.99, Y:53.93, Z:-0.00 [[ 7.07439165e-01 -7.06774242e-01 0.00000000e+00 1.41986642e+02] [ 7.06774242e-01 7.07439165e-01 0.00000000e+00 5.39342364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35588865e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840371743 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:142.01, Y:53.96, Z:-0.00 [[ 7.07243220e-01 -7.06970316e-01 0.00000000e+00 1.42012345e+02] [ 7.06970316e-01 7.07243220e-01 0.00000000e+00 5.39556983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.54948318e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.870371743 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:142.03, Y:53.97, Z:-0.00 [[ 7.08649878e-01 -7.05560309e-01 0.00000000e+00 1.42034062e+02] [ 7.05560309e-01 7.08649878e-01 0.00000000e+00 5.39746381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07603462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.900371743 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:142.06, Y:54.00, Z:-0.00 [[ 7.07813206e-01 -7.06399649e-01 0.00000000e+00 1.42060735e+02] [ 7.06399649e-01 7.07813206e-01 0.00000000e+00 5.39975855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24808454e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.930371743 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:142.09, Y:54.02, Z:-0.00 [[ 7.07555460e-01 -7.06657817e-01 0.00000000e+00 1.42085060e+02] [ 7.06657817e-01 7.07555460e-01 0.00000000e+00 5.40191682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24808454e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.960371743 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:142.11, Y:54.04, Z:-0.00 [[ 7.08533067e-01 -7.05677612e-01 0.00000000e+00 1.42108704e+02] [ 7.05677612e-01 7.08533067e-01 0.00000000e+00 5.40399623e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.78820575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99037174299997 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:142.13, Y:54.06, Z:-0.00 [[ 7.09282475e-01 -7.04924372e-01 0.00000000e+00 1.42134741e+02] [ 7.04924372e-01 7.09282475e-01 0.00000000e+00 5.40620163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20452218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02037174299997 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:142.16, Y:54.08, Z:-0.01 [[ 7.11193104e-01 -7.02996706e-01 0.00000000e+00 1.42158412e+02] [ 7.02996706e-01 7.11193104e-01 0.00000000e+00 5.40817047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90660148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05037174299997 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:142.18, Y:54.10, Z:-0.00 [[ 7.11828632e-01 -7.02353186e-01 0.00000000e+00 1.42181662e+02] [ 7.02353186e-01 7.11828632e-01 0.00000000e+00 5.41026059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98721106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08037174299997 meters Centerline goodness : 0.994614 Centerline is valid? [True, True] Translation: X:142.19, Y:54.12, Z:0.00 [[ 7.08026162e-01 -7.06186203e-01 0.00000000e+00 1.42191383e+02] [ 7.06186203e-01 7.08026162e-01 0.00000000e+00 5.41229520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71498048e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11037174299997 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:142.23, Y:54.14, Z:0.00 [[ 7.11947356e-01 -7.02232841e-01 0.00000000e+00 1.42225411e+02] [ 7.02232841e-01 7.11947356e-01 0.00000000e+00 5.41445112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83906072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14037174299997 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:142.25, Y:54.17, Z:-0.00 [[ 7.12727739e-01 -7.01440782e-01 0.00000000e+00 1.42252339e+02] [ 7.01440782e-01 7.12727739e-01 0.00000000e+00 5.41650253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.51980187e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17037174299998 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:142.26, Y:54.18, Z:0.00 [[ 7.07812862e-01 -7.06399995e-01 0.00000000e+00 1.42263915e+02] [ 7.06399995e-01 7.07812862e-01 0.00000000e+00 5.41840728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50352779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20037174299998 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:142.30, Y:54.20, Z:0.00 [[ 7.10657580e-01 -7.03538061e-01 0.00000000e+00 1.42299485e+02] [ 7.03538061e-01 7.10657580e-01 0.00000000e+00 5.42042329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27599992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23037174299998 meters Centerline goodness : 0.994795 Centerline is valid? [True, True] Translation: X:142.31, Y:54.22, Z:0.00 [[ 7.05574167e-01 -7.08636081e-01 0.00000000e+00 1.42313658e+02] [ 7.08636081e-01 7.05574167e-01 0.00000000e+00 5.42235208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35888481e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26037174299998 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:142.35, Y:54.24, Z:0.00 [[ 7.08028612e-01 -7.06183747e-01 0.00000000e+00 1.42347369e+02] [ 7.06183747e-01 7.08028612e-01 0.00000000e+00 5.42426940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63511396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29037174299998 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:142.37, Y:54.26, Z:0.00 [[ 7.05665644e-01 -7.08544987e-01 0.00000000e+00 1.42372852e+02] [ 7.08544987e-01 7.05665644e-01 0.00000000e+00 5.42625375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00230649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32037174299998 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:142.39, Y:54.28, Z:0.00 [[ 7.02028022e-01 -7.12149322e-01 0.00000000e+00 1.42389200e+02] [ 7.12149322e-01 7.02028022e-01 0.00000000e+00 5.42825756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50180829e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35037174299998 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:142.42, Y:54.30, Z:0.00 [[ 7.03107277e-01 -7.11083791e-01 0.00000000e+00 1.42423600e+02] [ 7.11083791e-01 7.03107277e-01 0.00000000e+00 5.43021706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38381139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38037174299998 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:142.45, Y:54.32, Z:0.00 [[ 7.02171500e-01 -7.12007854e-01 0.00000000e+00 1.42449235e+02] [ 7.12007854e-01 7.02171500e-01 0.00000000e+00 5.43234035e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34876828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41037174299998 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:142.47, Y:54.34, Z:-0.00 [[ 7.02257540e-01 -7.11922993e-01 0.00000000e+00 1.42474158e+02] [ 7.11922993e-01 7.02257540e-01 0.00000000e+00 5.43429496e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.83777723e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.440371743 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:142.50, Y:54.36, Z:0.00 [[ 7.01111924e-01 -7.13051240e-01 0.00000000e+00 1.42498864e+02] [ 7.13051240e-01 7.01111924e-01 0.00000000e+00 5.43631469e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16078455e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.470371743 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:142.52, Y:54.38, Z:-0.00 [[ 7.01796612e-01 -7.12377369e-01 0.00000000e+00 1.42524135e+02] [ 7.12377369e-01 7.01796612e-01 0.00000000e+00 5.43836225e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44076783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500371743 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:142.55, Y:54.41, Z:-0.00 [[ 7.02209482e-01 -7.11970395e-01 0.00000000e+00 1.42549667e+02] [ 7.11970395e-01 7.02209482e-01 0.00000000e+00 5.44051561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20408103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.530371743 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:142.56, Y:54.42, Z:0.00 [[ 6.98709995e-01 -7.15405021e-01 0.00000000e+00 1.42561331e+02] [ 7.15405021e-01 6.98709995e-01 0.00000000e+00 5.44238743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85052495e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.560371743 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:142.59, Y:54.44, Z:0.00 [[ 6.99421482e-01 -7.14709445e-01 0.00000000e+00 1.42587068e+02] [ 7.14709445e-01 6.99421482e-01 0.00000000e+00 5.44447435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72489306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.590371743 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:142.61, Y:54.47, Z:0.00 [[ 6.99685596e-01 -7.14450885e-01 0.00000000e+00 1.42611794e+02] [ 7.14450885e-01 6.99685596e-01 0.00000000e+00 5.44654822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84019976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620371743 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:142.65, Y:54.49, Z:-0.00 [[ 7.04839410e-01 -7.09366905e-01 0.00000000e+00 1.42649665e+02] [ 7.09366905e-01 7.04839410e-01 0.00000000e+00 5.44851138e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.59407409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.650371743 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:142.67, Y:54.51, Z:-0.00 [[ 7.04671519e-01 -7.09533685e-01 0.00000000e+00 1.42673325e+02] [ 7.09533685e-01 7.04671519e-01 0.00000000e+00 5.45050570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15429103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.680371743 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:142.70, Y:54.52, Z:-0.00 [[ 7.04051151e-01 -7.10149264e-01 0.00000000e+00 1.42699657e+02] [ 7.10149264e-01 7.04051151e-01 0.00000000e+00 5.45243299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24261243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.710371743 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:142.72, Y:54.55, Z:-0.00 [[ 7.02833756e-01 -7.11354139e-01 0.00000000e+00 1.42724005e+02] [ 7.11354139e-01 7.02833756e-01 0.00000000e+00 5.45455673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62733812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74037174299997 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:142.75, Y:54.56, Z:-0.00 [[ 7.01841897e-01 -7.12332754e-01 0.00000000e+00 1.42748506e+02] [ 7.12332754e-01 7.01841897e-01 0.00000000e+00 5.45642891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00188162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77037174299997 meters Centerline goodness : 0.995096 Centerline is valid? [True, True] Translation: X:142.77, Y:54.58, Z:-0.00 [[ 7.01847882e-01 -7.12326856e-01 0.00000000e+00 1.42774493e+02] [ 7.12326856e-01 7.01847882e-01 0.00000000e+00 5.45848601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44972569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80037174299997 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:142.80, Y:54.61, Z:-0.00 [[ 7.01427353e-01 -7.12740954e-01 0.00000000e+00 1.42798266e+02] [ 7.12740954e-01 7.01427353e-01 0.00000000e+00 5.46054567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24748958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83037174299997 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:142.82, Y:54.63, Z:-0.00 [[ 7.00948252e-01 -7.13212134e-01 0.00000000e+00 1.42822214e+02] [ 7.13212134e-01 7.00948252e-01 0.00000000e+00 5.46265382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.63691699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86037174299997 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:142.83, Y:54.65, Z:0.00 [[ 6.96692179e-01 -7.17370202e-01 0.00000000e+00 1.42832808e+02] [ 7.17370202e-01 6.96692179e-01 0.00000000e+00 5.46461293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.67562152e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89037174299997 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:142.87, Y:54.67, Z:-0.00 [[ 7.00364353e-01 -7.13785523e-01 0.00000000e+00 1.42870150e+02] [ 7.13785523e-01 7.00364353e-01 0.00000000e+00 5.46655047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.86044861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92037174299998 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:142.89, Y:54.69, Z:-0.00 [[ 6.99948990e-01 -7.14192839e-01 0.00000000e+00 1.42894700e+02] [ 7.14192839e-01 6.99948990e-01 0.00000000e+00 5.46856970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.52492647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95037174299998 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:142.92, Y:54.71, Z:-0.00 [[ 6.99512586e-01 -7.14620278e-01 0.00000000e+00 1.42919425e+02] [ 7.14620278e-01 6.99512586e-01 0.00000000e+00 5.47064781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94604353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98037174299998 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:142.94, Y:54.73, Z:-0.01 [[ 6.99450620e-01 -7.14680929e-01 0.00000000e+00 1.42944033e+02] [ 7.14680929e-01 6.99450620e-01 0.00000000e+00 5.47266069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67615074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01037174299998 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:142.97, Y:54.75, Z:-0.00 [[ 6.97513277e-01 -7.16571859e-01 0.00000000e+00 1.42970173e+02] [ 7.16571859e-01 6.97513277e-01 0.00000000e+00 5.47472321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.58376787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04037174299998 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:142.99, Y:54.77, Z:-0.00 [[ 6.95505036e-01 -7.18521221e-01 0.00000000e+00 1.42992599e+02] [ 7.18521221e-01 6.95505036e-01 0.00000000e+00 5.47659323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90795855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07037174299998 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:143.02, Y:54.79, Z:-0.00 [[ 6.94627704e-01 -7.19369413e-01 0.00000000e+00 1.43016158e+02] [ 7.19369413e-01 6.94627704e-01 0.00000000e+00 5.47868523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35953999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10037174299998 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:143.04, Y:54.81, Z:-0.00 [[ 6.95838692e-01 -7.18198103e-01 0.00000000e+00 1.43041447e+02] [ 7.18198103e-01 6.95838692e-01 0.00000000e+00 5.48080508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.91871183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13037174299998 meters Centerline goodness : 0.996153 Centerline is valid? [True, True] Translation: X:143.05, Y:54.83, Z:0.00 [[ 6.90667831e-01 -7.23172142e-01 0.00000000e+00 1.43048603e+02] [ 7.23172142e-01 6.90667831e-01 0.00000000e+00 5.48277215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67156765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16037174299998 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:143.07, Y:54.85, Z:0.00 [[ 6.92031792e-01 -7.21867023e-01 0.00000000e+00 1.43072349e+02] [ 7.21867023e-01 6.92031792e-01 0.00000000e+00 5.48488451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42691488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.190371743 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:143.11, Y:54.87, Z:-0.00 [[ 6.99121924e-01 -7.15002473e-01 0.00000000e+00 1.43110232e+02] [ 7.15002473e-01 6.99121924e-01 0.00000000e+00 5.48699087e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12611896e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220371743 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:143.14, Y:54.89, Z:-0.00 [[ 7.01236406e-01 -7.12928821e-01 0.00000000e+00 1.43137170e+02] [ 7.12928821e-01 7.01236406e-01 0.00000000e+00 5.48918006e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.99122639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.250371743 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:143.14, Y:54.91, Z:0.00 [[ 6.96246578e-01 -7.17802691e-01 0.00000000e+00 1.43142774e+02] [ 7.17802691e-01 6.96246578e-01 0.00000000e+00 5.49124048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66121275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.280371743 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:143.18, Y:54.93, Z:-0.00 [[ 7.06285050e-01 -7.07927558e-01 0.00000000e+00 1.43184397e+02] [ 7.07927558e-01 7.06285050e-01 0.00000000e+00 5.49348870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.59762614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.310371743 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:143.21, Y:54.96, Z:-0.00 [[ 7.07378368e-01 -7.06835090e-01 0.00000000e+00 1.43206740e+02] [ 7.06835090e-01 7.07378368e-01 0.00000000e+00 5.49571684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.87796314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340371743 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:143.23, Y:54.98, Z:-0.00 [[ 7.08897866e-01 -7.05311148e-01 0.00000000e+00 1.43230835e+02] [ 7.05311148e-01 7.08897866e-01 0.00000000e+00 5.49801146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44904687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.370371743 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:143.25, Y:55.00, Z:-0.00 [[ 7.12370976e-01 -7.01803101e-01 0.00000000e+00 1.43252823e+02] [ 7.01803101e-01 7.12370976e-01 0.00000000e+00 5.50031394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67906435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400371743 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:143.26, Y:55.02, Z:0.00 [[ 7.06944253e-01 -7.07269272e-01 0.00000000e+00 1.43255424e+02] [ 7.07269272e-01 7.06944253e-01 0.00000000e+00 5.50244458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84341681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.430371743 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:143.27, Y:55.05, Z:0.00 [[ 7.09630624e-01 -7.04573898e-01 0.00000000e+00 1.43273778e+02] [ 7.04573898e-01 7.09630624e-01 0.00000000e+00 5.50450394e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70682461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.460371743 meters Centerline goodness : 0.995354 Centerline is valid? [True, True] Translation: X:143.30, Y:55.07, Z:0.01 [[ 7.10889839e-01 -7.03303375e-01 0.00000000e+00 1.43297491e+02] [ 7.03303375e-01 7.10889839e-01 0.00000000e+00 5.50683658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50045053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49037174299997 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:143.32, Y:55.09, Z:0.01 [[ 7.11826903e-01 -7.02354939e-01 0.00000000e+00 1.43320462e+02] [ 7.02354939e-01 7.11826903e-01 0.00000000e+00 5.50905954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27816595e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52037174299997 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:143.34, Y:55.11, Z:0.01 [[ 7.12135918e-01 -7.02041618e-01 0.00000000e+00 1.43343206e+02] [ 7.02041618e-01 7.12135918e-01 0.00000000e+00 5.51148690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73799426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55037174299997 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:143.39, Y:55.14, Z:-0.00 [[ 7.20728003e-01 -6.93217964e-01 0.00000000e+00 1.43389467e+02] [ 6.93217964e-01 7.20728003e-01 0.00000000e+00 5.51371383e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.81818383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58037174299997 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:143.39, Y:55.16, Z:0.00 [[ 7.10355908e-01 -7.03842656e-01 0.00000000e+00 1.43385635e+02] [ 7.03842656e-01 7.10355908e-01 0.00000000e+00 5.51585689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25472978e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61037174299997 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:143.41, Y:55.18, Z:0.01 [[ 7.09599760e-01 -7.04604982e-01 0.00000000e+00 1.43409953e+02] [ 7.04604982e-01 7.09599760e-01 0.00000000e+00 5.51816261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14344570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64037174299997 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:143.43, Y:55.20, Z:0.01 [[ 7.08811000e-01 -7.05398445e-01 0.00000000e+00 1.43434516e+02] [ 7.05398445e-01 7.08811000e-01 0.00000000e+00 5.52041530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95879425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67037174299998 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:143.46, Y:55.23, Z:0.01 [[ 7.06144321e-01 -7.08067933e-01 0.00000000e+00 1.43457714e+02] [ 7.08067933e-01 7.06144321e-01 0.00000000e+00 5.52280155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11719162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70037174299998 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:143.50, Y:55.25, Z:-0.00 [[ 7.11149237e-01 -7.03041082e-01 0.00000000e+00 1.43498630e+02] [ 7.03041082e-01 7.11149237e-01 0.00000000e+00 5.52495681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.19533406e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73037174299998 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:143.52, Y:55.27, Z:0.00 [[ 7.07740443e-01 -7.06472551e-01 0.00000000e+00 1.43521266e+02] [ 7.06472551e-01 7.07740443e-01 0.00000000e+00 5.52736588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42211779e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76037174299998 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:143.55, Y:55.30, Z:0.00 [[ 7.06309495e-01 -7.07903170e-01 0.00000000e+00 1.43545194e+02] [ 7.07903170e-01 7.06309495e-01 0.00000000e+00 5.52965323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38083294e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79037174299998 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:143.57, Y:55.32, Z:0.00 [[ 7.04595330e-01 -7.09609344e-01 0.00000000e+00 1.43568306e+02] [ 7.09609344e-01 7.04595330e-01 0.00000000e+00 5.53188061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18707331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82037174299998 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:143.59, Y:55.34, Z:0.00 [[ 7.00341940e-01 -7.13807514e-01 0.00000000e+00 1.43590722e+02] [ 7.13807514e-01 7.00341940e-01 0.00000000e+00 5.53406423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14468098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85037174299998 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:143.61, Y:55.36, Z:0.00 [[ 6.99965911e-01 -7.14176255e-01 0.00000000e+00 1.43614707e+02] [ 7.14176255e-01 6.99965911e-01 0.00000000e+00 5.53625253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14468098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88037174299998 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:143.64, Y:55.38, Z:0.00 [[ 6.98314091e-01 -7.15791471e-01 0.00000000e+00 1.43637357e+02] [ 7.15791471e-01 6.98314091e-01 0.00000000e+00 5.53831716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22599229e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91037174299998 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:143.66, Y:55.41, Z:0.00 [[ 6.96130272e-01 -7.17915485e-01 0.00000000e+00 1.43660608e+02] [ 7.17915485e-01 6.96130272e-01 0.00000000e+00 5.54051513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37473838e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.940371743 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:143.69, Y:55.43, Z:-0.00 [[ 6.94733194e-01 -7.19267537e-01 0.00000000e+00 1.43685601e+02] [ 7.19267537e-01 6.94733194e-01 0.00000000e+00 5.54272118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.80065830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.970371743 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:143.71, Y:55.45, Z:-0.00 [[ 6.94574585e-01 -7.19420702e-01 0.00000000e+00 1.43707354e+02] [ 7.19420702e-01 6.94574585e-01 0.00000000e+00 5.54484032e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.15098817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.000371743 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:143.71, Y:55.47, Z:0.00 [[ 6.90244974e-01 -7.23575757e-01 0.00000000e+00 1.43714524e+02] [ 7.23575757e-01 6.90244974e-01 0.00000000e+00 5.54708218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14693891e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.030371743 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:143.75, Y:55.49, Z:-0.00 [[ 6.96498514e-01 -7.17558235e-01 0.00000000e+00 1.43752647e+02] [ 7.17558235e-01 6.96498514e-01 0.00000000e+00 5.54927504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.38625878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060371743 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:143.77, Y:55.51, Z:0.00 [[ 6.96614978e-01 -7.17445170e-01 0.00000000e+00 1.43774646e+02] [ 7.17445170e-01 6.96614978e-01 0.00000000e+00 5.55148743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29532846e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.090371743 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:143.78, Y:55.54, Z:0.00 [[ 6.93933846e-01 -7.20038761e-01 0.00000000e+00 1.43782842e+02] [ 7.20038761e-01 6.93933846e-01 0.00000000e+00 5.55367954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38454378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.120371743 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:143.81, Y:55.56, Z:0.01 [[ 6.97713045e-01 -7.16377349e-01 0.00000000e+00 1.43814855e+02] [ 7.16377349e-01 6.97713045e-01 0.00000000e+00 5.55591386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75965522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.150371743 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:143.84, Y:55.58, Z:0.00 [[ 7.01557112e-01 -7.12613232e-01 0.00000000e+00 1.43837448e+02] [ 7.12613232e-01 7.01557112e-01 0.00000000e+00 5.55795356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29625601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.180371743 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:143.86, Y:55.60, Z:0.00 [[ 7.00367871e-01 -7.13782072e-01 0.00000000e+00 1.43860715e+02] [ 7.13782072e-01 7.00367871e-01 0.00000000e+00 5.56028322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33031783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.210371743 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:143.88, Y:55.63, Z:0.00 [[ 7.00908411e-01 -7.13251288e-01 0.00000000e+00 1.43884149e+02] [ 7.13251288e-01 7.00908411e-01 0.00000000e+00 5.56252417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04779797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24037174299997 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:143.90, Y:55.65, Z:0.00 [[ 7.03205093e-01 -7.10987058e-01 0.00000000e+00 1.43904552e+02] [ 7.10987058e-01 7.03205093e-01 0.00000000e+00 5.56457759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93938103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27037174299997 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:143.93, Y:55.67, Z:0.00 [[ 7.02069906e-01 -7.12108030e-01 0.00000000e+00 1.43930686e+02] [ 7.12108030e-01 7.02069906e-01 0.00000000e+00 5.56703581e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43324875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30037174299997 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:143.95, Y:55.69, Z:0.00 [[ 7.01914502e-01 -7.12261210e-01 0.00000000e+00 1.43953208e+02] [ 7.12261210e-01 7.01914502e-01 0.00000000e+00 5.56930739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35145408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33037174299997 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:143.98, Y:55.72, Z:0.00 [[ 7.02620693e-01 -7.11564587e-01 0.00000000e+00 1.43977126e+02] [ 7.11564587e-01 7.02620693e-01 0.00000000e+00 5.57155212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34360636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36037174299997 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:144.00, Y:55.74, Z:0.00 [[ 7.02972494e-01 -7.11217036e-01 0.00000000e+00 1.44000198e+02] [ 7.11217036e-01 7.02972494e-01 0.00000000e+00 5.57387557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85497883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39037174299997 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:144.02, Y:55.76, Z:0.00 [[ 7.03134164e-01 -7.11057204e-01 0.00000000e+00 1.44024424e+02] [ 7.11057204e-01 7.03134164e-01 0.00000000e+00 5.57613405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91030747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42037174299998 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:144.05, Y:55.78, Z:0.01 [[ 7.03023078e-01 -7.11167035e-01 0.00000000e+00 1.44047254e+02] [ 7.11167035e-01 7.03023078e-01 0.00000000e+00 5.57838702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16792865e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45037174299998 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:144.07, Y:55.80, Z:0.00 [[ 7.03343796e-01 -7.10849847e-01 0.00000000e+00 1.44070051e+02] [ 7.10849847e-01 7.03343796e-01 0.00000000e+00 5.58047123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78985528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48037174299998 meters Centerline goodness : 0.993056 Centerline is valid? [True, True] Translation: X:144.09, Y:55.83, Z:0.00 [[ 7.03362868e-01 -7.10830976e-01 0.00000000e+00 1.44094079e+02] [ 7.10830976e-01 7.03362868e-01 0.00000000e+00 5.58269912e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22693944e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51037174299998 meters Centerline goodness : 0.993094 Centerline is valid? [True, True] Translation: X:144.12, Y:55.85, Z:0.00 [[ 7.04429576e-01 -7.09773888e-01 0.00000000e+00 1.44115800e+02] [ 7.09773888e-01 7.04429576e-01 0.00000000e+00 5.58486020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36232189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54037174299998 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:144.14, Y:55.87, Z:0.00 [[ 7.04662475e-01 -7.09542667e-01 0.00000000e+00 1.44139117e+02] [ 7.09542667e-01 7.04662475e-01 0.00000000e+00 5.58714879e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22861705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57037174299998 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:144.16, Y:55.89, Z:0.00 [[ 7.05626965e-01 -7.08583507e-01 0.00000000e+00 1.44161984e+02] [ 7.08583507e-01 7.05626965e-01 0.00000000e+00 5.58923518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66273676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60037174299998 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:144.17, Y:55.91, Z:0.01 [[ 7.01007273e-01 -7.13154123e-01 0.00000000e+00 1.44169890e+02] [ 7.13154123e-01 7.01007273e-01 0.00000000e+00 5.59138060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60142106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63037174299998 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:144.21, Y:55.93, Z:0.00 [[ 7.07609078e-01 -7.06604127e-01 0.00000000e+00 1.44205874e+02] [ 7.06604127e-01 7.07609078e-01 0.00000000e+00 5.59348331e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21166624e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66037174299998 meters Centerline goodness : 0.993471 Centerline is valid? [True, True] Translation: X:144.23, Y:55.96, Z:0.01 [[ 7.08182809e-01 -7.06029113e-01 0.00000000e+00 1.44228812e+02] [ 7.06029113e-01 7.08182809e-01 0.00000000e+00 5.59566826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18256055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.690371743 meters Centerline goodness : 0.993284 Centerline is valid? [True, True] Translation: X:144.25, Y:55.98, Z:0.01 [[ 7.09973690e-01 -7.04228201e-01 0.00000000e+00 1.44251119e+02] [ 7.04228201e-01 7.09973690e-01 0.00000000e+00 5.59788340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82685001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720371743 meters Centerline goodness : 0.992673 Centerline is valid? [True, True] Translation: X:144.28, Y:56.00, Z:0.01 [[ 7.11364167e-01 -7.02823607e-01 0.00000000e+00 1.44275802e+02] [ 7.02823607e-01 7.11364167e-01 0.00000000e+00 5.60010424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18820460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.750371743 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:144.30, Y:56.02, Z:0.01 [[ 7.12721314e-01 -7.01447309e-01 0.00000000e+00 1.44299489e+02] [ 7.01447309e-01 7.12721314e-01 0.00000000e+00 5.60227393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18083408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780371743 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:144.32, Y:56.04, Z:0.00 [[ 7.15602009e-01 -6.98508243e-01 0.00000000e+00 1.44324724e+02] [ 6.98508243e-01 7.15602009e-01 0.00000000e+00 5.60440654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56342822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.810371743 meters Centerline goodness : 0.993723 Centerline is valid? [True, True] Translation: X:144.35, Y:56.07, Z:0.00 [[ 7.15054574e-01 -6.99068634e-01 0.00000000e+00 1.44349095e+02] [ 6.99068634e-01 7.15054574e-01 0.00000000e+00 5.60662256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12811653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840371743 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:144.36, Y:56.09, Z:0.01 [[ 7.10430423e-01 -7.03767444e-01 0.00000000e+00 1.44358588e+02] [ 7.03767444e-01 7.10430423e-01 0.00000000e+00 5.60864899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19407827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.870371743 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:144.40, Y:56.11, Z:0.00 [[ 7.16514017e-01 -6.97572694e-01 0.00000000e+00 1.44397309e+02] [ 6.97572694e-01 7.16514017e-01 0.00000000e+00 5.61069393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64209803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900371743 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:144.40, Y:56.13, Z:0.01 [[ 7.11240418e-01 -7.02948837e-01 0.00000000e+00 1.44404778e+02] [ 7.02948837e-01 7.11240418e-01 0.00000000e+00 5.61280239e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.84455016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.930371743 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:144.45, Y:56.15, Z:0.00 [[ 7.18510702e-01 -6.95515903e-01 0.00000000e+00 1.44445148e+02] [ 6.95515903e-01 7.18510702e-01 0.00000000e+00 5.61484611e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67016438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.960371743 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:144.45, Y:56.17, Z:0.01 [[ 7.11609062e-01 -7.02575649e-01 0.00000000e+00 1.44450033e+02] [ 7.02575649e-01 7.11609062e-01 0.00000000e+00 5.61687211e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07823455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99037174299997 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:144.48, Y:56.19, Z:0.01 [[ 7.10475936e-01 -7.03721496e-01 0.00000000e+00 1.44476030e+02] [ 7.03721496e-01 7.10475936e-01 0.00000000e+00 5.61897698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08578810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02037174299997 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:144.50, Y:56.21, Z:0.01 [[ 7.09332434e-01 -7.04874101e-01 0.00000000e+00 1.44500096e+02] [ 7.04874101e-01 7.09332434e-01 0.00000000e+00 5.62104446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02752365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05037174299997 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:144.54, Y:56.23, Z:0.01 [[ 7.13670582e-01 -7.00481477e-01 0.00000000e+00 1.44540085e+02] [ 7.00481477e-01 7.13670582e-01 0.00000000e+00 5.62317688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01715960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08037174299997 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:144.55, Y:56.25, Z:0.01 [[ 7.06002269e-01 -7.08209571e-01 0.00000000e+00 1.44546818e+02] [ 7.08209571e-01 7.06002269e-01 0.00000000e+00 5.62517361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00772313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11037174299997 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:144.58, Y:56.27, Z:0.01 [[ 7.07182595e-01 -7.07030960e-01 0.00000000e+00 1.44584536e+02] [ 7.07030960e-01 7.07182595e-01 0.00000000e+00 5.62719716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.78441947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14037174299997 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:144.59, Y:56.29, Z:0.01 [[ 7.00063817e-01 -7.14080285e-01 0.00000000e+00 1.44594343e+02] [ 7.14080285e-01 7.00063817e-01 0.00000000e+00 5.62921097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03523744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17037174299998 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:144.64, Y:56.31, Z:0.01 [[ 7.02143276e-01 -7.12035687e-01 0.00000000e+00 1.44635383e+02] [ 7.12035687e-01 7.02143276e-01 0.00000000e+00 5.63124343e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29043341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20037174299998 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:144.66, Y:56.33, Z:0.01 [[ 6.99566562e-01 -7.14567439e-01 0.00000000e+00 1.44658920e+02] [ 7.14567439e-01 6.99566562e-01 0.00000000e+00 5.63334158e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49480460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23037174299998 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:144.68, Y:56.35, Z:0.00 [[ 6.98125404e-01 -7.15975502e-01 0.00000000e+00 1.44684567e+02] [ 7.15975502e-01 6.98125404e-01 0.00000000e+00 5.63549407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68821742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26037174299998 meters Centerline goodness : 0.994008 Centerline is valid? [True, True] Translation: X:144.71, Y:56.38, Z:0.01 [[ 6.93774711e-01 -7.20192092e-01 0.00000000e+00 1.44707599e+02] [ 7.20192092e-01 6.93774711e-01 0.00000000e+00 5.63760064e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43175747e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29037174299998 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:144.73, Y:56.40, Z:0.00 [[ 6.92667813e-01 -7.21256751e-01 0.00000000e+00 1.44729816e+02] [ 7.21256751e-01 6.92667813e-01 0.00000000e+00 5.63964049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62562198e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32037174299998 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:144.75, Y:56.42, Z:0.00 [[ 6.91483568e-01 -7.22392190e-01 0.00000000e+00 1.44754273e+02] [ 7.22392190e-01 6.91483568e-01 0.00000000e+00 5.64176231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69657539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35037174299998 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:144.78, Y:56.44, Z:0.00 [[ 6.90418473e-01 -7.23410210e-01 0.00000000e+00 1.44778950e+02] [ 7.23410210e-01 6.90418473e-01 0.00000000e+00 5.64387616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73226576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38037174299998 meters Centerline goodness : 0.994717 Centerline is valid? [True, True] Translation: X:144.80, Y:56.46, Z:0.01 [[ 6.90162275e-01 -7.23654637e-01 0.00000000e+00 1.44802738e+02] [ 7.23654637e-01 6.90162275e-01 0.00000000e+00 5.64607098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15309857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41037174299998 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:144.83, Y:56.48, Z:0.01 [[ 6.90925788e-01 -7.22925691e-01 0.00000000e+00 1.44825479e+02] [ 7.22925691e-01 6.90925788e-01 0.00000000e+00 5.64816603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69157427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.440371743 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:144.85, Y:56.50, Z:0.01 [[ 6.91150952e-01 -7.22710427e-01 0.00000000e+00 1.44848819e+02] [ 7.22710427e-01 6.91150952e-01 0.00000000e+00 5.65035163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.45355989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.470371743 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:144.87, Y:56.53, Z:0.01 [[ 6.91252099e-01 -7.22613683e-01 0.00000000e+00 1.44870253e+02] [ 7.22613683e-01 6.91252099e-01 0.00000000e+00 5.65252171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02862592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.500371743 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:144.90, Y:56.55, Z:0.01 [[ 6.94442649e-01 -7.19548058e-01 0.00000000e+00 1.44895754e+02] [ 7.19548058e-01 6.94442649e-01 0.00000000e+00 5.65475046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07536384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.530371743 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:144.92, Y:56.57, Z:0.01 [[ 6.95645125e-01 -7.18385593e-01 0.00000000e+00 1.44919301e+02] [ 7.18385593e-01 6.95645125e-01 0.00000000e+00 5.65697271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62130736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560371743 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:144.94, Y:56.59, Z:0.01 [[ 6.96684927e-01 -7.17377246e-01 0.00000000e+00 1.44943592e+02] [ 7.17377246e-01 6.96684927e-01 0.00000000e+00 5.65916453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07348578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.590371743 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:144.97, Y:56.61, Z:0.01 [[ 6.99089084e-01 -7.15034581e-01 0.00000000e+00 1.44967272e+02] [ 7.15034581e-01 6.99089084e-01 0.00000000e+00 5.66134033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67200337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620371743 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:144.99, Y:56.64, Z:0.01 [[ 6.99463558e-01 -7.14668266e-01 0.00000000e+00 1.44990434e+02] [ 7.14668266e-01 6.99463558e-01 0.00000000e+00 5.66360476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04880208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.650371743 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:145.00, Y:56.66, Z:0.01 [[ 6.95985991e-01 -7.18055360e-01 0.00000000e+00 1.44998759e+02] [ 7.18055360e-01 6.95985991e-01 0.00000000e+00 5.66571119e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18779826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.680371743 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:145.02, Y:56.68, Z:0.01 [[ 6.96525820e-01 -7.17531729e-01 0.00000000e+00 1.45023192e+02] [ 7.17531729e-01 6.96525820e-01 0.00000000e+00 5.66798513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28488647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.710371743 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:145.05, Y:56.70, Z:0.01 [[ 6.97017244e-01 -7.17054364e-01 0.00000000e+00 1.45046734e+02] [ 7.17054364e-01 6.97017244e-01 0.00000000e+00 5.67011890e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29135948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74037174299997 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:145.07, Y:56.72, Z:0.01 [[ 6.97091264e-01 -7.16982406e-01 0.00000000e+00 1.45071502e+02] [ 7.16982406e-01 6.97091264e-01 0.00000000e+00 5.67238166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29135948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77037174299997 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:145.10, Y:56.75, Z:0.01 [[ 6.97303518e-01 -7.16775978e-01 0.00000000e+00 1.45096213e+02] [ 7.16775978e-01 6.97303518e-01 0.00000000e+00 5.67458474e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36618143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80037174299997 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:145.13, Y:56.77, Z:0.01 [[ 7.01628689e-01 -7.12542758e-01 0.00000000e+00 1.45132521e+02] [ 7.12542758e-01 7.01628689e-01 0.00000000e+00 5.67668675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.56551432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83037174299997 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:145.16, Y:56.79, Z:0.01 [[ 7.02175188e-01 -7.12004217e-01 0.00000000e+00 1.45158446e+02] [ 7.12004217e-01 7.02175188e-01 0.00000000e+00 5.67892417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40110262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86037174299997 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:145.18, Y:56.81, Z:0.01 [[ 7.00717478e-01 -7.13438866e-01 0.00000000e+00 1.45179421e+02] [ 7.13438866e-01 7.00717478e-01 0.00000000e+00 5.68091240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51764741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89037174299997 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:145.19, Y:56.83, Z:0.01 [[ 6.95917852e-01 -7.18121399e-01 0.00000000e+00 1.45189358e+02] [ 7.18121399e-01 6.95917852e-01 0.00000000e+00 5.68296393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24263233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92037174299998 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:145.23, Y:56.85, Z:0.00 [[ 7.00589392e-01 -7.13564646e-01 0.00000000e+00 1.45226235e+02] [ 7.13564646e-01 7.00589392e-01 0.00000000e+00 5.68521433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39882413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95037174299998 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:145.25, Y:56.87, Z:0.01 [[ 6.99410346e-01 -7.14720342e-01 0.00000000e+00 1.45246509e+02] [ 7.14720342e-01 6.99410346e-01 0.00000000e+00 5.68744385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.73489063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98037174299998 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:145.27, Y:56.90, Z:0.01 [[ 6.99976178e-01 -7.14166193e-01 0.00000000e+00 1.45270425e+02] [ 7.14166193e-01 6.99976178e-01 0.00000000e+00 5.68959541e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.44284788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01037174299998 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:145.28, Y:56.92, Z:0.01 [[ 6.96359756e-01 -7.17692894e-01 0.00000000e+00 1.45281237e+02] [ 7.17692894e-01 6.96359756e-01 0.00000000e+00 5.69171939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09699926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04037174299998 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:145.30, Y:56.94, Z:0.01 [[ 6.96900717e-01 -7.17167617e-01 0.00000000e+00 1.45304828e+02] [ 7.17167617e-01 6.96900717e-01 0.00000000e+00 5.69389835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18669991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07037174299998 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:145.34, Y:56.96, Z:0.01 [[ 7.02419402e-01 -7.11763292e-01 0.00000000e+00 1.45341756e+02] [ 7.11763292e-01 7.02419402e-01 0.00000000e+00 5.69612464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.41132524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10037174299998 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:145.35, Y:56.98, Z:0.02 [[ 6.98655055e-01 -7.15458674e-01 0.00000000e+00 1.45351337e+02] [ 7.15458674e-01 6.98655055e-01 0.00000000e+00 5.69815191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50587492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13037174299998 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:145.38, Y:57.00, Z:0.02 [[ 6.99642783e-01 -7.14492811e-01 0.00000000e+00 1.45376230e+02] [ 7.14492811e-01 6.99642783e-01 0.00000000e+00 5.70032627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57013512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16037174299998 meters Centerline goodness : 0.995002 Centerline is valid? [True, True] Translation: X:145.42, Y:57.02, Z:0.01 [[ 7.06754880e-01 -7.07458507e-01 0.00000000e+00 1.45415600e+02] [ 7.07458507e-01 7.06754880e-01 0.00000000e+00 5.70234246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05078600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.190371743 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:145.44, Y:57.04, Z:0.01 [[ 7.07036722e-01 -7.07176833e-01 0.00000000e+00 1.45439489e+02] [ 7.07176833e-01 7.07036722e-01 0.00000000e+00 5.70448712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04345854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220371743 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:145.46, Y:57.07, Z:0.01 [[ 7.07583053e-01 -7.06630189e-01 0.00000000e+00 1.45462014e+02] [ 7.06630189e-01 7.07583053e-01 0.00000000e+00 5.70655597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02377076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.250371743 meters Centerline goodness : 0.994973 Centerline is valid? [True, True] Translation: X:145.49, Y:57.09, Z:0.01 [[ 7.08169455e-01 -7.06042508e-01 0.00000000e+00 1.45486709e+02] [ 7.06042508e-01 7.08169455e-01 0.00000000e+00 5.70877768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02678514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280371743 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:145.51, Y:57.11, Z:0.01 [[ 7.11221280e-01 -7.02968200e-01 0.00000000e+00 1.45513051e+02] [ 7.02968200e-01 7.11221280e-01 0.00000000e+00 5.71091381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.60710527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.310371743 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:145.54, Y:57.13, Z:0.01 [[ 7.13963206e-01 -7.00183219e-01 0.00000000e+00 1.45538628e+02] [ 7.00183219e-01 7.13963206e-01 0.00000000e+00 5.71308613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.45513005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340371743 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:145.54, Y:57.15, Z:0.01 [[ 7.11280237e-01 -7.02908547e-01 0.00000000e+00 1.45542968e+02] [ 7.02908547e-01 7.11280237e-01 0.00000000e+00 5.71501317e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36564714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.370371743 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:145.59, Y:57.17, Z:0.00 [[ 7.21327924e-01 -6.92593695e-01 0.00000000e+00 1.45585684e+02] [ 6.92593695e-01 7.21327924e-01 0.00000000e+00 5.71709653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70430246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400371743 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:145.61, Y:57.19, Z:0.00 [[ 7.23959041e-01 -6.89842958e-01 0.00000000e+00 1.45610419e+02] [ 6.89842958e-01 7.23959041e-01 0.00000000e+00 5.71928117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91011937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.430371743 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:145.61, Y:57.21, Z:0.01 [[ 7.23323304e-01 -6.90509521e-01 0.00000000e+00 1.45611313e+02] [ 6.90509521e-01 7.23323304e-01 0.00000000e+00 5.72119706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20022132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.460371743 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:145.63, Y:57.23, Z:0.01 [[ 7.27679576e-01 -6.85917222e-01 0.00000000e+00 1.45634764e+02] [ 6.85917222e-01 7.27679576e-01 0.00000000e+00 5.72335255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14293639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49037174299997 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:145.68, Y:57.25, Z:0.01 [[ 7.38568237e-01 -6.74178729e-01 0.00000000e+00 1.45676850e+02] [ 6.74178729e-01 7.38568237e-01 0.00000000e+00 5.72545844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04178670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52037174299997 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:145.70, Y:57.28, Z:0.01 [[ 7.45592514e-01 -6.66402133e-01 0.00000000e+00 1.45702541e+02] [ 6.66402133e-01 7.45592514e-01 0.00000000e+00 5.72756015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74668470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55037174299997 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:145.71, Y:57.29, Z:0.01 [[ 7.41011287e-01 -6.71492571e-01 0.00000000e+00 1.45705608e+02] [ 6.71492571e-01 7.41011287e-01 0.00000000e+00 5.72946734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35581266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58037174299997 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:145.75, Y:57.31, Z:0.01 [[ 7.50445859e-01 -6.60931927e-01 0.00000000e+00 1.45747367e+02] [ 6.60931927e-01 7.50445859e-01 0.00000000e+00 5.73131661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33880315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61037174299997 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:145.77, Y:57.33, Z:0.01 [[ 7.50760339e-01 -6.60574685e-01 0.00000000e+00 1.45772322e+02] [ 6.60574685e-01 7.50760339e-01 0.00000000e+00 5.73319132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.61286448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64037174299997 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:145.80, Y:57.35, Z:0.01 [[ 7.50894079e-01 -6.60422654e-01 0.00000000e+00 1.45799595e+02] [ 6.60422654e-01 7.50894079e-01 0.00000000e+00 5.73512380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12178525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67037174299998 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:145.83, Y:57.37, Z:0.01 [[ 7.46672238e-01 -6.65192130e-01 0.00000000e+00 1.45826997e+02] [ 6.65192130e-01 7.46672238e-01 0.00000000e+00 5.73669550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57908724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70037174299998 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:145.84, Y:57.38, Z:0.01 [[ 7.38043067e-01 -6.74753608e-01 0.00000000e+00 1.45836534e+02] [ 6.74753608e-01 7.38043067e-01 0.00000000e+00 5.73839073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23526712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73037174299998 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:145.87, Y:57.40, Z:0.01 [[ 7.30805202e-01 -6.82586081e-01 0.00000000e+00 1.45868178e+02] [ 6.82586081e-01 7.30805202e-01 0.00000000e+00 5.73986905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27632059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76037174299998 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:145.90, Y:57.42, Z:0.01 [[ 7.26966221e-01 -6.86673222e-01 0.00000000e+00 1.45895355e+02] [ 6.86673222e-01 7.26966221e-01 0.00000000e+00 5.74168652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33750273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79037174299998 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:145.92, Y:57.44, Z:0.01 [[ 7.23421780e-01 -6.90406350e-01 0.00000000e+00 1.45922831e+02] [ 6.90406350e-01 7.23421780e-01 0.00000000e+00 5.74357350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49444646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82037174299998 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:145.97, Y:57.45, Z:0.01 [[ 7.21968019e-01 -6.91926426e-01 0.00000000e+00 1.45967250e+02] [ 6.91926426e-01 7.21968019e-01 0.00000000e+00 5.74512013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27286630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85037174299998 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:145.99, Y:57.47, Z:0.01 [[ 7.19719998e-01 -6.94264448e-01 0.00000000e+00 1.45990010e+02] [ 6.94264448e-01 7.19719998e-01 0.00000000e+00 5.74674019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19049061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88037174299998 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:146.02, Y:57.49, Z:0.01 [[ 7.12598311e-01 -7.01572268e-01 0.00000000e+00 1.46022389e+02] [ 7.01572268e-01 7.12598311e-01 0.00000000e+00 5.74853670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23024915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91037174299998 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:146.05, Y:57.50, Z:0.01 [[ 7.09723728e-01 -7.04480113e-01 0.00000000e+00 1.46047573e+02] [ 7.04480113e-01 7.09723728e-01 0.00000000e+00 5.75033500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20313663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940371743 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:146.07, Y:57.52, Z:0.01 [[ 7.04730284e-01 -7.09475318e-01 0.00000000e+00 1.46066552e+02] [ 7.09475318e-01 7.04730284e-01 0.00000000e+00 5.75208415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42729003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.970371743 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:146.09, Y:57.54, Z:0.02 [[ 6.97414282e-01 -7.16668207e-01 0.00000000e+00 1.46085652e+02] [ 7.16668207e-01 6.97414282e-01 0.00000000e+00 5.75369510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62781356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000371743 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:146.13, Y:57.56, Z:0.01 [[ 6.99408227e-01 -7.14722416e-01 0.00000000e+00 1.46126522e+02] [ 7.14722416e-01 6.99408227e-01 0.00000000e+00 5.75552378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32386758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.030371743 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:146.14, Y:57.57, Z:0.01 [[ 6.92901055e-01 -7.21032682e-01 0.00000000e+00 1.46136428e+02] [ 7.21032682e-01 6.92901055e-01 0.00000000e+00 5.75730198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45524083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.060371743 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:146.17, Y:57.59, Z:0.01 [[ 6.96681459e-01 -7.17380614e-01 0.00000000e+00 1.46174390e+02] [ 7.17380614e-01 6.96681459e-01 0.00000000e+00 5.75937017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07658491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.090371743 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:146.19, Y:57.61, Z:0.01 [[ 6.93256434e-01 -7.20691000e-01 0.00000000e+00 1.46194404e+02] [ 7.20691000e-01 6.93256434e-01 0.00000000e+00 5.76139855e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15937203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.120371743 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:146.21, Y:57.63, Z:0.01 [[ 6.89480051e-01 -7.24304673e-01 0.00000000e+00 1.46210497e+02] [ 7.24304673e-01 6.89480051e-01 0.00000000e+00 5.76317194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64082352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.150371743 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:146.23, Y:57.65, Z:0.01 [[ 6.89987306e-01 -7.23821468e-01 0.00000000e+00 1.46232544e+02] [ 7.23821468e-01 6.89987306e-01 0.00000000e+00 5.76491640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.58548956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.180371743 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:146.27, Y:57.67, Z:0.01 [[ 6.93167431e-01 -7.20776603e-01 0.00000000e+00 1.46265811e+02] [ 7.20776603e-01 6.93167431e-01 0.00000000e+00 5.76690113e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56739301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.210371743 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:146.29, Y:57.69, Z:0.01 [[ 6.91495043e-01 -7.22381205e-01 0.00000000e+00 1.46286377e+02] [ 7.22381205e-01 6.91495043e-01 0.00000000e+00 5.76904297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04228950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24037174299997 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:146.31, Y:57.71, Z:0.01 [[ 6.91997661e-01 -7.21899742e-01 0.00000000e+00 1.46311163e+02] [ 7.21899742e-01 6.91997661e-01 0.00000000e+00 5.77126366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09094216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27037174299997 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:146.34, Y:57.73, Z:0.01 [[ 6.92668019e-01 -7.21256553e-01 0.00000000e+00 1.46335288e+02] [ 7.21256553e-01 6.92668019e-01 0.00000000e+00 5.77335765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89844884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30037174299997 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:146.36, Y:57.76, Z:0.01 [[ 6.94195829e-01 -7.19786184e-01 0.00000000e+00 1.46363074e+02] [ 7.19786184e-01 6.94195829e-01 0.00000000e+00 5.77556335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.51711609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33037174299997 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:146.38, Y:57.78, Z:0.01 [[ 6.93271525e-01 -7.20676483e-01 0.00000000e+00 1.46383920e+02] [ 7.20676483e-01 6.93271525e-01 0.00000000e+00 5.77762770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.93415543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36037174299997 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:146.40, Y:57.80, Z:0.01 [[ 6.88751823e-01 -7.24997190e-01 0.00000000e+00 1.46395575e+02] [ 7.24997190e-01 6.88751823e-01 0.00000000e+00 5.77976492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21159033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39037174299997 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:146.43, Y:57.82, Z:0.01 [[ 6.93859780e-01 -7.20110134e-01 0.00000000e+00 1.46433489e+02] [ 7.20110134e-01 6.93859780e-01 0.00000000e+00 5.78204681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04910180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42037174299998 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:146.44, Y:57.84, Z:0.01 [[ 6.86390831e-01 -7.27232856e-01 0.00000000e+00 1.46439913e+02] [ 7.27232856e-01 6.86390831e-01 0.00000000e+00 5.78400005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21764247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45037174299998 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:146.46, Y:57.86, Z:0.01 [[ 6.86144845e-01 -7.27464949e-01 0.00000000e+00 1.46460972e+02] [ 7.27464949e-01 6.86144845e-01 0.00000000e+00 5.78575735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19480711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48037174299998 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:146.48, Y:57.88, Z:0.01 [[ 6.84352355e-01 -7.29151462e-01 0.00000000e+00 1.46481155e+02] [ 7.29151462e-01 6.84352355e-01 0.00000000e+00 5.78775662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22458990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51037174299998 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:146.52, Y:57.90, Z:0.01 [[ 6.87994207e-01 -7.25716178e-01 0.00000000e+00 1.46517382e+02] [ 7.25716178e-01 6.87994207e-01 0.00000000e+00 5.79002601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01243755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54037174299998 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:146.54, Y:57.92, Z:0.01 [[ 6.89488967e-01 -7.24296186e-01 0.00000000e+00 1.46542475e+02] [ 7.24296186e-01 6.89488967e-01 0.00000000e+00 5.79214255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78675526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57037174299998 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:146.56, Y:57.94, Z:0.01 [[ 6.86390802e-01 -7.27232884e-01 0.00000000e+00 1.46559495e+02] [ 7.27232884e-01 6.86390802e-01 0.00000000e+00 5.79426863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25558932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60037174299998 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:146.58, Y:57.96, Z:0.01 [[ 6.86750945e-01 -7.26892797e-01 0.00000000e+00 1.46581968e+02] [ 7.26892797e-01 6.86750945e-01 0.00000000e+00 5.79643588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26379673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63037174299998 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:146.61, Y:57.99, Z:0.01 [[ 6.87594933e-01 -7.26094489e-01 0.00000000e+00 1.46606419e+02] [ 7.26094489e-01 6.87594933e-01 0.00000000e+00 5.79868508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19765172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66037174299998 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:146.63, Y:58.01, Z:0.01 [[ 6.87238174e-01 -7.26432166e-01 0.00000000e+00 1.46629255e+02] [ 7.26432166e-01 6.87238174e-01 0.00000000e+00 5.80085949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19765172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.690371743 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:146.65, Y:58.03, Z:0.01 [[ 6.88000911e-01 -7.25709822e-01 0.00000000e+00 1.46650689e+02] [ 7.25709822e-01 6.88000911e-01 0.00000000e+00 5.80317680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16641573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.720371743 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:146.67, Y:58.05, Z:0.01 [[ 6.87886129e-01 -7.25818623e-01 0.00000000e+00 1.46673767e+02] [ 7.25818623e-01 6.87886129e-01 0.00000000e+00 5.80548665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30707035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.750371743 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:146.69, Y:58.08, Z:0.01 [[ 6.87992588e-01 -7.25717713e-01 0.00000000e+00 1.46694149e+02] [ 7.25717713e-01 6.87992588e-01 0.00000000e+00 5.80777510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47823354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.780371743 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:146.71, Y:58.10, Z:0.02 [[ 6.87239295e-01 -7.26431106e-01 0.00000000e+00 1.46714518e+02] [ 7.26431106e-01 6.87239295e-01 0.00000000e+00 5.80994820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50557645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.810371743 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:146.74, Y:58.12, Z:0.01 [[ 6.86322892e-01 -7.27296974e-01 0.00000000e+00 1.46738086e+02] [ 7.27296974e-01 6.86322892e-01 0.00000000e+00 5.81231430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48018213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840371743 meters Centerline goodness : 0.993976 Centerline is valid? [True, True] Translation: X:146.75, Y:58.14, Z:0.02 [[ 6.81553296e-01 -7.31768478e-01 0.00000000e+00 1.46749867e+02] [ 7.31768478e-01 6.81553296e-01 0.00000000e+00 5.81447827e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56522175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.870371743 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:146.77, Y:58.16, Z:0.02 [[ 6.80499139e-01 -7.32748881e-01 0.00000000e+00 1.46770116e+02] [ 7.32748881e-01 6.80499139e-01 0.00000000e+00 5.81643472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51964321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900371743 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:146.79, Y:58.18, Z:0.01 [[ 6.78595037e-01 -7.34512611e-01 0.00000000e+00 1.46790125e+02] [ 7.34512611e-01 6.78595037e-01 0.00000000e+00 5.81842895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49864195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.930371743 meters Centerline goodness : 0.993938 Centerline is valid? [True, True] Translation: X:146.81, Y:58.20, Z:0.01 [[ 6.74563013e-01 -7.38217273e-01 0.00000000e+00 1.46809355e+02] [ 7.38217273e-01 6.74563013e-01 0.00000000e+00 5.82046489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45666366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.960371743 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:146.83, Y:58.22, Z:0.01 [[ 6.72294084e-01 -7.40284178e-01 0.00000000e+00 1.46829594e+02] [ 7.40284178e-01 6.72294084e-01 0.00000000e+00 5.82245684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40768397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99037174299997 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:146.85, Y:58.24, Z:0.01 [[ 6.68210615e-01 -7.43972159e-01 0.00000000e+00 1.46848862e+02] [ 7.43972159e-01 6.68210615e-01 0.00000000e+00 5.82444748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34373814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02037174299997 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:146.87, Y:58.26, Z:0.01 [[ 6.66293640e-01 -7.45689470e-01 0.00000000e+00 1.46868013e+02] [ 7.45689470e-01 6.66293640e-01 0.00000000e+00 5.82637836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33733660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05037174299997 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:146.89, Y:58.28, Z:0.01 [[ 6.64541856e-01 -7.47251044e-01 0.00000000e+00 1.46887674e+02] [ 7.47251044e-01 6.64541856e-01 0.00000000e+00 5.82838539e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40365699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08037174299997 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:146.92, Y:58.31, Z:0.01 [[ 6.66198157e-01 -7.45774776e-01 0.00000000e+00 1.46919521e+02] [ 7.45774776e-01 6.66198157e-01 0.00000000e+00 5.83077177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36583273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11037174299997 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:146.94, Y:58.33, Z:0.01 [[ 6.65164089e-01 -7.46697217e-01 0.00000000e+00 1.46942527e+02] [ 7.46697217e-01 6.65164089e-01 0.00000000e+00 5.83311240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29804915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14037174299997 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:146.95, Y:58.35, Z:0.01 [[ 6.60655241e-01 -7.50689451e-01 0.00000000e+00 1.46952362e+02] [ 7.50689451e-01 6.60655241e-01 0.00000000e+00 5.83517922e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46453752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17037174299998 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:146.98, Y:58.37, Z:0.01 [[ 6.63654375e-01 -7.48039351e-01 0.00000000e+00 1.46980187e+02] [ 7.48039351e-01 6.63654375e-01 0.00000000e+00 5.83728553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14533019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20037174299998 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:147.00, Y:58.40, Z:0.01 [[ 6.63571412e-01 -7.48112947e-01 0.00000000e+00 1.47004026e+02] [ 7.48112947e-01 6.63571412e-01 0.00000000e+00 5.83967838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13490475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23037174299998 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:147.02, Y:58.42, Z:0.01 [[ 6.63233784e-01 -7.48412284e-01 0.00000000e+00 1.47023487e+02] [ 7.48412284e-01 6.63233784e-01 0.00000000e+00 5.84208213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24491000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26037174299998 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:147.05, Y:58.45, Z:0.01 [[ 6.63374108e-01 -7.48287908e-01 0.00000000e+00 1.47046079e+02] [ 7.48287908e-01 6.63374108e-01 0.00000000e+00 5.84451486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34433520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29037174299998 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:147.07, Y:58.47, Z:0.01 [[ 6.63269061e-01 -7.48381021e-01 0.00000000e+00 1.47067966e+02] [ 7.48381021e-01 6.63269061e-01 0.00000000e+00 5.84691770e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39821335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32037174299998 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:147.09, Y:58.49, Z:0.01 [[ 6.63264027e-01 -7.48385483e-01 0.00000000e+00 1.47088785e+02] [ 7.48385483e-01 6.63264027e-01 0.00000000e+00 5.84918535e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43993441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35037174299998 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:147.11, Y:58.52, Z:0.01 [[ 6.63162755e-01 -7.48475224e-01 0.00000000e+00 1.47110219e+02] [ 7.48475224e-01 6.63162755e-01 0.00000000e+00 5.85164819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42655526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38037174299998 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:147.13, Y:58.54, Z:0.01 [[ 6.63537177e-01 -7.48143311e-01 0.00000000e+00 1.47131492e+02] [ 7.48143311e-01 6.63537177e-01 0.00000000e+00 5.85392934e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36674804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41037174299998 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:147.15, Y:58.56, Z:0.01 [[ 6.63257539e-01 -7.48391232e-01 0.00000000e+00 1.47151423e+02] [ 7.48391232e-01 6.63257539e-01 0.00000000e+00 5.85644457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30188050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.440371743 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:147.17, Y:58.59, Z:0.01 [[ 6.63596353e-01 -7.48090823e-01 0.00000000e+00 1.47174379e+02] [ 7.48090823e-01 6.63596353e-01 0.00000000e+00 5.85886943e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22693048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.470371743 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:147.19, Y:58.61, Z:0.01 [[ 6.63982392e-01 -7.47748208e-01 0.00000000e+00 1.47194205e+02] [ 7.47748208e-01 6.63982392e-01 0.00000000e+00 5.86136494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21369640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.500371743 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:147.21, Y:58.64, Z:0.01 [[ 6.60974938e-01 -7.50407976e-01 0.00000000e+00 1.47205542e+02] [ 7.50407976e-01 6.60974938e-01 0.00000000e+00 5.86355608e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35961036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.530371743 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:147.22, Y:58.66, Z:0.01 [[ 6.60852032e-01 -7.50516217e-01 0.00000000e+00 1.47224143e+02] [ 7.50516217e-01 6.60852032e-01 0.00000000e+00 5.86558520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35921793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.560371743 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:147.24, Y:58.68, Z:0.01 [[ 6.60609641e-01 -7.50729580e-01 0.00000000e+00 1.47242050e+02] [ 7.50729580e-01 6.60609641e-01 0.00000000e+00 5.86777325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42680049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.590371743 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:147.26, Y:58.70, Z:0.01 [[ 6.60217011e-01 -7.51074895e-01 0.00000000e+00 1.47260920e+02] [ 7.51074895e-01 6.60217011e-01 0.00000000e+00 5.86983258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45316516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.620371743 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:147.29, Y:58.72, Z:0.02 [[ 6.62516594e-01 -7.49047236e-01 0.00000000e+00 1.47291074e+02] [ 7.49047236e-01 6.62516594e-01 0.00000000e+00 5.87217353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54229255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.650371743 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:147.30, Y:58.74, Z:0.01 [[ 6.60620172e-01 -7.50720313e-01 0.00000000e+00 1.47304164e+02] [ 7.50720313e-01 6.60620172e-01 0.00000000e+00 5.87444660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37168880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.680371743 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:147.33, Y:58.77, Z:0.01 [[ 6.63041505e-01 -7.48582635e-01 0.00000000e+00 1.47333122e+02] [ 7.48582635e-01 6.63041505e-01 0.00000000e+00 5.87681251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47605451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.710371743 meters Centerline goodness : 0.996247 Centerline is valid? [True, True] Translation: X:147.35, Y:58.79, Z:0.01 [[ 6.62906208e-01 -7.48702451e-01 0.00000000e+00 1.47347372e+02] [ 7.48702451e-01 6.62906208e-01 0.00000000e+00 5.87917894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42734362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74037174299997 meters Centerline goodness : 0.996346 Centerline is valid? [True, True] Translation: X:147.37, Y:58.81, Z:0.02 [[ 6.63885633e-01 -7.47834117e-01 0.00000000e+00 1.47365883e+02] [ 7.47834117e-01 6.63885633e-01 0.00000000e+00 5.88123960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53443655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77037174299997 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:147.38, Y:58.83, Z:0.02 [[ 6.64997597e-01 -7.46845497e-01 0.00000000e+00 1.47384423e+02] [ 7.46845497e-01 6.64997597e-01 0.00000000e+00 5.88329904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57380308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80037174299997 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:147.40, Y:58.85, Z:0.02 [[ 6.66036004e-01 -7.45919594e-01 0.00000000e+00 1.47403715e+02] [ 7.45919594e-01 6.66036004e-01 0.00000000e+00 5.88538219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61584474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83037174299997 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:147.43, Y:58.88, Z:0.02 [[ 6.68139021e-01 -7.44036457e-01 0.00000000e+00 1.47426329e+02] [ 7.44036457e-01 6.68139021e-01 0.00000000e+00 5.88774870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70744927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86037174299997 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:147.46, Y:58.90, Z:0.02 [[ 6.70919432e-01 -7.41530253e-01 0.00000000e+00 1.47456340e+02] [ 7.41530253e-01 6.70919432e-01 0.00000000e+00 5.89009886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68630400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89037174299997 meters Centerline goodness : 0.996138 Centerline is valid? [True, True] Translation: X:147.47, Y:58.92, Z:0.02 [[ 6.68649097e-01 -7.43578096e-01 0.00000000e+00 1.47470943e+02] [ 7.43578096e-01 6.68649097e-01 0.00000000e+00 5.89237007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67386234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92037174299998 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:147.50, Y:58.95, Z:0.02 [[ 6.70652039e-01 -7.41772096e-01 0.00000000e+00 1.47501147e+02] [ 7.41772096e-01 6.70652039e-01 0.00000000e+00 5.89472196e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66511742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95037174299998 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:147.52, Y:58.97, Z:0.02 [[ 6.71031480e-01 -7.41428859e-01 0.00000000e+00 1.47524508e+02] [ 7.41428859e-01 6.71031480e-01 0.00000000e+00 5.89694106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71669360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98037174299998 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:147.55, Y:58.99, Z:0.02 [[ 6.70191042e-01 -7.42188633e-01 0.00000000e+00 1.47546360e+02] [ 7.42188633e-01 6.70191042e-01 0.00000000e+00 5.89924005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69777224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01037174299998 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:147.57, Y:59.01, Z:0.02 [[ 6.71952208e-01 -7.40594512e-01 0.00000000e+00 1.47569076e+02] [ 7.40594512e-01 6.71952208e-01 0.00000000e+00 5.90148644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60042844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04037174299998 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:147.59, Y:59.04, Z:0.02 [[ 6.73103068e-01 -7.39548687e-01 0.00000000e+00 1.47593469e+02] [ 7.39548687e-01 6.73103068e-01 0.00000000e+00 5.90386255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61056738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07037174299998 meters Centerline goodness : 0.996374 Centerline is valid? [True, True] Translation: X:147.62, Y:59.06, Z:0.02 [[ 6.76372819e-01 -7.36559441e-01 0.00000000e+00 1.47615626e+02] [ 7.36559441e-01 6.76372819e-01 0.00000000e+00 5.90629798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52234788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10037174299998 meters Centerline goodness : 0.996343 Centerline is valid? [True, True] Translation: X:147.64, Y:59.09, Z:0.02 [[ 6.78021616e-01 -7.35041964e-01 0.00000000e+00 1.47636786e+02] [ 7.35041964e-01 6.78021616e-01 0.00000000e+00 5.90862339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56568311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13037174299998 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:147.65, Y:59.11, Z:0.02 [[ 6.76669352e-01 -7.36287028e-01 0.00000000e+00 1.47647565e+02] [ 7.36287028e-01 6.76669352e-01 0.00000000e+00 5.91078567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52819435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16037174299998 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:147.68, Y:59.13, Z:0.02 [[ 6.82511867e-01 -7.30874511e-01 0.00000000e+00 1.47675792e+02] [ 7.30874511e-01 6.82511867e-01 0.00000000e+00 5.91314264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73836313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.190371743 meters Centerline goodness : 0.995990 Centerline is valid? [True, True] Translation: X:147.70, Y:59.15, Z:0.02 [[ 6.85372886e-01 -7.28192287e-01 0.00000000e+00 1.47701995e+02] [ 7.28192287e-01 6.85372886e-01 0.00000000e+00 5.91545952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69841492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220371743 meters Centerline goodness : 0.996365 Centerline is valid? [True, True] Translation: X:147.71, Y:59.18, Z:0.02 [[ 6.84998566e-01 -7.28544415e-01 0.00000000e+00 1.47712574e+02] [ 7.28544415e-01 6.84998566e-01 0.00000000e+00 5.91771765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87466017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.250371743 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:147.74, Y:59.20, Z:0.02 [[ 6.86356577e-01 -7.27265185e-01 0.00000000e+00 1.47735805e+02] [ 7.27265185e-01 6.86356577e-01 0.00000000e+00 5.92010082e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99655100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280371743 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:147.77, Y:59.22, Z:0.02 [[ 6.90635449e-01 -7.23203067e-01 0.00000000e+00 1.47766503e+02] [ 7.23203067e-01 6.90635449e-01 0.00000000e+00 5.92235186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87933565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.310371743 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:147.78, Y:59.25, Z:0.02 [[ 6.88133512e-01 -7.25584089e-01 0.00000000e+00 1.47781207e+02] [ 7.25584089e-01 6.88133512e-01 0.00000000e+00 5.92461199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76510684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340371743 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:147.82, Y:59.27, Z:0.01 [[ 6.93182413e-01 -7.20762195e-01 0.00000000e+00 1.47817175e+02] [ 7.20762195e-01 6.93182413e-01 0.00000000e+00 5.92684755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34199684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.370371743 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:147.83, Y:59.29, Z:0.02 [[ 6.88825019e-01 -7.24927647e-01 0.00000000e+00 1.47827778e+02] [ 7.24927647e-01 6.88825019e-01 0.00000000e+00 5.92892218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53996547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.400371743 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:147.85, Y:59.31, Z:0.01 [[ 6.88869963e-01 -7.24884939e-01 0.00000000e+00 1.47850622e+02] [ 7.24884939e-01 6.88869963e-01 0.00000000e+00 5.93112589e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37982368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.430371743 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:147.87, Y:59.33, Z:0.01 [[ 6.89147281e-01 -7.24621298e-01 0.00000000e+00 1.47873058e+02] [ 7.24621298e-01 6.89147281e-01 0.00000000e+00 5.93325899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30028450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.460371743 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:147.90, Y:59.36, Z:0.01 [[ 6.88933602e-01 -7.24824456e-01 0.00000000e+00 1.47896388e+02] [ 7.24824456e-01 6.88933602e-01 0.00000000e+00 5.93560257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40293527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49037174299997 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:147.93, Y:59.38, Z:0.01 [[ 6.94245366e-01 -7.19738406e-01 0.00000000e+00 1.47934912e+02] [ 7.19738406e-01 6.94245366e-01 0.00000000e+00 5.93792554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72984237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52037174299997 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:147.96, Y:59.40, Z:0.01 [[ 6.93162329e-01 -7.20781510e-01 0.00000000e+00 1.47958187e+02] [ 7.20781510e-01 6.93162329e-01 0.00000000e+00 5.94016968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04779427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55037174299997 meters Centerline goodness : 0.994975 Centerline is valid? [True, True] Translation: X:147.98, Y:59.42, Z:0.01 [[ 6.92917487e-01 -7.21016890e-01 0.00000000e+00 1.47980836e+02] [ 7.21016890e-01 6.92917487e-01 0.00000000e+00 5.94236777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04779427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58037174299997 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:148.01, Y:59.45, Z:0.01 [[ 6.93563345e-01 -7.20395646e-01 0.00000000e+00 1.48006793e+02] [ 7.20395646e-01 6.93563345e-01 0.00000000e+00 5.94450206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24258321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61037174299997 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:148.03, Y:59.47, Z:0.01 [[ 6.91307952e-01 -7.22560250e-01 0.00000000e+00 1.48029125e+02] [ 7.22560250e-01 6.91307952e-01 0.00000000e+00 5.94671936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12696068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64037174299997 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:148.05, Y:59.49, Z:0.01 [[ 6.90214174e-01 -7.23605137e-01 0.00000000e+00 1.48050830e+02] [ 7.23605137e-01 6.90214174e-01 0.00000000e+00 5.94894640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21507999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67037174299998 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:148.07, Y:59.51, Z:0.01 [[ 6.89534304e-01 -7.24253024e-01 0.00000000e+00 1.48074216e+02] [ 7.24253024e-01 6.89534304e-01 0.00000000e+00 5.95121438e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23036051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70037174299998 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:148.08, Y:59.53, Z:0.02 [[ 6.82532063e-01 -7.30855651e-01 0.00000000e+00 1.48078858e+02] [ 7.30855651e-01 6.82532063e-01 0.00000000e+00 5.95326585e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71716810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73037174299998 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:148.12, Y:59.55, Z:0.01 [[ 6.89496478e-01 -7.24289036e-01 0.00000000e+00 1.48119142e+02] [ 7.24289036e-01 6.89496478e-01 0.00000000e+00 5.95547824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10520190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76037174299998 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:148.12, Y:59.58, Z:0.02 [[ 6.83157332e-01 -7.30271223e-01 0.00000000e+00 1.48123319e+02] [ 7.30271223e-01 6.83157332e-01 0.00000000e+00 5.95750530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66737325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79037174299998 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:148.15, Y:59.60, Z:0.02 [[ 6.83375838e-01 -7.30066753e-01 0.00000000e+00 1.48147172e+02] [ 7.30066753e-01 6.83375838e-01 0.00000000e+00 5.95986505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67915404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82037174299998 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:148.17, Y:59.62, Z:0.02 [[ 6.84138100e-01 -7.29352494e-01 0.00000000e+00 1.48170250e+02] [ 7.29352494e-01 6.84138100e-01 0.00000000e+00 5.96207524e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64653464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85037174299998 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:148.19, Y:59.64, Z:0.02 [[ 6.85543616e-01 -7.28031558e-01 0.00000000e+00 1.48194180e+02] [ 7.28031558e-01 6.85543616e-01 0.00000000e+00 5.96432994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61864978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88037174299998 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:148.22, Y:59.67, Z:0.02 [[ 6.86485757e-01 -7.27143250e-01 0.00000000e+00 1.48218419e+02] [ 7.27143250e-01 6.86485757e-01 0.00000000e+00 5.96661792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63993726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91037174299998 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:148.24, Y:59.69, Z:0.01 [[ 6.87647982e-01 -7.26044250e-01 0.00000000e+00 1.48242071e+02] [ 7.26044250e-01 6.87647982e-01 0.00000000e+00 5.96885247e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48300805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940371743 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:148.28, Y:59.71, Z:0.02 [[ 6.93749641e-01 -7.20216243e-01 0.00000000e+00 1.48276515e+02] [ 7.20216243e-01 6.93749641e-01 0.00000000e+00 5.97117347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59279410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.970371743 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:148.29, Y:59.73, Z:0.02 [[ 6.91196938e-01 -7.22666447e-01 0.00000000e+00 1.48287386e+02] [ 7.22666447e-01 6.91196938e-01 0.00000000e+00 5.97321885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57672496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000371743 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:148.32, Y:59.76, Z:0.02 [[ 6.97481990e-01 -7.16602312e-01 0.00000000e+00 1.48321184e+02] [ 7.16602312e-01 6.97481990e-01 0.00000000e+00 5.97560476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62958553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.030371743 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:148.33, Y:59.78, Z:0.02 [[ 6.95640223e-01 -7.18390339e-01 0.00000000e+00 1.48332511e+02] [ 7.18390339e-01 6.95640223e-01 0.00000000e+00 5.97772424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72029776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060371743 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:148.37, Y:59.80, Z:0.02 [[ 7.00960670e-01 -7.13199929e-01 0.00000000e+00 1.48366988e+02] [ 7.13199929e-01 7.00960670e-01 0.00000000e+00 5.98006881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65036775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.090371743 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:148.38, Y:59.82, Z:0.02 [[ 6.99052404e-01 -7.15070442e-01 0.00000000e+00 1.48377814e+02] [ 7.15070442e-01 6.99052404e-01 0.00000000e+00 5.98205990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67251820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120371743 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:148.40, Y:59.84, Z:0.02 [[ 7.01604646e-01 -7.12566433e-01 0.00000000e+00 1.48402083e+02] [ 7.12566433e-01 7.01604646e-01 0.00000000e+00 5.98438357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65086074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.150371743 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:148.43, Y:59.87, Z:0.02 [[ 7.02758592e-01 -7.11428395e-01 0.00000000e+00 1.48426595e+02] [ 7.11428395e-01 7.02758592e-01 0.00000000e+00 5.98665095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65073981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.180371743 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:148.45, Y:59.89, Z:0.02 [[ 7.03594574e-01 -7.10601629e-01 0.00000000e+00 1.48450811e+02] [ 7.10601629e-01 7.03594574e-01 0.00000000e+00 5.98879978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66712407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.210371743 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:148.48, Y:59.91, Z:0.02 [[ 7.03490049e-01 -7.10705108e-01 0.00000000e+00 1.48475338e+02] [ 7.10705108e-01 7.03490049e-01 0.00000000e+00 5.99106987e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73750743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24037174299997 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:148.50, Y:59.93, Z:0.02 [[ 7.03368514e-01 -7.10825388e-01 0.00000000e+00 1.48499313e+02] [ 7.10825388e-01 7.03368514e-01 0.00000000e+00 5.99319712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72752195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27037174299997 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:148.52, Y:59.95, Z:0.02 [[ 7.02262326e-01 -7.11918271e-01 0.00000000e+00 1.48524935e+02] [ 7.11918271e-01 7.02262326e-01 0.00000000e+00 5.99527007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77703662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30037174299997 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:148.55, Y:59.98, Z:0.02 [[ 7.01473955e-01 -7.12695090e-01 0.00000000e+00 1.48549949e+02] [ 7.12695090e-01 7.01473955e-01 0.00000000e+00 5.99750206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82022904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33037174299997 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:148.57, Y:60.00, Z:0.02 [[ 6.99653816e-01 -7.14482006e-01 0.00000000e+00 1.48574637e+02] [ 7.14482006e-01 6.99653816e-01 0.00000000e+00 5.99951268e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90047276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36037174299997 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:148.60, Y:60.02, Z:0.02 [[ 6.98629334e-01 -7.15483790e-01 0.00000000e+00 1.48599304e+02] [ 7.15483790e-01 6.98629334e-01 0.00000000e+00 6.00168447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91994577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39037174299997 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:148.62, Y:60.04, Z:0.02 [[ 6.97604259e-01 -7.16483285e-01 0.00000000e+00 1.48624016e+02] [ 7.16483285e-01 6.97604259e-01 0.00000000e+00 6.00388869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96205325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42037174299998 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:148.65, Y:60.06, Z:0.02 [[ 6.95263221e-01 -7.18755211e-01 0.00000000e+00 1.48648177e+02] [ 7.18755211e-01 6.95263221e-01 0.00000000e+00 6.00587180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95607381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45037174299998 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:148.67, Y:60.08, Z:0.02 [[ 6.94107461e-01 -7.19871400e-01 0.00000000e+00 1.48670981e+02] [ 7.19871400e-01 6.94107461e-01 0.00000000e+00 6.00789400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95187861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48037174299998 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:148.70, Y:60.10, Z:0.02 [[ 6.93292935e-01 -7.20655886e-01 0.00000000e+00 1.48696258e+02] [ 7.20655886e-01 6.93292935e-01 0.00000000e+00 6.01005642e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98483017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51037174299998 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:148.72, Y:60.12, Z:0.02 [[ 6.90290685e-01 -7.23532149e-01 0.00000000e+00 1.48719835e+02] [ 7.23532149e-01 6.90290685e-01 0.00000000e+00 6.01211135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90602437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54037174299998 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:148.74, Y:60.14, Z:0.02 [[ 6.88650505e-01 -7.25093430e-01 0.00000000e+00 1.48740456e+02] [ 7.25093430e-01 6.88650505e-01 0.00000000e+00 6.01396487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90307432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57037174299998 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:148.76, Y:60.16, Z:0.02 [[ 6.86181837e-01 -7.27430056e-01 0.00000000e+00 1.48763492e+02] [ 7.27430056e-01 6.86181837e-01 0.00000000e+00 6.01599593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97921638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60037174299998 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:148.78, Y:60.18, Z:0.02 [[ 6.84709047e-01 -7.28816521e-01 0.00000000e+00 1.48783797e+02] [ 7.28816521e-01 6.84709047e-01 0.00000000e+00 6.01795596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94402128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63037174299998 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:148.80, Y:60.20, Z:0.02 [[ 6.83563202e-01 -7.29891327e-01 0.00000000e+00 1.48804117e+02] [ 7.29891327e-01 6.83563202e-01 0.00000000e+00 6.01990504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94966003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66037174299998 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:148.83, Y:60.22, Z:0.02 [[ 6.82965733e-01 -7.30450414e-01 0.00000000e+00 1.48827357e+02] [ 7.30450414e-01 6.82965733e-01 0.00000000e+00 6.02213335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10866114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.690371743 meters Centerline goodness : 0.995674 Centerline is valid? [True, True] Translation: X:148.87, Y:60.25, Z:0.02 [[ 6.89980868e-01 -7.23827605e-01 0.00000000e+00 1.48868940e+02] [ 7.23827605e-01 6.89980868e-01 0.00000000e+00 6.02454168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71924861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720371743 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:148.89, Y:60.27, Z:0.02 [[ 6.87710993e-01 -7.25984566e-01 0.00000000e+00 1.48888471e+02] [ 7.25984566e-01 6.87710993e-01 0.00000000e+00 6.02686689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72577985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.750371743 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:148.91, Y:60.29, Z:0.02 [[ 6.86626404e-01 -7.27010441e-01 0.00000000e+00 1.48910413e+02] [ 7.27010441e-01 6.86626404e-01 0.00000000e+00 6.02919130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72283896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780371743 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:148.93, Y:60.31, Z:0.02 [[ 6.84960086e-01 -7.28580593e-01 0.00000000e+00 1.48929119e+02] [ 7.28580593e-01 6.84960086e-01 0.00000000e+00 6.03139054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73869213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.810371743 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:148.95, Y:60.34, Z:0.02 [[ 6.83088550e-01 -7.30335562e-01 0.00000000e+00 1.48951777e+02] [ 7.30335562e-01 6.83088550e-01 0.00000000e+00 6.03376132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74204868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840371743 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:148.97, Y:60.36, Z:0.02 [[ 6.82158657e-01 -7.31204190e-01 0.00000000e+00 1.48973547e+02] [ 7.31204190e-01 6.82158657e-01 0.00000000e+00 6.03598768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72606337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.870371743 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:148.99, Y:60.38, Z:0.02 [[ 6.80435672e-01 -7.32807817e-01 0.00000000e+00 1.48994333e+02] [ 7.32807817e-01 6.80435672e-01 0.00000000e+00 6.03828941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82559000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.900371743 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:149.02, Y:60.41, Z:0.02 [[ 6.81422747e-01 -7.31890046e-01 0.00000000e+00 1.49019150e+02] [ 7.31890046e-01 6.81422747e-01 0.00000000e+00 6.04075417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62699393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.930371743 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:149.04, Y:60.43, Z:0.02 [[ 6.80221881e-01 -7.33006270e-01 0.00000000e+00 1.49041463e+02] [ 7.33006270e-01 6.80221881e-01 0.00000000e+00 6.04317881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60710158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.960371743 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:149.06, Y:60.45, Z:0.02 [[ 6.79194295e-01 -7.33958521e-01 0.00000000e+00 1.49057176e+02] [ 7.33958521e-01 6.79194295e-01 0.00000000e+00 6.04544994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69760665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99037174299997 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:149.08, Y:60.48, Z:0.02 [[ 6.79809221e-01 -7.33388999e-01 0.00000000e+00 1.49079467e+02] [ 7.33388999e-01 6.79809221e-01 0.00000000e+00 6.04785144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68194868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02037174299997 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:149.10, Y:60.50, Z:0.02 [[ 6.80592870e-01 -7.32661822e-01 0.00000000e+00 1.49101904e+02] [ 7.32661822e-01 6.80592870e-01 0.00000000e+00 6.05027389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72383433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05037174299997 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:149.12, Y:60.53, Z:0.02 [[ 6.84095944e-01 -7.29392034e-01 0.00000000e+00 1.49124431e+02] [ 7.29392034e-01 6.84095944e-01 0.00000000e+00 6.05285495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68877823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08037174299997 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:149.13, Y:60.55, Z:0.02 [[ 6.79661338e-01 -7.33526050e-01 0.00000000e+00 1.49130805e+02] [ 7.33526050e-01 6.79661338e-01 0.00000000e+00 6.05504152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12890247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11037174299997 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:149.15, Y:60.58, Z:0.02 [[ 6.82257360e-01 -7.31112094e-01 0.00000000e+00 1.49152085e+02] [ 7.31112094e-01 6.82257360e-01 0.00000000e+00 6.05760658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22112904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14037174299997 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:149.19, Y:60.60, Z:0.02 [[ 6.87791383e-01 -7.25908406e-01 0.00000000e+00 1.49185487e+02] [ 7.25908406e-01 6.87791383e-01 0.00000000e+00 6.05998299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90951588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17037174299998 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:149.21, Y:60.62, Z:0.02 [[ 6.92146961e-01 -7.21756596e-01 0.00000000e+00 1.49209273e+02] [ 7.21756596e-01 6.92146961e-01 0.00000000e+00 6.06237521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70612672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20037174299998 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:149.21, Y:60.65, Z:0.02 [[ 6.87316787e-01 -7.26357787e-01 0.00000000e+00 1.49213538e+02] [ 7.26357787e-01 6.87316787e-01 0.00000000e+00 6.06453316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15382678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23037174299998 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:149.24, Y:60.67, Z:0.02 [[ 6.88631541e-01 -7.25111440e-01 0.00000000e+00 1.49236383e+02] [ 7.25111440e-01 6.88631541e-01 0.00000000e+00 6.06697510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12442135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26037174299998 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:149.26, Y:60.69, Z:0.02 [[ 6.91304023e-01 -7.22564009e-01 0.00000000e+00 1.49258643e+02] [ 7.22564009e-01 6.91304023e-01 0.00000000e+00 6.06949306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08023411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29037174299998 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:149.28, Y:60.72, Z:0.02 [[ 6.92501064e-01 -7.21416853e-01 0.00000000e+00 1.49281796e+02] [ 7.21416853e-01 6.92501064e-01 0.00000000e+00 6.07186662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05778566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32037174299998 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:149.32, Y:60.74, Z:0.01 [[ 7.00737195e-01 -7.13419500e-01 0.00000000e+00 1.49321606e+02] [ 7.13419500e-01 7.00737195e-01 0.00000000e+00 6.07412320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26041934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35037174299998 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:149.32, Y:60.76, Z:0.02 [[ 6.94500999e-01 -7.19491739e-01 0.00000000e+00 1.49324647e+02] [ 7.19491739e-01 6.94500999e-01 0.00000000e+00 6.07622342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95484757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38037174299998 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:149.35, Y:60.79, Z:0.02 [[ 6.94559909e-01 -7.19434870e-01 0.00000000e+00 1.49347321e+02] [ 7.19434870e-01 6.94559909e-01 0.00000000e+00 6.07854648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91897856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41037174299998 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:149.37, Y:60.81, Z:0.02 [[ 6.94124659e-01 -7.19854817e-01 0.00000000e+00 1.49370547e+02] [ 7.19854817e-01 6.94124659e-01 0.00000000e+00 6.08084099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87027782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440371743 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:149.41, Y:60.83, Z:0.01 [[ 6.98918865e-01 -7.15200964e-01 0.00000000e+00 1.49407005e+02] [ 7.15200964e-01 6.98918865e-01 0.00000000e+00 6.08301679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38551775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.470371743 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:149.43, Y:60.85, Z:0.01 [[ 6.98728604e-01 -7.15386845e-01 0.00000000e+00 1.49429645e+02] [ 7.15386845e-01 6.98728604e-01 0.00000000e+00 6.08521863e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38551775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500371743 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:149.45, Y:60.87, Z:0.02 [[ 6.97492898e-01 -7.16591695e-01 0.00000000e+00 1.49448578e+02] [ 7.16591695e-01 6.97492898e-01 0.00000000e+00 6.08726169e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83972655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.530371743 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:149.48, Y:60.90, Z:0.01 [[ 6.97479817e-01 -7.16604427e-01 0.00000000e+00 1.49476687e+02] [ 7.16604427e-01 6.97479817e-01 0.00000000e+00 6.08972877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21017619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560371743 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:149.49, Y:60.92, Z:0.02 [[ 6.95426773e-01 -7.18596969e-01 0.00000000e+00 1.49491897e+02] [ 7.18596969e-01 6.95426773e-01 0.00000000e+00 6.09160680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72837850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.590371743 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:149.51, Y:60.94, Z:0.02 [[ 6.93321376e-01 -7.20628524e-01 0.00000000e+00 1.49513367e+02] [ 7.20628524e-01 6.93321376e-01 0.00000000e+00 6.09381093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71616114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620371743 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:149.54, Y:60.96, Z:0.01 [[ 6.92182355e-01 -7.21722653e-01 0.00000000e+00 1.49541815e+02] [ 7.21722653e-01 6.92182355e-01 0.00000000e+00 6.09625555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35940079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.650371743 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:149.55, Y:60.98, Z:0.02 [[ 6.85339393e-01 -7.28223809e-01 0.00000000e+00 1.49551482e+02] [ 7.28223809e-01 6.85339393e-01 0.00000000e+00 6.09803517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70019628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.680371743 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:149.58, Y:61.00, Z:0.02 [[ 6.84531823e-01 -7.28982979e-01 0.00000000e+00 1.49575921e+02] [ 7.28982979e-01 6.84531823e-01 0.00000000e+00 6.10021682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67928118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.710371743 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:149.60, Y:61.02, Z:0.02 [[ 6.87494055e-01 -7.26190006e-01 0.00000000e+00 1.49603044e+02] [ 7.26190006e-01 6.87494055e-01 0.00000000e+00 6.10216250e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85052083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74037174299997 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:149.62, Y:61.04, Z:0.02 [[ 6.83713766e-01 -7.29750291e-01 0.00000000e+00 1.49622495e+02] [ 7.29750291e-01 6.83713766e-01 0.00000000e+00 6.10448529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75672657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77037174299997 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:149.65, Y:61.07, Z:0.02 [[ 6.84630910e-01 -7.28889921e-01 0.00000000e+00 1.49646753e+02] [ 7.28889921e-01 6.84630910e-01 0.00000000e+00 6.10673130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76754307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80037174299997 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:149.68, Y:61.09, Z:0.02 [[ 6.90753761e-01 -7.23090065e-01 0.00000000e+00 1.49678146e+02] [ 7.23090065e-01 6.90753761e-01 0.00000000e+00 6.10881897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62191610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83037174299997 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:149.70, Y:61.11, Z:0.02 [[ 6.92165982e-01 -7.21738355e-01 0.00000000e+00 1.49700576e+02] [ 7.21738355e-01 6.92165982e-01 0.00000000e+00 6.11093444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51897478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86037174299997 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:149.72, Y:61.13, Z:0.01 [[ 6.93625806e-01 -7.20335506e-01 0.00000000e+00 1.49720973e+02] [ 7.20335506e-01 6.93625806e-01 0.00000000e+00 6.11287939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39938536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89037174299997 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:149.75, Y:61.15, Z:0.01 [[ 6.95628184e-01 -7.18401997e-01 0.00000000e+00 1.49747700e+02] [ 7.18401997e-01 6.95628184e-01 0.00000000e+00 6.11531955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45809960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92037174299998 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:149.76, Y:61.17, Z:0.01 [[ 6.96085291e-01 -7.17959099e-01 0.00000000e+00 1.49759872e+02] [ 7.17959099e-01 6.96085291e-01 0.00000000e+00 6.11717053e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36200278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95037174299998 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:149.79, Y:61.19, Z:0.01 [[ 6.98525544e-01 -7.15585120e-01 0.00000000e+00 1.49789176e+02] [ 7.15585120e-01 6.98525544e-01 0.00000000e+00 6.11949339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38110920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98037174299998 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:149.81, Y:61.22, Z:0.01 [[ 7.04446210e-01 -7.09757380e-01 0.00000000e+00 1.49811283e+02] [ 7.09757380e-01 7.04446210e-01 0.00000000e+00 6.12151826e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32649658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01037174299998 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:149.84, Y:61.24, Z:0.01 [[ 7.06514600e-01 -7.07698467e-01 0.00000000e+00 1.49836015e+02] [ 7.07698467e-01 7.06514600e-01 0.00000000e+00 6.12376742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20558942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04037174299998 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:149.85, Y:61.26, Z:0.01 [[ 7.02993327e-01 -7.11196445e-01 0.00000000e+00 1.49846185e+02] [ 7.11196445e-01 7.02993327e-01 0.00000000e+00 6.12597395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23739132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07037174299998 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:149.89, Y:61.28, Z:0.01 [[ 7.08835101e-01 -7.05374227e-01 0.00000000e+00 1.49886074e+02] [ 7.05374227e-01 7.08835101e-01 0.00000000e+00 6.12827318e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98507084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10037174299998 meters Centerline goodness : 0.994035 Centerline is valid? [True, True] Translation: X:149.91, Y:61.30, Z:0.01 [[ 7.09081291e-01 -7.05126742e-01 0.00000000e+00 1.49910002e+02] [ 7.05126742e-01 7.09081291e-01 0.00000000e+00 6.13048369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19684609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13037174299998 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:149.93, Y:61.32, Z:0.01 [[ 7.10667768e-01 -7.03527770e-01 0.00000000e+00 1.49928481e+02] [ 7.03527770e-01 7.10667768e-01 0.00000000e+00 6.13218089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41647731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16037174299998 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:149.95, Y:61.34, Z:0.01 [[ 7.09926739e-01 -7.04275532e-01 0.00000000e+00 1.49954041e+02] [ 7.04275532e-01 7.09926739e-01 0.00000000e+00 6.13430481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53875673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.190371743 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:149.98, Y:61.37, Z:0.01 [[ 7.06838567e-01 -7.07374894e-01 0.00000000e+00 1.49980896e+02] [ 7.07374894e-01 7.06838567e-01 0.00000000e+00 6.13683563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09920324e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220371743 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:149.99, Y:61.39, Z:0.01 [[ 6.99630593e-01 -7.14504747e-01 0.00000000e+00 1.49990438e+02] [ 7.14504747e-01 6.99630593e-01 0.00000000e+00 6.13866814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26202849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.250371743 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:150.01, Y:61.41, Z:0.01 [[ 6.98837789e-01 -7.15280186e-01 0.00000000e+00 1.50014072e+02] [ 7.15280186e-01 6.98837789e-01 0.00000000e+00 6.14069555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20884531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280371743 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:150.04, Y:61.43, Z:0.01 [[ 6.98271074e-01 -7.15833436e-01 0.00000000e+00 1.50038141e+02] [ 7.15833436e-01 6.98271074e-01 0.00000000e+00 6.14277405e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34623428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.310371743 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:150.06, Y:61.45, Z:0.01 [[ 6.96790694e-01 -7.17274515e-01 0.00000000e+00 1.50062102e+02] [ 7.17274515e-01 6.96790694e-01 0.00000000e+00 6.14473428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30773922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340371743 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:150.10, Y:61.47, Z:0.01 [[ 7.02537561e-01 -7.11646665e-01 0.00000000e+00 1.50103992e+02] [ 7.11646665e-01 7.02537561e-01 0.00000000e+00 6.14689081e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.18339964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.370371743 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:150.11, Y:61.49, Z:0.01 [[ 6.93319631e-01 -7.20630203e-01 0.00000000e+00 1.50110929e+02] [ 7.20630203e-01 6.93319631e-01 0.00000000e+00 6.14876566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35769640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.400371743 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:150.15, Y:61.51, Z:0.01 [[ 6.97878408e-01 -7.16216258e-01 0.00000000e+00 1.50152206e+02] [ 7.16216258e-01 6.97878408e-01 0.00000000e+00 6.15083484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21447389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.430371743 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:150.17, Y:61.53, Z:0.01 [[ 6.95079770e-01 -7.18932621e-01 0.00000000e+00 1.50173408e+02] [ 7.18932621e-01 6.95079770e-01 0.00000000e+00 6.15281472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52016007e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.460371743 meters Centerline goodness : 0.996184 Centerline is valid? [True, True] Translation: X:150.20, Y:61.55, Z:0.01 [[ 6.92111863e-01 -7.21790253e-01 0.00000000e+00 1.50201110e+02] [ 7.21790253e-01 6.92111863e-01 0.00000000e+00 6.15487601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11437358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49037174299997 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:150.21, Y:61.57, Z:0.01 [[ 6.84776267e-01 -7.28753363e-01 0.00000000e+00 1.50208034e+02] [ 7.28753363e-01 6.84776267e-01 0.00000000e+00 6.15682282e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04338553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52037174299997 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:150.25, Y:61.59, Z:0.01 [[ 6.90142212e-01 -7.23673771e-01 0.00000000e+00 1.50246882e+02] [ 7.23673771e-01 6.90142212e-01 0.00000000e+00 6.15900673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05902740e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55037174299997 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:150.25, Y:61.61, Z:0.01 [[ 6.83694056e-01 -7.29768756e-01 0.00000000e+00 1.50254290e+02] [ 7.29768756e-01 6.83694056e-01 0.00000000e+00 6.16100285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11512747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58037174299997 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:150.29, Y:61.63, Z:0.01 [[ 6.89537762e-01 -7.24249733e-01 0.00000000e+00 1.50291318e+02] [ 7.24249733e-01 6.89537762e-01 0.00000000e+00 6.16314714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94081856e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61037174299997 meters Centerline goodness : 0.995592 Centerline is valid? [True, True] Translation: X:150.31, Y:61.65, Z:0.01 [[ 6.89310731e-01 -7.24465814e-01 0.00000000e+00 1.50314560e+02] [ 7.24465814e-01 6.89310731e-01 0.00000000e+00 6.16533500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03475860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64037174299997 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:150.34, Y:61.67, Z:0.01 [[ 6.91425444e-01 -7.22447822e-01 0.00000000e+00 1.50339567e+02] [ 7.22447822e-01 6.91425444e-01 0.00000000e+00 6.16746655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55392698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67037174299998 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:150.36, Y:61.70, Z:0.01 [[ 6.93068437e-01 -7.20871793e-01 0.00000000e+00 1.50362701e+02] [ 7.20871793e-01 6.93068437e-01 0.00000000e+00 6.16964078e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84382110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70037174299998 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:150.38, Y:61.72, Z:0.01 [[ 6.95204662e-01 -7.18811852e-01 0.00000000e+00 1.50383879e+02] [ 7.18811852e-01 6.95204662e-01 0.00000000e+00 6.17195633e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11878460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73037174299998 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:150.41, Y:61.74, Z:0.01 [[ 6.97229599e-01 -7.16847882e-01 0.00000000e+00 1.50406301e+02] [ 7.16847882e-01 6.97229599e-01 0.00000000e+00 6.17427052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56384841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76037174299998 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:150.43, Y:61.77, Z:0.01 [[ 7.02224273e-01 -7.11955807e-01 0.00000000e+00 1.50430923e+02] [ 7.11955807e-01 7.02224273e-01 0.00000000e+00 6.17658322e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92626975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79037174299998 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:150.45, Y:61.79, Z:0.01 [[ 7.03589244e-01 -7.10606906e-01 0.00000000e+00 1.50451843e+02] [ 7.10606906e-01 7.03589244e-01 0.00000000e+00 6.17881257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11913399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82037174299998 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:150.48, Y:61.81, Z:0.01 [[ 7.05266985e-01 -7.08941803e-01 0.00000000e+00 1.50476309e+02] [ 7.08941803e-01 7.05266985e-01 0.00000000e+00 6.18111940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54782918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85037174299998 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:150.50, Y:61.83, Z:0.01 [[ 7.09336367e-01 -7.04870143e-01 0.00000000e+00 1.50499790e+02] [ 7.04870143e-01 7.09336367e-01 0.00000000e+00 6.18327599e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82904946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88037174299998 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:150.52, Y:61.85, Z:0.01 [[ 7.08970631e-01 -7.05238006e-01 0.00000000e+00 1.50518691e+02] [ 7.05238006e-01 7.08970631e-01 0.00000000e+00 6.18534461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98000138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91037174299998 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:150.53, Y:61.87, Z:0.02 [[ 7.03733525e-01 -7.10464021e-01 0.00000000e+00 1.50526167e+02] [ 7.10464021e-01 7.03733525e-01 0.00000000e+00 6.18748478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66178351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.940371743 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:150.57, Y:61.90, Z:0.01 [[ 7.10590877e-01 -7.03605433e-01 0.00000000e+00 1.50567619e+02] [ 7.03605433e-01 7.10590877e-01 0.00000000e+00 6.18968024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.83031763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.970371743 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:150.59, Y:61.92, Z:0.01 [[ 7.10085669e-01 -7.04115291e-01 0.00000000e+00 1.50592869e+02] [ 7.04115291e-01 7.10085669e-01 0.00000000e+00 6.19189984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47614886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.000371743 meters Centerline goodness : 0.996103 Centerline is valid? [True, True] Translation: X:150.59, Y:61.94, Z:0.02 [[ 6.99942805e-01 -7.14198901e-01 0.00000000e+00 1.50594411e+02] [ 7.14198901e-01 6.99942805e-01 0.00000000e+00 6.19369730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62281090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.030371743 meters Centerline goodness : 0.995891 Centerline is valid? [True, True] Translation: X:150.61, Y:61.95, Z:0.01 [[ 6.99172488e-01 -7.14953028e-01 0.00000000e+00 1.50613534e+02] [ 7.14953028e-01 6.99172488e-01 0.00000000e+00 6.19543162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25460488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.060371743 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:150.64, Y:61.97, Z:0.01 [[ 6.97829840e-01 -7.16263579e-01 0.00000000e+00 1.50636444e+02] [ 7.16263579e-01 6.97829840e-01 0.00000000e+00 6.19737149e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49450916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.090371743 meters Centerline goodness : 0.995989 Centerline is valid? [True, True] Translation: X:150.66, Y:61.99, Z:0.01 [[ 6.95748638e-01 -7.18285342e-01 0.00000000e+00 1.50662368e+02] [ 7.18285342e-01 6.95748638e-01 0.00000000e+00 6.19931520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41790804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.120371743 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:150.69, Y:62.02, Z:0.01 [[ 6.94582785e-01 -7.19412785e-01 0.00000000e+00 1.50687731e+02] [ 7.19412785e-01 6.94582785e-01 0.00000000e+00 6.20151789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40633355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.150371743 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:150.71, Y:62.03, Z:0.01 [[ 6.92128356e-01 -7.21774437e-01 0.00000000e+00 1.50712683e+02] [ 7.21774437e-01 6.92128356e-01 0.00000000e+00 6.20340927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44324422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.180371743 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:150.74, Y:62.06, Z:0.01 [[ 6.90941463e-01 -7.22910711e-01 0.00000000e+00 1.50737299e+02] [ 7.22910711e-01 6.90941463e-01 0.00000000e+00 6.20554753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47948559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.210371743 meters Centerline goodness : 0.996025 Centerline is valid? [True, True] Translation: X:150.76, Y:62.08, Z:0.01 [[ 6.89666293e-01 -7.24127340e-01 0.00000000e+00 1.50760490e+02] [ 7.24127340e-01 6.89666293e-01 0.00000000e+00 6.20757205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44129527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24037174299997 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:150.79, Y:62.10, Z:0.02 [[ 6.87357937e-01 -7.26318847e-01 0.00000000e+00 1.50786906e+02] [ 7.26318847e-01 6.87357937e-01 0.00000000e+00 6.20966668e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57054217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27037174299997 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:150.81, Y:62.12, Z:0.02 [[ 6.86039724e-01 -7.27564085e-01 0.00000000e+00 1.50811116e+02] [ 7.27564085e-01 6.86039724e-01 0.00000000e+00 6.21181476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51907442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30037174299997 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:150.85, Y:62.14, Z:0.01 [[ 6.90465127e-01 -7.23365681e-01 0.00000000e+00 1.50854204e+02] [ 7.23365681e-01 6.90465127e-01 0.00000000e+00 6.21386870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.26978201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33037174299997 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:150.88, Y:62.16, Z:0.01 [[ 6.89187121e-01 -7.24583406e-01 0.00000000e+00 1.50878819e+02] [ 7.24583406e-01 6.89187121e-01 0.00000000e+00 6.21599350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97986869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36037174299997 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:150.90, Y:62.18, Z:0.01 [[ 6.88837060e-01 -7.24916205e-01 0.00000000e+00 1.50901169e+02] [ 7.24916205e-01 6.88837060e-01 0.00000000e+00 6.21821825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97986869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39037174299997 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:150.90, Y:62.20, Z:0.02 [[ 6.78317239e-01 -7.34769164e-01 0.00000000e+00 1.50904963e+02] [ 7.34769164e-01 6.78317239e-01 0.00000000e+00 6.22003972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68510212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42037174299998 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:150.95, Y:62.22, Z:0.01 [[ 6.84431181e-01 -7.29077471e-01 0.00000000e+00 1.50945987e+02] [ 7.29077471e-01 6.84431181e-01 0.00000000e+00 6.22223447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21437543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45037174299998 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:150.95, Y:62.24, Z:0.02 [[ 6.76129956e-01 -7.36782385e-01 0.00000000e+00 1.50949753e+02] [ 7.36782385e-01 6.76129956e-01 0.00000000e+00 6.22424673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77914859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48037174299998 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:150.99, Y:62.27, Z:0.01 [[ 6.82708085e-01 -7.30691228e-01 0.00000000e+00 1.50991032e+02] [ 7.30691228e-01 6.82708085e-01 0.00000000e+00 6.22652075e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28521105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51037174299998 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:151.01, Y:62.29, Z:0.01 [[ 6.80600816e-01 -7.32654441e-01 0.00000000e+00 1.51009047e+02] [ 7.32654441e-01 6.80600816e-01 0.00000000e+00 6.22856862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35210931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54037174299998 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:151.02, Y:62.31, Z:0.02 [[ 6.72734445e-01 -7.39884022e-01 0.00000000e+00 1.51015491e+02] [ 7.39884022e-01 6.72734445e-01 0.00000000e+00 6.23077798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71999819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57037174299998 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:151.05, Y:62.33, Z:0.01 [[ 6.76759786e-01 -7.36203907e-01 0.00000000e+00 1.51053204e+02] [ 7.36203907e-01 6.76759786e-01 0.00000000e+00 6.23319261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19404916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60037174299998 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:151.07, Y:62.35, Z:0.01 [[ 6.74862775e-01 -7.37943247e-01 0.00000000e+00 1.51073912e+02] [ 7.37943247e-01 6.74862775e-01 0.00000000e+00 6.23546274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18079822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63037174299998 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:151.09, Y:62.38, Z:0.01 [[ 6.72636760e-01 -7.39972830e-01 0.00000000e+00 1.51094032e+02] [ 7.39972830e-01 6.72636760e-01 0.00000000e+00 6.23776939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25549863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66037174299998 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:151.11, Y:62.40, Z:0.01 [[ 6.69909326e-01 -7.42442924e-01 0.00000000e+00 1.51114531e+02] [ 7.42442924e-01 6.69909326e-01 0.00000000e+00 6.24017289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28598416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.690371743 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:151.13, Y:62.42, Z:0.01 [[ 6.68383039e-01 -7.43817258e-01 0.00000000e+00 1.51128230e+02] [ 7.43817258e-01 6.68383039e-01 0.00000000e+00 6.24203016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47914147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.720371743 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:151.15, Y:62.45, Z:0.02 [[ 6.65075727e-01 -7.46775922e-01 0.00000000e+00 1.51152331e+02] [ 7.46775922e-01 6.65075727e-01 0.00000000e+00 6.24467980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65899656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.750371743 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:151.17, Y:62.47, Z:0.02 [[ 6.62705029e-01 -7.48880528e-01 0.00000000e+00 1.51172954e+02] [ 7.48880528e-01 6.62705029e-01 0.00000000e+00 6.24711694e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67027512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.780371743 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:151.20, Y:62.50, Z:0.02 [[ 6.61318452e-01 -7.50105262e-01 0.00000000e+00 1.51195285e+02] [ 7.50105262e-01 6.61318452e-01 0.00000000e+00 6.24952683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63908010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.810371743 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:151.21, Y:62.52, Z:0.02 [[ 6.56708710e-01 -7.54144330e-01 0.00000000e+00 1.51206739e+02] [ 7.54144330e-01 6.56708710e-01 0.00000000e+00 6.25201253e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72790942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.840371743 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:151.23, Y:62.54, Z:0.02 [[ 6.56243073e-01 -7.54549554e-01 0.00000000e+00 1.51228990e+02] [ 7.54549554e-01 6.56243073e-01 0.00000000e+00 6.25442426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82079121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.870371743 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:151.26, Y:62.57, Z:0.02 [[ 6.58405305e-01 -7.52663573e-01 0.00000000e+00 1.51258375e+02] [ 7.52663573e-01 6.58405305e-01 0.00000000e+00 6.25685090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79274583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.900371743 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:151.28, Y:62.59, Z:0.02 [[ 6.58097076e-01 -7.52933090e-01 0.00000000e+00 1.51279803e+02] [ 7.52933090e-01 6.58097076e-01 0.00000000e+00 6.25946054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66856603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.930371743 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:151.30, Y:62.62, Z:0.02 [[ 6.57582256e-01 -7.53382756e-01 0.00000000e+00 1.51301707e+02] [ 7.53382756e-01 6.57582256e-01 0.00000000e+00 6.26192829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66578810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.960371743 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:151.32, Y:62.64, Z:0.02 [[ 6.58010863e-01 -7.53008436e-01 0.00000000e+00 1.51319696e+02] [ 7.53008436e-01 6.58010863e-01 0.00000000e+00 6.26429364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54633607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99037174299997 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:151.34, Y:62.67, Z:0.02 [[ 6.56595879e-01 -7.54242568e-01 0.00000000e+00 1.51343332e+02] [ 7.54242568e-01 6.56595879e-01 0.00000000e+00 6.26684330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52402588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02037174299997 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:151.37, Y:62.69, Z:0.01 [[ 6.57244933e-01 -7.53677051e-01 0.00000000e+00 1.51367743e+02] [ 7.53677051e-01 6.57244933e-01 0.00000000e+00 6.26934670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27558304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05037174299997 meters Centerline goodness : 0.995510 Centerline is valid? [True, True] Translation: X:151.38, Y:62.71, Z:0.01 [[ 6.57112233e-01 -7.53792752e-01 0.00000000e+00 1.51382928e+02] [ 7.53792752e-01 6.57112233e-01 0.00000000e+00 6.27141050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30156326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08037174299997 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:151.40, Y:62.74, Z:0.02 [[ 6.56022877e-01 -7.54741005e-01 0.00000000e+00 1.51403848e+02] [ 7.54741005e-01 6.56022877e-01 0.00000000e+00 6.27434529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50097082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11037174299997 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:151.42, Y:62.77, Z:0.01 [[ 6.57722473e-01 -7.53260346e-01 0.00000000e+00 1.51421047e+02] [ 7.53260346e-01 6.57722473e-01 0.00000000e+00 6.27652734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42740733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14037174299997 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:151.44, Y:62.79, Z:0.01 [[ 6.57174010e-01 -7.53738895e-01 0.00000000e+00 1.51442766e+02] [ 7.53738895e-01 6.57174010e-01 0.00000000e+00 6.27939904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47301057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17037174299998 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:151.46, Y:62.82, Z:0.01 [[ 6.57919278e-01 -7.53088457e-01 0.00000000e+00 1.51463521e+02] [ 7.53088457e-01 6.57919278e-01 0.00000000e+00 6.28181015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39833795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20037174299998 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:151.48, Y:62.85, Z:0.01 [[ 6.58459865e-01 -7.52615843e-01 0.00000000e+00 1.51483353e+02] [ 7.52615843e-01 6.58459865e-01 0.00000000e+00 6.28457631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40019454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23037174299998 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:151.51, Y:62.87, Z:0.01 [[ 6.58610469e-01 -7.52484053e-01 0.00000000e+00 1.51505278e+02] [ 7.52484053e-01 6.58610469e-01 0.00000000e+00 6.28708226e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32036097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26037174299998 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:151.52, Y:62.89, Z:0.01 [[ 6.58504298e-01 -7.52576966e-01 0.00000000e+00 1.51524447e+02] [ 7.52576966e-01 6.58504298e-01 0.00000000e+00 6.28939431e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31815647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29037174299998 meters Centerline goodness : 0.995697 Centerline is valid? [True, True] Translation: X:151.55, Y:62.92, Z:0.01 [[ 6.58160585e-01 -7.52877576e-01 0.00000000e+00 1.51545255e+02] [ 7.52877576e-01 6.58160585e-01 0.00000000e+00 6.29208123e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21375703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32037174299998 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:151.56, Y:62.94, Z:0.01 [[ 6.58907667e-01 -7.52223827e-01 0.00000000e+00 1.51561739e+02] [ 7.52223827e-01 6.58907667e-01 0.00000000e+00 6.29419462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18930120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35037174299998 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:151.58, Y:62.97, Z:0.01 [[ 6.56971567e-01 -7.53915353e-01 0.00000000e+00 1.51584290e+02] [ 7.53915353e-01 6.56971567e-01 0.00000000e+00 6.29707002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14995797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38037174299998 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:151.60, Y:62.99, Z:0.01 [[ 6.58487860e-01 -7.52591349e-01 0.00000000e+00 1.51602175e+02] [ 7.52591349e-01 6.58487860e-01 0.00000000e+00 6.29919605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09688636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41037174299998 meters Centerline goodness : 0.995281 Centerline is valid? [True, True] Translation: X:151.63, Y:63.02, Z:0.01 [[ 6.58161893e-01 -7.52876432e-01 0.00000000e+00 1.51627660e+02] [ 7.52876432e-01 6.58161893e-01 0.00000000e+00 6.30183653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12008200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.440371743 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:151.65, Y:63.04, Z:0.01 [[ 6.59222455e-01 -7.51947973e-01 0.00000000e+00 1.51649547e+02] [ 7.51947973e-01 6.59222455e-01 0.00000000e+00 6.30417241e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01246874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.470371743 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:151.67, Y:63.07, Z:0.01 [[ 6.61085724e-01 -7.50310379e-01 0.00000000e+00 1.51670765e+02] [ 7.50310379e-01 6.61085724e-01 0.00000000e+00 6.30675768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92978607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.500371743 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:151.69, Y:63.09, Z:0.01 [[ 6.62226935e-01 -7.49303334e-01 0.00000000e+00 1.51692679e+02] [ 7.49303334e-01 6.62226935e-01 0.00000000e+00 6.30915366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.11319144e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.530371743 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:151.71, Y:63.11, Z:0.01 [[ 6.66177468e-01 -7.45793256e-01 0.00000000e+00 1.51710984e+02] [ 7.45793256e-01 6.66177468e-01 0.00000000e+00 6.31145408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66903989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.560371743 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:151.73, Y:63.14, Z:0.01 [[ 6.66566242e-01 -7.45445803e-01 0.00000000e+00 1.51734460e+02] [ 7.45445803e-01 6.66566242e-01 0.00000000e+00 6.31402293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23861861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.590371743 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:151.76, Y:63.16, Z:0.01 [[ 6.67689761e-01 -7.44439644e-01 0.00000000e+00 1.51756107e+02] [ 7.44439644e-01 6.67689761e-01 0.00000000e+00 6.31646933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63649383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.620371743 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:151.78, Y:63.19, Z:0.01 [[ 6.69843119e-01 -7.42502657e-01 0.00000000e+00 1.51778379e+02] [ 7.42502657e-01 6.69843119e-01 0.00000000e+00 6.31896252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.79987275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.650371743 meters Centerline goodness : 0.993988 Centerline is valid? [True, True] Translation: X:151.80, Y:63.21, Z:0.01 [[ 6.69399129e-01 -7.42902959e-01 0.00000000e+00 1.51799845e+02] [ 7.42902959e-01 6.69399129e-01 0.00000000e+00 6.32132085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.45527878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.680371743 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:151.82, Y:63.23, Z:0.01 [[ 6.71305284e-01 -7.41180960e-01 0.00000000e+00 1.51819450e+02] [ 7.41180960e-01 6.71305284e-01 0.00000000e+00 6.32340687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26322800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.710371743 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:151.84, Y:63.26, Z:0.01 [[ 6.70772982e-01 -7.41662731e-01 0.00000000e+00 1.51844380e+02] [ 7.41662731e-01 6.70772982e-01 0.00000000e+00 6.32576200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63075614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74037174299997 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:151.87, Y:63.28, Z:0.01 [[ 6.70822358e-01 -7.41618071e-01 0.00000000e+00 1.51867271e+02] [ 7.41618071e-01 6.70822358e-01 0.00000000e+00 6.32810033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30367939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77037174299997 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:151.87, Y:63.30, Z:0.01 [[ 6.65566947e-01 -7.46338153e-01 0.00000000e+00 1.51873169e+02] [ 7.46338153e-01 6.65566947e-01 0.00000000e+00 6.33029262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05662940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80037174299997 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:151.90, Y:63.33, Z:0.01 [[ 6.66079493e-01 -7.45880760e-01 0.00000000e+00 1.51895706e+02] [ 7.45880760e-01 6.66079493e-01 0.00000000e+00 6.33265153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04735759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83037174299997 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:151.91, Y:63.35, Z:0.01 [[ 6.65672527e-01 -7.46243986e-01 0.00000000e+00 1.51913529e+02] [ 7.46243986e-01 6.65672527e-01 0.00000000e+00 6.33468404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04206869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86037174299997 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:151.93, Y:63.37, Z:0.01 [[ 6.65257581e-01 -7.46613923e-01 0.00000000e+00 1.51934648e+02] [ 7.46613923e-01 6.65257581e-01 0.00000000e+00 6.33680882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05255405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89037174299997 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:151.97, Y:63.39, Z:0.01 [[ 6.68871212e-01 -7.43378304e-01 0.00000000e+00 1.51967486e+02] [ 7.43378304e-01 6.68871212e-01 0.00000000e+00 6.33920578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14979149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92037174299998 meters Centerline goodness : 0.992835 Centerline is valid? [True, True] Translation: X:151.99, Y:63.41, Z:0.01 [[ 6.70548315e-01 -7.41865862e-01 0.00000000e+00 1.51985634e+02] [ 7.41865862e-01 6.70548315e-01 0.00000000e+00 6.34096076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78288283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95037174299998 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:152.01, Y:63.44, Z:0.01 [[ 6.68786787e-01 -7.43454258e-01 0.00000000e+00 1.52012430e+02] [ 7.43454258e-01 6.68786787e-01 0.00000000e+00 6.34357429e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33855796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98037174299998 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:152.03, Y:63.45, Z:0.01 [[ 6.71082850e-01 -7.41382363e-01 0.00000000e+00 1.52030260e+02] [ 7.41382363e-01 6.71082850e-01 0.00000000e+00 6.34541400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12277907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01037174299998 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:152.06, Y:63.48, Z:0.01 [[ 6.69642522e-01 -7.42683575e-01 0.00000000e+00 1.52058106e+02] [ 7.42683575e-01 6.69642522e-01 0.00000000e+00 6.34807340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88753076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04037174299998 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:152.08, Y:63.50, Z:0.01 [[ 6.70128271e-01 -7.42245310e-01 0.00000000e+00 1.52082279e+02] [ 7.42245310e-01 6.70128271e-01 0.00000000e+00 6.35039022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13444459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07037174299998 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:152.11, Y:63.53, Z:0.01 [[ 6.70435565e-01 -7.41967758e-01 0.00000000e+00 1.52106400e+02] [ 7.41967758e-01 6.70435565e-01 0.00000000e+00 6.35270366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32665125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10037174299998 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:152.13, Y:63.55, Z:0.01 [[ 6.70017977e-01 -7.42344873e-01 0.00000000e+00 1.52128211e+02] [ 7.42344873e-01 6.70017977e-01 0.00000000e+00 6.35488692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53369332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13037174299998 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:152.15, Y:63.57, Z:0.01 [[ 6.68598802e-01 -7.43623320e-01 0.00000000e+00 1.52151534e+02] [ 7.43623320e-01 6.68598802e-01 0.00000000e+00 6.35709086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20033826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16037174299998 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:152.17, Y:63.59, Z:0.01 [[ 6.67809040e-01 -7.44332645e-01 0.00000000e+00 1.52174613e+02] [ 7.44332645e-01 6.67809040e-01 0.00000000e+00 6.35928973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65342620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.190371743 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:152.20, Y:63.62, Z:0.01 [[ 6.67069529e-01 -7.44995465e-01 0.00000000e+00 1.52198802e+02] [ 7.44995465e-01 6.67069529e-01 0.00000000e+00 6.36157640e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58727079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.220371743 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:152.22, Y:63.64, Z:0.01 [[ 6.64648147e-01 -7.47156504e-01 0.00000000e+00 1.52219604e+02] [ 7.47156504e-01 6.64648147e-01 0.00000000e+00 6.36372170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32478854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.250371743 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:152.24, Y:63.66, Z:0.01 [[ 6.64358511e-01 -7.47414055e-01 0.00000000e+00 1.52242885e+02] [ 7.47414055e-01 6.64358511e-01 0.00000000e+00 6.36593200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40169059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.280371743 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:152.27, Y:63.68, Z:0.01 [[ 6.64210591e-01 -7.47545511e-01 0.00000000e+00 1.52266519e+02] [ 7.47545511e-01 6.64210591e-01 0.00000000e+00 6.36829600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40169059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.310371743 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:152.29, Y:63.70, Z:0.01 [[ 6.63478215e-01 -7.48195601e-01 0.00000000e+00 1.52290743e+02] [ 7.48195601e-01 6.63478215e-01 0.00000000e+00 6.37048940e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64207073e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.340371743 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:152.31, Y:63.73, Z:0.01 [[ 6.61729175e-01 -7.49742956e-01 0.00000000e+00 1.52312007e+02] [ 7.49742956e-01 6.61729175e-01 0.00000000e+00 6.37271738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.30619150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.370371743 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:152.33, Y:63.75, Z:0.01 [[ 6.61630281e-01 -7.49830229e-01 0.00000000e+00 1.52334600e+02] [ 7.49830229e-01 6.61630281e-01 0.00000000e+00 6.37493011e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36917541e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.400371743 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:152.36, Y:63.77, Z:0.01 [[ 6.61957974e-01 -7.49540953e-01 0.00000000e+00 1.52357995e+02] [ 7.49540953e-01 6.61957974e-01 0.00000000e+00 6.37708807e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.95950546e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.430371743 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:152.38, Y:63.79, Z:0.01 [[ 6.61719396e-01 -7.49751587e-01 0.00000000e+00 1.52380588e+02] [ 7.49751587e-01 6.61719396e-01 0.00000000e+00 6.37936906e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29050152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.460371743 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:152.40, Y:63.82, Z:0.01 [[ 6.63158061e-01 -7.48479382e-01 0.00000000e+00 1.52401994e+02] [ 7.48479382e-01 6.63158061e-01 0.00000000e+00 6.38161558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23480988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49037174299997 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:152.42, Y:63.84, Z:0.01 [[ 6.63825680e-01 -7.47887335e-01 0.00000000e+00 1.52423017e+02] [ 7.47887335e-01 6.63825680e-01 0.00000000e+00 6.38381950e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.31452962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52037174299997 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:152.45, Y:63.86, Z:0.01 [[ 6.64548040e-01 -7.47245544e-01 0.00000000e+00 1.52446454e+02] [ 7.47245544e-01 6.64548040e-01 0.00000000e+00 6.38615106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48079582e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55037174299997 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:152.47, Y:63.88, Z:0.01 [[ 6.65014618e-01 -7.46830341e-01 0.00000000e+00 1.52468859e+02] [ 7.46830341e-01 6.65014618e-01 0.00000000e+00 6.38844255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98450308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58037174299997 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:152.49, Y:63.91, Z:0.01 [[ 6.66329948e-01 -7.45657026e-01 0.00000000e+00 1.52491295e+02] [ 7.45657026e-01 6.66329948e-01 0.00000000e+00 6.39063899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.91964037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61037174299997 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:152.52, Y:63.93, Z:0.01 [[ 6.67006834e-01 -7.45051598e-01 0.00000000e+00 1.52515653e+02] [ 7.45051598e-01 6.67006834e-01 0.00000000e+00 6.39294602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03307196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64037174299997 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:152.54, Y:63.95, Z:0.01 [[ 6.68332972e-01 -7.43862244e-01 0.00000000e+00 1.52540264e+02] [ 7.43862244e-01 6.68332972e-01 0.00000000e+00 6.39521022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.85865883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67037174299998 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:152.56, Y:63.97, Z:0.01 [[ 6.68554106e-01 -7.43663504e-01 0.00000000e+00 1.52562281e+02] [ 7.43663504e-01 6.68554106e-01 0.00000000e+00 6.39744861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89846969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70037174299998 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:152.58, Y:64.00, Z:0.01 [[ 6.68610284e-01 -7.43612996e-01 0.00000000e+00 1.52583722e+02] [ 7.43612996e-01 6.68610284e-01 0.00000000e+00 6.39963753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10336874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73037174299998 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:152.61, Y:64.02, Z:0.01 [[ 6.69568873e-01 -7.42749975e-01 0.00000000e+00 1.52609025e+02] [ 7.42749975e-01 6.69568873e-01 0.00000000e+00 6.40193873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34738627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76037174299998 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:152.63, Y:64.04, Z:0.00 [[ 6.71095627e-01 -7.41370797e-01 0.00000000e+00 1.52633527e+02] [ 7.41370797e-01 6.71095627e-01 0.00000000e+00 6.40421179e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81386016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79037174299998 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:152.66, Y:64.06, Z:0.00 [[ 6.71870997e-01 -7.40668187e-01 0.00000000e+00 1.52655777e+02] [ 7.40668187e-01 6.71870997e-01 0.00000000e+00 6.40642498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99192559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82037174299998 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:152.68, Y:64.09, Z:0.00 [[ 6.73116037e-01 -7.39536883e-01 0.00000000e+00 1.52682596e+02] [ 7.39536883e-01 6.73116037e-01 0.00000000e+00 6.40877027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26197960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85037174299998 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:152.71, Y:64.11, Z:0.00 [[ 6.72725336e-01 -7.39892305e-01 0.00000000e+00 1.52705281e+02] [ 7.39892305e-01 6.72725336e-01 0.00000000e+00 6.41103536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77530409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88037174299998 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:152.73, Y:64.13, Z:0.00 [[ 6.74079077e-01 -7.38659189e-01 0.00000000e+00 1.52732533e+02] [ 7.38659189e-01 6.74079077e-01 0.00000000e+00 6.41339164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75435864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91037174299998 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:152.75, Y:64.15, Z:0.00 [[ 6.71216333e-01 -7.41261516e-01 0.00000000e+00 1.52748079e+02] [ 7.41261516e-01 6.71216333e-01 0.00000000e+00 6.41524365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87458384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.940371743 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:152.77, Y:64.18, Z:0.00 [[ 6.70349584e-01 -7.42045440e-01 0.00000000e+00 1.52772407e+02] [ 7.42045440e-01 6.70349584e-01 0.00000000e+00 6.41753263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56492507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.970371743 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:152.79, Y:64.20, Z:0.00 [[ 6.69803754e-01 -7.42538169e-01 0.00000000e+00 1.52793307e+02] [ 7.42538169e-01 6.69803754e-01 0.00000000e+00 6.41963217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55010966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.000371743 meters Centerline goodness : 0.993881 Centerline is valid? [True, True] Translation: X:152.82, Y:64.22, Z:0.00 [[ 6.67456979e-01 -7.44648361e-01 0.00000000e+00 1.52817193e+02] [ 7.44648361e-01 6.67456979e-01 0.00000000e+00 6.42176718e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33834292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.030371743 meters Centerline goodness : 0.994365 Centerline is valid? [True, True] Translation: X:152.84, Y:64.24, Z:0.00 [[ 6.65760040e-01 -7.46165912e-01 0.00000000e+00 1.52840290e+02] [ 7.46165912e-01 6.65760040e-01 0.00000000e+00 6.42401479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67649971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.060371743 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:152.86, Y:64.26, Z:0.00 [[ 6.65255381e-01 -7.46615884e-01 0.00000000e+00 1.52862685e+02] [ 7.46615884e-01 6.65255381e-01 0.00000000e+00 6.42615152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24240131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.090371743 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:152.89, Y:64.28, Z:0.01 [[ 6.63098587e-01 -7.48532073e-01 0.00000000e+00 1.52887129e+02] [ 7.48532073e-01 6.63098587e-01 0.00000000e+00 6.42833972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25566646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.120371743 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:152.91, Y:64.31, Z:0.01 [[ 6.62112099e-01 -7.49404809e-01 0.00000000e+00 1.52910643e+02] [ 7.49404809e-01 6.62112099e-01 0.00000000e+00 6.43056068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54435139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.150371743 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:152.93, Y:64.33, Z:0.01 [[ 6.60428410e-01 -7.50889016e-01 0.00000000e+00 1.52932651e+02] [ 7.50889016e-01 6.60428410e-01 0.00000000e+00 6.43257391e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33976339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.180371743 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:152.96, Y:64.35, Z:0.00 [[ 6.59589956e-01 -7.51625632e-01 0.00000000e+00 1.52956700e+02] [ 7.51625632e-01 6.59589956e-01 0.00000000e+00 6.43484820e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83043450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.210371743 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:152.98, Y:64.37, Z:0.00 [[ 6.58718050e-01 -7.52389880e-01 0.00000000e+00 1.52980431e+02] [ 7.52389880e-01 6.58718050e-01 0.00000000e+00 6.43709325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99641776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24037174299997 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:153.00, Y:64.39, Z:0.00 [[ 6.59876603e-01 -7.51373987e-01 0.00000000e+00 1.53000965e+02] [ 7.51373987e-01 6.59876603e-01 0.00000000e+00 6.43895550e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96044092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27037174299997 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:153.03, Y:64.41, Z:0.00 [[ 6.58091267e-01 -7.52938167e-01 0.00000000e+00 1.53026153e+02] [ 7.52938167e-01 6.58091267e-01 0.00000000e+00 6.44145908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49139187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30037174299997 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:153.05, Y:64.44, Z:0.01 [[ 6.58076505e-01 -7.52951070e-01 0.00000000e+00 1.53047151e+02] [ 7.52951070e-01 6.58076505e-01 0.00000000e+00 6.44359972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45897400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33037174299997 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:153.07, Y:64.46, Z:0.01 [[ 6.58750762e-01 -7.52361239e-01 0.00000000e+00 1.53070990e+02] [ 7.52361239e-01 6.58750762e-01 0.00000000e+00 6.44593377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11801107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36037174299997 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:153.09, Y:64.48, Z:0.01 [[ 6.58846073e-01 -7.52277776e-01 0.00000000e+00 1.53092620e+02] [ 7.52277776e-01 6.58846073e-01 0.00000000e+00 6.44818145e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61950945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39037174299997 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:153.12, Y:64.50, Z:0.01 [[ 6.60329831e-01 -7.50975709e-01 0.00000000e+00 1.53115662e+02] [ 7.50975709e-01 6.60329831e-01 0.00000000e+00 6.45038801e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06838237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42037174299998 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:153.14, Y:64.53, Z:0.01 [[ 6.60393768e-01 -7.50919484e-01 0.00000000e+00 1.53137889e+02] [ 7.50919484e-01 6.60393768e-01 0.00000000e+00 6.45260755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40797087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45037174299998 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:153.16, Y:64.55, Z:0.01 [[ 6.61522979e-01 -7.49924895e-01 0.00000000e+00 1.53159549e+02] [ 7.49924895e-01 6.61522979e-01 0.00000000e+00 6.45477975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27042802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48037174299998 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:153.18, Y:64.57, Z:0.01 [[ 6.61781134e-01 -7.49697092e-01 0.00000000e+00 1.53182814e+02] [ 7.49697092e-01 6.61781134e-01 0.00000000e+00 6.45714512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78092238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51037174299998 meters Centerline goodness : 0.994313 Centerline is valid? [True, True] Translation: X:153.20, Y:64.59, Z:0.01 [[ 6.61532357e-01 -7.49916623e-01 0.00000000e+00 1.53203874e+02] [ 7.49916623e-01 6.61532357e-01 0.00000000e+00 6.45939486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74163080e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54037174299998 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:153.23, Y:64.62, Z:0.01 [[ 6.61443589e-01 -7.49994919e-01 0.00000000e+00 1.53226211e+02] [ 7.49994919e-01 6.61443589e-01 0.00000000e+00 6.46172208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07831868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57037174299998 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:153.25, Y:64.64, Z:0.01 [[ 6.61738477e-01 -7.49734745e-01 0.00000000e+00 1.53250098e+02] [ 7.49734745e-01 6.61738477e-01 0.00000000e+00 6.46400083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02496773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60037174299998 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:153.27, Y:64.66, Z:0.01 [[ 6.61801037e-01 -7.49679523e-01 0.00000000e+00 1.53270439e+02] [ 7.49679523e-01 6.61801037e-01 0.00000000e+00 6.46595867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.08089995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63037174299998 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:153.29, Y:64.68, Z:0.01 [[ 6.59528128e-01 -7.51679884e-01 0.00000000e+00 1.53294845e+02] [ 7.51679884e-01 6.59528128e-01 0.00000000e+00 6.46846849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15493902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66037174299998 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:153.32, Y:64.71, Z:0.01 [[ 6.58122981e-01 -7.52910448e-01 0.00000000e+00 1.53315641e+02] [ 7.52910448e-01 6.58122981e-01 0.00000000e+00 6.47068457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.55878456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.690371743 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:153.34, Y:64.73, Z:0.01 [[ 6.54891137e-01 -7.55723229e-01 0.00000000e+00 1.53339625e+02] [ 7.55723229e-01 6.54891137e-01 0.00000000e+00 6.47297567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74783326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.720371743 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:153.36, Y:64.75, Z:0.01 [[ 6.52904749e-01 -7.57440023e-01 0.00000000e+00 1.53362004e+02] [ 7.57440023e-01 6.52904749e-01 0.00000000e+00 6.47524028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69699124e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.750371743 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:153.38, Y:64.77, Z:0.01 [[ 6.49200777e-01 -7.60617086e-01 0.00000000e+00 1.53383405e+02] [ 7.60617086e-01 6.49200777e-01 0.00000000e+00 6.47734375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.95757025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.780371743 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:153.41, Y:64.80, Z:0.01 [[ 6.47432011e-01 -7.62123212e-01 0.00000000e+00 1.53406505e+02] [ 7.62123212e-01 6.47432011e-01 0.00000000e+00 6.47963900e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03700507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.810371743 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:153.43, Y:64.82, Z:0.01 [[ 6.46295506e-01 -7.63087229e-01 0.00000000e+00 1.53429847e+02] [ 7.63087229e-01 6.46295506e-01 0.00000000e+00 6.48191892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08441767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.840371743 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:153.46, Y:64.84, Z:0.01 [[ 6.45601170e-01 -7.63674754e-01 0.00000000e+00 1.53458188e+02] [ 7.63674754e-01 6.45601170e-01 0.00000000e+00 6.48431669e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96502002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.870371743 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:153.48, Y:64.86, Z:0.01 [[ 6.42159977e-01 -7.66570652e-01 0.00000000e+00 1.53475579e+02] [ 7.66570652e-01 6.42159977e-01 0.00000000e+00 6.48640898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11109141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.900371743 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:153.50, Y:64.89, Z:0.01 [[ 6.40232344e-01 -7.68181323e-01 0.00000000e+00 1.53498002e+02] [ 7.68181323e-01 6.40232344e-01 0.00000000e+00 6.48857981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04452180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.930371743 meters Centerline goodness : 0.995765 Centerline is valid? [True, True] Translation: X:153.52, Y:64.91, Z:0.01 [[ 6.39431483e-01 -7.68848085e-01 0.00000000e+00 1.53520304e+02] [ 7.68848085e-01 6.39431483e-01 0.00000000e+00 6.49079206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.55497143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.960371743 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:153.54, Y:64.93, Z:0.01 [[ 6.38622796e-01 -7.69519931e-01 0.00000000e+00 1.53542393e+02] [ 7.69519931e-01 6.38622796e-01 0.00000000e+00 6.49297195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80691072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99037174299997 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:153.57, Y:64.95, Z:0.01 [[ 6.38094582e-01 -7.69957988e-01 0.00000000e+00 1.53567017e+02] [ 7.69957988e-01 6.38094582e-01 0.00000000e+00 6.49524914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.77256870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02037174299997 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:153.59, Y:64.98, Z:0.01 [[ 6.37552716e-01 -7.70406733e-01 0.00000000e+00 1.53590895e+02] [ 7.70406733e-01 6.37552716e-01 0.00000000e+00 6.49756162e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11131470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05037174299997 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:153.61, Y:65.00, Z:0.01 [[ 6.37632856e-01 -7.70340406e-01 0.00000000e+00 1.53614794e+02] [ 7.70340406e-01 6.37632856e-01 0.00000000e+00 6.49973597e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04930099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08037174299997 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:153.64, Y:65.02, Z:0.01 [[ 6.37314358e-01 -7.70603925e-01 0.00000000e+00 1.53636895e+02] [ 7.70603925e-01 6.37314358e-01 0.00000000e+00 6.50199484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07725800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11037174299997 meters Centerline goodness : 0.995641 Centerline is valid? [True, True] Translation: X:153.66, Y:65.04, Z:0.01 [[ 6.37753384e-01 -7.70240625e-01 0.00000000e+00 1.53660241e+02] [ 7.70240625e-01 6.37753384e-01 0.00000000e+00 6.50438009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12492119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14037174299997 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:153.68, Y:65.07, Z:0.01 [[ 6.37949308e-01 -7.70078360e-01 0.00000000e+00 1.53679860e+02] [ 7.70078360e-01 6.37949308e-01 0.00000000e+00 6.50662294e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05129893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17037174299998 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:153.70, Y:65.09, Z:0.01 [[ 6.38010872e-01 -7.70027355e-01 0.00000000e+00 1.53703335e+02] [ 7.70027355e-01 6.38010872e-01 0.00000000e+00 6.50901931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05129893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20037174299998 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:153.73, Y:65.11, Z:0.01 [[ 6.40315425e-01 -7.68112073e-01 0.00000000e+00 1.53728209e+02] [ 7.68112073e-01 6.40315425e-01 0.00000000e+00 6.51122527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13998363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23037174299998 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:153.75, Y:65.14, Z:0.01 [[ 6.42866931e-01 -7.65977878e-01 0.00000000e+00 1.53751225e+02] [ 7.65977878e-01 6.42866931e-01 0.00000000e+00 6.51367410e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06275091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26037174299998 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:153.76, Y:65.16, Z:0.01 [[ 6.40093326e-01 -7.68297165e-01 0.00000000e+00 1.53761267e+02] [ 7.68297165e-01 6.40093326e-01 0.00000000e+00 6.51575763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43171782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29037174299998 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:153.79, Y:65.18, Z:0.01 [[ 6.44859661e-01 -7.64301000e-01 0.00000000e+00 1.53791472e+02] [ 7.64301000e-01 6.44859661e-01 0.00000000e+00 6.51810898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02014600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32037174299998 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:153.82, Y:65.21, Z:0.01 [[ 6.45853192e-01 -7.63461626e-01 0.00000000e+00 1.53815424e+02] [ 7.63461626e-01 6.45853192e-01 0.00000000e+00 6.52055734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09456148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35037174299998 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:153.84, Y:65.23, Z:0.01 [[ 6.45991082e-01 -7.63344956e-01 0.00000000e+00 1.53835273e+02] [ 7.63344956e-01 6.45991082e-01 0.00000000e+00 6.52286767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68015166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38037174299998 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:153.86, Y:65.25, Z:0.01 [[ 6.47723046e-01 -7.61875879e-01 0.00000000e+00 1.53857808e+02] [ 7.61875879e-01 6.47723046e-01 0.00000000e+00 6.52526462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13496126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41037174299998 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:153.88, Y:65.28, Z:0.01 [[ 6.47934023e-01 -7.61696463e-01 0.00000000e+00 1.53880279e+02] [ 7.61696463e-01 6.47934023e-01 0.00000000e+00 6.52772030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22269903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.440371743 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:153.90, Y:65.30, Z:0.01 [[ 6.47987739e-01 -7.61650767e-01 0.00000000e+00 1.53901815e+02] [ 7.61650767e-01 6.47987739e-01 0.00000000e+00 6.53012103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18668677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.470371743 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:153.92, Y:65.32, Z:0.01 [[ 6.48177189e-01 -7.61489548e-01 0.00000000e+00 1.53920641e+02] [ 7.61489548e-01 6.48177189e-01 0.00000000e+00 6.53235468e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02391540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.500371743 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:153.94, Y:65.35, Z:0.01 [[ 6.48897810e-01 -7.60875570e-01 0.00000000e+00 1.53944770e+02] [ 7.60875570e-01 6.48897810e-01 0.00000000e+00 6.53474073e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17891128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.530371743 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:153.97, Y:65.37, Z:0.01 [[ 6.48436462e-01 -7.61268780e-01 0.00000000e+00 1.53966556e+02] [ 7.61268780e-01 6.48436462e-01 0.00000000e+00 6.53723520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29821673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.560371743 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:153.99, Y:65.40, Z:0.01 [[ 6.48387676e-01 -7.61310332e-01 0.00000000e+00 1.53989451e+02] [ 7.61310332e-01 6.48387676e-01 0.00000000e+00 6.53958761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38185960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.590371743 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:154.01, Y:65.42, Z:0.01 [[ 6.47287274e-01 -7.62246145e-01 0.00000000e+00 1.54010730e+02] [ 7.62246145e-01 6.47287274e-01 0.00000000e+00 6.54191511e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40594440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.620371743 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:154.03, Y:65.44, Z:0.01 [[ 6.47365057e-01 -7.62180085e-01 0.00000000e+00 1.54034839e+02] [ 7.62180085e-01 6.47365057e-01 0.00000000e+00 6.54417742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18542680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.650371743 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:154.06, Y:65.47, Z:0.01 [[ 6.45924383e-01 -7.63401396e-01 0.00000000e+00 1.54057368e+02] [ 7.63401396e-01 6.45924383e-01 0.00000000e+00 6.54653248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16721153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.680371743 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:154.07, Y:65.49, Z:0.01 [[ 6.40545612e-01 -7.67920126e-01 0.00000000e+00 1.54065153e+02] [ 7.67920126e-01 6.40545612e-01 0.00000000e+00 6.54861908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10140527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.710371743 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:154.09, Y:65.51, Z:0.01 [[ 6.40185577e-01 -7.68220299e-01 0.00000000e+00 1.54087915e+02] [ 7.68220299e-01 6.40185577e-01 0.00000000e+00 6.55106824e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24362541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74037174299997 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:154.11, Y:65.54, Z:0.01 [[ 6.40301484e-01 -7.68123694e-01 0.00000000e+00 1.54110788e+02] [ 7.68123694e-01 6.40301484e-01 0.00000000e+00 6.55350587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30908937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77037174299997 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:154.15, Y:65.56, Z:0.01 [[ 6.45677739e-01 -7.63610016e-01 0.00000000e+00 1.54146702e+02] [ 7.63610016e-01 6.45677739e-01 0.00000000e+00 6.55591761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02006520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80037174299997 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:154.17, Y:65.58, Z:0.01 [[ 6.45351262e-01 -7.63885953e-01 0.00000000e+00 1.54168697e+02] [ 7.63885953e-01 6.45351262e-01 0.00000000e+00 6.55821112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10606979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83037174299997 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:154.19, Y:65.61, Z:0.01 [[ 6.46686006e-01 -7.62756324e-01 0.00000000e+00 1.54188907e+02] [ 7.62756324e-01 6.46686006e-01 0.00000000e+00 6.56059593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29300620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86037174299997 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:154.21, Y:65.63, Z:0.01 [[ 6.48308538e-01 -7.61377725e-01 0.00000000e+00 1.54208861e+02] [ 7.61377725e-01 6.48308538e-01 0.00000000e+00 6.56285641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39888975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89037174299997 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:154.23, Y:65.65, Z:0.02 [[ 6.49597367e-01 -7.60278410e-01 0.00000000e+00 1.54226728e+02] [ 7.60278410e-01 6.49597367e-01 0.00000000e+00 6.56519988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55761144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92037174299998 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:154.24, Y:65.68, Z:0.02 [[ 6.51190349e-01 -7.58914441e-01 0.00000000e+00 1.54235933e+02] [ 7.58914441e-01 6.51190349e-01 0.00000000e+00 6.56755177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50583836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95037174299998 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:154.27, Y:65.70, Z:0.02 [[ 6.56367451e-01 -7.54441362e-01 0.00000000e+00 1.54265312e+02] [ 7.54441362e-01 6.56367451e-01 0.00000000e+00 6.56994659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70245758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98037174299998 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:154.28, Y:65.72, Z:0.01 [[ 6.57386849e-01 -7.53553270e-01 0.00000000e+00 1.54277987e+02] [ 7.53553270e-01 6.57386849e-01 0.00000000e+00 6.57229625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35695561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01037174299998 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:154.31, Y:65.75, Z:0.02 [[ 6.61587704e-01 -7.49867795e-01 0.00000000e+00 1.54307098e+02] [ 7.49867795e-01 6.61587704e-01 0.00000000e+00 6.57460080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66582243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04037174299998 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:154.32, Y:65.77, Z:0.01 [[ 6.59534861e-01 -7.51673976e-01 0.00000000e+00 1.54320380e+02] [ 7.51673976e-01 6.59534861e-01 0.00000000e+00 6.57685871e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40890110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07037174299998 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:154.34, Y:65.79, Z:0.01 [[ 6.59985679e-01 -7.51278179e-01 0.00000000e+00 1.54340997e+02] [ 7.51278179e-01 6.59985679e-01 0.00000000e+00 6.57904156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29685815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10037174299998 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:154.38, Y:65.81, Z:0.01 [[ 6.65261146e-01 -7.46610747e-01 0.00000000e+00 1.54376378e+02] [ 7.46610747e-01 6.65261146e-01 0.00000000e+00 6.58140362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47731221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13037174299998 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:154.39, Y:65.84, Z:0.02 [[ 6.62309794e-01 -7.49230096e-01 0.00000000e+00 1.54391856e+02] [ 7.49230096e-01 6.62309794e-01 0.00000000e+00 6.58356907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53568075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16037174299998 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:154.42, Y:65.86, Z:0.01 [[ 6.63263268e-01 -7.48386155e-01 0.00000000e+00 1.54417237e+02] [ 7.48386155e-01 6.63263268e-01 0.00000000e+00 6.58593378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14523394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.190371743 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:154.44, Y:65.88, Z:0.01 [[ 6.61331044e-01 -7.50094161e-01 0.00000000e+00 1.54437834e+02] [ 7.50094161e-01 6.61331044e-01 0.00000000e+00 6.58823924e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29128178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.220371743 meters Centerline goodness : 0.994426 Centerline is valid? [True, True] Translation: X:154.45, Y:65.90, Z:0.02 [[ 6.55090292e-01 -7.55550600e-01 0.00000000e+00 1.54448857e+02] [ 7.55550600e-01 6.55090292e-01 0.00000000e+00 6.59046159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66522725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.250371743 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:154.49, Y:65.93, Z:0.01 [[ 6.59946524e-01 -7.51312575e-01 0.00000000e+00 1.54487029e+02] [ 7.51312575e-01 6.59946524e-01 0.00000000e+00 6.59295356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08385128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.280371743 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:154.49, Y:65.95, Z:0.02 [[ 6.50863414e-01 -7.59194848e-01 0.00000000e+00 1.54492681e+02] [ 7.59194848e-01 6.50863414e-01 0.00000000e+00 6.59489116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56791389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.310371743 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:154.53, Y:65.97, Z:0.01 [[ 6.53920366e-01 -7.56563385e-01 0.00000000e+00 1.54526401e+02] [ 7.56563385e-01 6.53920366e-01 0.00000000e+00 6.59725641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20355719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.340371743 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:154.54, Y:65.99, Z:0.02 [[ 6.47581408e-01 -7.61996273e-01 0.00000000e+00 1.54535823e+02] [ 7.61996273e-01 6.47581408e-01 0.00000000e+00 6.59930444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53888407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.370371743 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:154.57, Y:66.02, Z:0.01 [[ 6.49255454e-01 -7.60570415e-01 0.00000000e+00 1.54569863e+02] [ 7.60570415e-01 6.49255454e-01 0.00000000e+00 6.60166212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26280693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.400371743 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:154.59, Y:66.04, Z:0.01 [[ 6.48031567e-01 -7.61613477e-01 0.00000000e+00 1.54593309e+02] [ 7.61613477e-01 6.48031567e-01 0.00000000e+00 6.60402056e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26450067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.430371743 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:154.61, Y:66.06, Z:0.01 [[ 6.46381151e-01 -7.63014684e-01 0.00000000e+00 1.54614730e+02] [ 7.63014684e-01 6.46381151e-01 0.00000000e+00 6.60634625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41398666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.460371743 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:154.64, Y:66.09, Z:0.01 [[ 6.45379522e-01 -7.63862077e-01 0.00000000e+00 1.54637604e+02] [ 7.63862077e-01 6.45379522e-01 0.00000000e+00 6.60876849e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42581921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49037174299997 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:154.66, Y:66.11, Z:0.01 [[ 6.44168827e-01 -7.64883339e-01 0.00000000e+00 1.54658262e+02] [ 7.64883339e-01 6.44168827e-01 0.00000000e+00 6.61096462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46112792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52037174299997 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:154.68, Y:66.13, Z:0.01 [[ 6.43373465e-01 -7.65552471e-01 0.00000000e+00 1.54680781e+02] [ 7.65552471e-01 6.43373465e-01 0.00000000e+00 6.61331476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48965541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55037174299997 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:154.70, Y:66.16, Z:0.02 [[ 6.42605804e-01 -7.66196959e-01 0.00000000e+00 1.54702324e+02] [ 7.66196959e-01 6.42605804e-01 0.00000000e+00 6.61559819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61671590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58037174299997 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:154.73, Y:66.18, Z:0.02 [[ 6.42537599e-01 -7.66254157e-01 0.00000000e+00 1.54725150e+02] [ 7.66254157e-01 6.42537599e-01 0.00000000e+00 6.61792056e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51303602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61037174299997 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:154.75, Y:66.20, Z:0.01 [[ 6.42528083e-01 -7.66262137e-01 0.00000000e+00 1.54746325e+02] [ 7.66262137e-01 6.42528083e-01 0.00000000e+00 6.62016261e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46228422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64037174299997 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:154.77, Y:66.22, Z:0.01 [[ 6.42718987e-01 -7.66102019e-01 0.00000000e+00 1.54767621e+02] [ 7.66102019e-01 6.42718987e-01 0.00000000e+00 6.62247805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42173718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67037174299998 meters Centerline goodness : 0.995470 Centerline is valid? [True, True] Translation: X:154.79, Y:66.25, Z:0.01 [[ 6.43046564e-01 -7.65827080e-01 0.00000000e+00 1.54790128e+02] [ 7.65827080e-01 6.43046564e-01 0.00000000e+00 6.62481578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35956952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70037174299998 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:154.81, Y:66.27, Z:0.01 [[ 6.43447900e-01 -7.65489908e-01 0.00000000e+00 1.54812151e+02] [ 7.65489908e-01 6.43447900e-01 0.00000000e+00 6.62711631e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32887924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73037174299998 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:154.84, Y:66.29, Z:0.01 [[ 6.43992340e-01 -7.65031938e-01 0.00000000e+00 1.54835116e+02] [ 7.65031938e-01 6.43992340e-01 0.00000000e+00 6.62948625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19843608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76037174299998 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:154.86, Y:66.32, Z:0.01 [[ 6.43298145e-01 -7.65615763e-01 0.00000000e+00 1.54855468e+02] [ 7.65615763e-01 6.43298145e-01 0.00000000e+00 6.63177979e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38288026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79037174299998 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:154.88, Y:66.34, Z:0.01 [[ 6.43789723e-01 -7.65202452e-01 0.00000000e+00 1.54877263e+02] [ 7.65202452e-01 6.43789723e-01 0.00000000e+00 6.63410841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17608454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82037174299998 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:154.90, Y:66.36, Z:0.01 [[ 6.44252392e-01 -7.64812955e-01 0.00000000e+00 1.54900334e+02] [ 7.64812955e-01 6.44252392e-01 0.00000000e+00 6.63645136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11487391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85037174299998 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:154.92, Y:66.39, Z:0.01 [[ 6.43138029e-01 -7.65750270e-01 0.00000000e+00 1.54921299e+02] [ 7.65750270e-01 6.43138029e-01 0.00000000e+00 6.63871290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13680094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88037174299998 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:154.94, Y:66.41, Z:0.01 [[ 6.42584287e-01 -7.66215005e-01 0.00000000e+00 1.54944801e+02] [ 7.66215005e-01 6.42584287e-01 0.00000000e+00 6.64104378e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09043175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91037174299998 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:154.97, Y:66.43, Z:0.01 [[ 6.42318795e-01 -7.66437581e-01 0.00000000e+00 1.54967884e+02] [ 7.66437581e-01 6.42318795e-01 0.00000000e+00 6.64342030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11842673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.940371743 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:154.99, Y:66.46, Z:0.01 [[ 6.41831638e-01 -7.66845583e-01 0.00000000e+00 1.54989487e+02] [ 7.66845583e-01 6.41831638e-01 0.00000000e+00 6.64567688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16035280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.970371743 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:155.01, Y:66.48, Z:0.01 [[ 6.41680710e-01 -7.66971881e-01 0.00000000e+00 1.55013064e+02] [ 7.66971881e-01 6.41680710e-01 0.00000000e+00 6.64804928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10214617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.000371743 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:155.03, Y:66.50, Z:0.01 [[ 6.40765332e-01 -7.67736797e-01 0.00000000e+00 1.55033993e+02] [ 7.67736797e-01 6.40765332e-01 0.00000000e+00 6.65033520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36873043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.030371743 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:155.06, Y:66.53, Z:0.01 [[ 6.41146178e-01 -7.67418776e-01 0.00000000e+00 1.55057350e+02] [ 7.67418776e-01 6.41146178e-01 0.00000000e+00 6.65259168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02925460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.060371743 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:155.08, Y:66.55, Z:0.01 [[ 6.41236095e-01 -7.67343646e-01 0.00000000e+00 1.55080042e+02] [ 7.67343646e-01 6.41236095e-01 0.00000000e+00 6.65495495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04215754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.090371743 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:155.10, Y:66.57, Z:0.01 [[ 6.41040728e-01 -7.67506863e-01 0.00000000e+00 1.55102552e+02] [ 7.67506863e-01 6.41040728e-01 0.00000000e+00 6.65730838e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04215754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.120371743 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:155.12, Y:66.60, Z:0.01 [[ 6.40956075e-01 -7.67577560e-01 0.00000000e+00 1.55124500e+02] [ 7.67577560e-01 6.40956075e-01 0.00000000e+00 6.65967634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07713374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.150371743 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:155.15, Y:66.62, Z:0.01 [[ 6.41799680e-01 -7.66872330e-01 0.00000000e+00 1.55148454e+02] [ 7.66872330e-01 6.41799680e-01 0.00000000e+00 6.66203428e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73274940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.180371743 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:155.17, Y:66.64, Z:0.01 [[ 6.41539993e-01 -7.67089589e-01 0.00000000e+00 1.55169850e+02] [ 7.67089589e-01 6.41539993e-01 0.00000000e+00 6.66439175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92865078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.210371743 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:155.19, Y:66.67, Z:0.01 [[ 6.41129004e-01 -7.67433124e-01 0.00000000e+00 1.55191589e+02] [ 7.67433124e-01 6.41129004e-01 0.00000000e+00 6.66672464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15780272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24037174299997 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:155.21, Y:66.69, Z:0.01 [[ 6.41302483e-01 -7.67288163e-01 0.00000000e+00 1.55213036e+02] [ 7.67288163e-01 6.41302483e-01 0.00000000e+00 6.66899754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.82896328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27037174299997 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:155.23, Y:66.71, Z:0.01 [[ 6.40863736e-01 -7.67654657e-01 0.00000000e+00 1.55231549e+02] [ 7.67654657e-01 6.40863736e-01 0.00000000e+00 6.67141999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04515616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30037174299997 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:155.25, Y:66.74, Z:0.01 [[ 6.42052234e-01 -7.66660896e-01 0.00000000e+00 1.55248568e+02] [ 7.66660896e-01 6.42052234e-01 0.00000000e+00 6.67355672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10181241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33037174299997 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:155.27, Y:66.76, Z:0.01 [[ 6.42341405e-01 -7.66418632e-01 0.00000000e+00 1.55270335e+02] [ 7.66418632e-01 6.42341405e-01 0.00000000e+00 6.67612617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01744768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36037174299997 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:155.29, Y:66.78, Z:0.01 [[ 6.42502337e-01 -7.66283725e-01 0.00000000e+00 1.55288850e+02] [ 7.66283725e-01 6.42502337e-01 0.00000000e+00 6.67848905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36865173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39037174299997 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:155.31, Y:66.81, Z:0.01 [[ 6.44979441e-01 -7.64199922e-01 0.00000000e+00 1.55314434e+02] [ 7.64199922e-01 6.44979441e-01 0.00000000e+00 6.68074692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26227268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42037174299998 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:155.33, Y:66.83, Z:0.01 [[ 6.44663586e-01 -7.64466390e-01 0.00000000e+00 1.55331859e+02] [ 7.64466390e-01 6.44663586e-01 0.00000000e+00 6.68312156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06159895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45037174299998 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:155.36, Y:66.85, Z:0.01 [[ 6.45831184e-01 -7.63480243e-01 0.00000000e+00 1.55355622e+02] [ 7.63480243e-01 6.45831184e-01 0.00000000e+00 6.68536843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13132097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48037174299998 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:155.38, Y:66.88, Z:0.01 [[ 6.45729455e-01 -7.63566285e-01 0.00000000e+00 1.55376257e+02] [ 7.63566285e-01 6.45729455e-01 0.00000000e+00 6.68763466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04498457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51037174299998 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:155.40, Y:66.90, Z:0.01 [[ 6.45493000e-01 -7.63766186e-01 0.00000000e+00 1.55396978e+02] [ 7.63766186e-01 6.45493000e-01 0.00000000e+00 6.68997926e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22610049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54037174299998 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:155.42, Y:66.92, Z:0.01 [[ 6.46568127e-01 -7.62856249e-01 0.00000000e+00 1.55420513e+02] [ 7.62856249e-01 6.46568127e-01 0.00000000e+00 6.69213132e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47682168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57037174299998 meters Centerline goodness : 0.993623 Centerline is valid? [True, True] Translation: X:155.44, Y:66.95, Z:0.01 [[ 6.47505141e-01 -7.62061082e-01 0.00000000e+00 1.55444664e+02] [ 7.62061082e-01 6.47505141e-01 0.00000000e+00 6.69456977e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02843265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60037174299998 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:155.46, Y:66.97, Z:0.01 [[ 6.47269423e-01 -7.62261303e-01 0.00000000e+00 1.55462810e+02] [ 7.62261303e-01 6.47269423e-01 0.00000000e+00 6.69678497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16051585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63037174299998 meters Centerline goodness : 0.992624 Centerline is valid? [True, True] Translation: X:155.49, Y:66.99, Z:0.01 [[ 6.50506422e-01 -7.59500754e-01 0.00000000e+00 1.55492817e+02] [ 7.59500754e-01 6.50506422e-01 0.00000000e+00 6.69923426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11545515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66037174299998 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:155.52, Y:67.02, Z:0.01 [[ 6.50891843e-01 -7.59170474e-01 0.00000000e+00 1.55515797e+02] [ 7.59170474e-01 6.50891843e-01 0.00000000e+00 6.70166266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10513361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.690371743 meters Centerline goodness : 0.992103 Centerline is valid? [True, True] Translation: X:155.54, Y:67.04, Z:0.01 [[ 6.56662575e-01 -7.54184502e-01 0.00000000e+00 1.55539417e+02] [ 7.54184502e-01 6.56662575e-01 0.00000000e+00 6.70368574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.89534888e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.720371743 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:155.57, Y:67.06, Z:0.01 [[ 6.56438857e-01 -7.54379233e-01 0.00000000e+00 1.55567520e+02] [ 7.54379233e-01 6.56438857e-01 0.00000000e+00 6.70638346e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.25165475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.750371743 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:155.57, Y:67.08, Z:0.01 [[ 6.53143877e-01 -7.57233832e-01 0.00000000e+00 1.55572695e+02] [ 7.57233832e-01 6.53143877e-01 0.00000000e+00 6.70828790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18242846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.780371743 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:155.61, Y:67.11, Z:0.01 [[ 6.61316890e-01 -7.50106640e-01 0.00000000e+00 1.55613927e+02] [ 7.50106640e-01 6.61316890e-01 0.00000000e+00 6.71098907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64036753e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.810371743 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:155.63, Y:67.13, Z:0.01 [[ 6.63106170e-01 -7.48525355e-01 0.00000000e+00 1.55631776e+02] [ 7.48525355e-01 6.63106170e-01 0.00000000e+00 6.71310771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.27096905e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.840371743 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:155.65, Y:67.15, Z:0.01 [[ 6.63375208e-01 -7.48286932e-01 0.00000000e+00 1.55652951e+02] [ 7.48286932e-01 6.63375208e-01 0.00000000e+00 6.71540045e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89932947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.870371743 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:155.68, Y:67.18, Z:0.01 [[ 6.63838792e-01 -7.47875697e-01 0.00000000e+00 1.55677631e+02] [ 7.47875697e-01 6.63838792e-01 0.00000000e+00 6.71782556e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19172811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.900371743 meters Centerline goodness : 0.992471 Centerline is valid? [True, True] Translation: X:155.68, Y:67.20, Z:0.01 [[ 6.59506203e-01 -7.51699121e-01 0.00000000e+00 1.55682537e+02] [ 7.51699121e-01 6.59506203e-01 0.00000000e+00 6.71960332e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21021366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.930371743 meters Centerline goodness : 0.993695 Centerline is valid? [True, True] Translation: X:155.72, Y:67.22, Z:0.01 [[ 6.66121254e-01 -7.45843466e-01 0.00000000e+00 1.55721639e+02] [ 7.45843466e-01 6.66121254e-01 0.00000000e+00 6.72200817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.24267245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.960371743 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:155.75, Y:67.24, Z:0.01 [[ 6.67486186e-01 -7.44622180e-01 0.00000000e+00 1.55747100e+02] [ 7.44622180e-01 6.67486186e-01 0.00000000e+00 6.72434782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.31143997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99037174299997 meters Centerline goodness : 0.993612 Centerline is valid? [True, True] Translation: X:155.75, Y:67.26, Z:0.01 [[ 6.60441287e-01 -7.50877691e-01 0.00000000e+00 1.55748530e+02] [ 7.50877691e-01 6.60441287e-01 0.00000000e+00 6.72605307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27041961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02037174299997 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:155.77, Y:67.28, Z:0.01 [[ 6.60661992e-01 -7.50683510e-01 0.00000000e+00 1.55772559e+02] [ 7.50683510e-01 6.60661992e-01 0.00000000e+00 6.72834305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29367267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05037174299997 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:155.81, Y:67.31, Z:0.01 [[ 6.66067313e-01 -7.45891637e-01 0.00000000e+00 1.55812973e+02] [ 7.45891637e-01 6.66067313e-01 0.00000000e+00 6.73067506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.87720325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08037174299997 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:155.82, Y:67.32, Z:0.01 [[ 6.58392876e-01 -7.52674446e-01 0.00000000e+00 1.55819071e+02] [ 7.52674446e-01 6.58392876e-01 0.00000000e+00 6.73235705e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23927495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11037174299997 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:155.86, Y:67.35, Z:0.01 [[ 6.62670441e-01 -7.48911134e-01 0.00000000e+00 1.55855513e+02] [ 7.48911134e-01 6.62670441e-01 0.00000000e+00 6.73482719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08889360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14037174299997 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:155.88, Y:67.37, Z:0.01 [[ 6.62714410e-01 -7.48872226e-01 0.00000000e+00 1.55877551e+02] [ 7.48872226e-01 6.62714410e-01 0.00000000e+00 6.73690548e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15735535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17037174299998 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:155.90, Y:67.39, Z:0.01 [[ 6.61811799e-01 -7.49670022e-01 0.00000000e+00 1.55896907e+02] [ 7.49670022e-01 6.61811799e-01 0.00000000e+00 6.73905380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34284829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20037174299998 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:155.92, Y:67.41, Z:0.01 [[ 6.64248828e-01 -7.47511535e-01 0.00000000e+00 1.55920636e+02] [ 7.47511535e-01 6.64248828e-01 0.00000000e+00 6.74123368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39685903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23037174299998 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:155.93, Y:67.43, Z:0.01 [[ 6.63307332e-01 -7.48347101e-01 0.00000000e+00 1.55932609e+02] [ 7.48347101e-01 6.63307332e-01 0.00000000e+00 6.74324767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30247286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26037174299998 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:155.96, Y:67.46, Z:0.01 [[ 6.65458576e-01 -7.46434782e-01 0.00000000e+00 1.55955782e+02] [ 7.46434782e-01 6.65458576e-01 0.00000000e+00 6.74563538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41395317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29037174299998 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:155.99, Y:67.48, Z:0.02 [[ 6.75777867e-01 -7.37105334e-01 0.00000000e+00 1.55989148e+02] [ 7.37105334e-01 6.75777867e-01 0.00000000e+00 6.74772793e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57687364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32037174299998 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:156.00, Y:67.50, Z:0.02 [[ 6.71679145e-01 -7.40842173e-01 0.00000000e+00 1.55999601e+02] [ 7.40842173e-01 6.71679145e-01 0.00000000e+00 6.74995455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54119767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35037174299998 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:156.02, Y:67.52, Z:0.02 [[ 6.75228832e-01 -7.37608314e-01 0.00000000e+00 1.56023718e+02] [ 7.37608314e-01 6.75228832e-01 0.00000000e+00 6.75214628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66344701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38037174299998 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:156.05, Y:67.54, Z:0.02 [[ 6.76396046e-01 -7.36538111e-01 0.00000000e+00 1.56046533e+02] [ 7.36538111e-01 6.76396046e-01 0.00000000e+00 6.75435151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65067839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41037174299998 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:156.08, Y:67.57, Z:0.02 [[ 6.81491668e-01 -7.31825872e-01 0.00000000e+00 1.56082485e+02] [ 7.31825872e-01 6.81491668e-01 0.00000000e+00 6.75670643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95891043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.440371743 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:156.11, Y:67.59, Z:0.02 [[ 6.81785995e-01 -7.31551678e-01 0.00000000e+00 1.56107720e+02] [ 7.31551678e-01 6.81785995e-01 0.00000000e+00 6.75890287e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81990600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.470371743 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:156.13, Y:67.61, Z:0.02 [[ 6.80193207e-01 -7.33032879e-01 0.00000000e+00 1.56130393e+02] [ 7.33032879e-01 6.80193207e-01 0.00000000e+00 6.76108146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87223739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.500371743 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:156.14, Y:67.63, Z:0.02 [[ 6.71457003e-01 -7.41043517e-01 0.00000000e+00 1.56141677e+02] [ 7.41043517e-01 6.71457003e-01 0.00000000e+00 6.76281097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78323013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.530371743 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:156.17, Y:67.65, Z:0.02 [[ 6.69049870e-01 -7.43217513e-01 0.00000000e+00 1.56165474e+02] [ 7.43217513e-01 6.69049870e-01 0.00000000e+00 6.76493181e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74201572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.560371743 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:156.19, Y:67.67, Z:0.01 [[ 6.63944015e-01 -7.47782285e-01 0.00000000e+00 1.56190315e+02] [ 7.47782285e-01 6.63944015e-01 0.00000000e+00 6.76682296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47599410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.590371743 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:156.21, Y:67.69, Z:0.02 [[ 6.61333577e-01 -7.50091928e-01 0.00000000e+00 1.56214435e+02] [ 7.50091928e-01 6.61333577e-01 0.00000000e+00 6.76903546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67982957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.620371743 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:156.25, Y:67.71, Z:0.02 [[ 6.63792082e-01 -7.47917156e-01 0.00000000e+00 1.56251926e+02] [ 7.47917156e-01 6.63792082e-01 0.00000000e+00 6.77138915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53234036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.650371743 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:156.27, Y:67.73, Z:0.02 [[ 6.59016541e-01 -7.52128446e-01 0.00000000e+00 1.56274234e+02] [ 7.52128446e-01 6.59016541e-01 0.00000000e+00 6.77336914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70515697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.680371743 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:156.30, Y:67.76, Z:0.02 [[ 6.56212871e-01 -7.54575820e-01 0.00000000e+00 1.56296830e+02] [ 7.54575820e-01 6.56212871e-01 0.00000000e+00 6.77555079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88012542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.710371743 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:156.32, Y:67.78, Z:0.02 [[ 6.54279524e-01 -7.56252805e-01 0.00000000e+00 1.56323015e+02] [ 7.56252805e-01 6.54279524e-01 0.00000000e+00 6.77778318e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65059669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74037174299997 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:156.34, Y:67.80, Z:0.02 [[ 6.52433495e-01 -7.57845984e-01 0.00000000e+00 1.56341631e+02] [ 7.57845984e-01 6.52433495e-01 0.00000000e+00 6.77989262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02395013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77037174299997 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:156.36, Y:67.82, Z:0.02 [[ 6.52533489e-01 -7.57759887e-01 0.00000000e+00 1.56363319e+02] [ 7.57759887e-01 6.52533489e-01 0.00000000e+00 6.78215226e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09493169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80037174299997 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:156.39, Y:67.85, Z:0.02 [[ 6.52335871e-01 -7.57930017e-01 0.00000000e+00 1.56387010e+02] [ 7.57930017e-01 6.52335871e-01 0.00000000e+00 6.78457445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25020316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83037174299997 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:156.41, Y:67.87, Z:0.02 [[ 6.52711264e-01 -7.57606762e-01 0.00000000e+00 1.56410741e+02] [ 7.57606762e-01 6.52711264e-01 0.00000000e+00 6.78681928e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31243459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86037174299997 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:156.43, Y:67.89, Z:0.02 [[ 6.52711861e-01 -7.57606247e-01 0.00000000e+00 1.56432225e+02] [ 7.57606247e-01 6.52711861e-01 0.00000000e+00 6.78897219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11507812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89037174299997 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:156.45, Y:67.91, Z:0.02 [[ 6.53828146e-01 -7.56643084e-01 0.00000000e+00 1.56454748e+02] [ 7.56643084e-01 6.53828146e-01 0.00000000e+00 6.79114537e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09084952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92037174299998 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:156.48, Y:67.94, Z:0.02 [[ 6.53497608e-01 -7.56928580e-01 0.00000000e+00 1.56478672e+02] [ 7.56928580e-01 6.53497608e-01 0.00000000e+00 6.79360571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94622844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95037174299998 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:156.50, Y:67.96, Z:0.02 [[ 6.53092596e-01 -7.57278060e-01 0.00000000e+00 1.56501741e+02] [ 7.57278060e-01 6.53092596e-01 0.00000000e+00 6.79602462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62932542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98037174299998 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:156.52, Y:67.98, Z:0.02 [[ 6.52800892e-01 -7.57529534e-01 0.00000000e+00 1.56524052e+02] [ 7.57529534e-01 6.52800892e-01 0.00000000e+00 6.79839230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62932542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01037174299998 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:156.54, Y:68.01, Z:0.02 [[ 6.51828073e-01 -7.58366774e-01 0.00000000e+00 1.56543598e+02] [ 7.58366774e-01 6.51828073e-01 0.00000000e+00 6.80066657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01443365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04037174299998 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:156.57, Y:68.03, Z:0.02 [[ 6.52709904e-01 -7.57607934e-01 0.00000000e+00 1.56565153e+02] [ 7.57607934e-01 6.52709904e-01 0.00000000e+00 6.80294737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90007124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07037174299998 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:156.59, Y:68.05, Z:0.02 [[ 6.53099126e-01 -7.57272429e-01 0.00000000e+00 1.56587162e+02] [ 7.57272429e-01 6.53099126e-01 0.00000000e+00 6.80533220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85001252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10037174299998 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:156.61, Y:68.08, Z:0.02 [[ 6.55666415e-01 -7.55050695e-01 0.00000000e+00 1.56608462e+02] [ 7.55050695e-01 6.55666415e-01 0.00000000e+00 6.80772749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73863011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13037174299998 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:156.63, Y:68.10, Z:0.02 [[ 6.57884463e-01 -7.53118871e-01 0.00000000e+00 1.56631171e+02] [ 7.53118871e-01 6.57884463e-01 0.00000000e+00 6.81027716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58801378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16037174299998 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:156.64, Y:68.13, Z:0.02 [[ 6.58527838e-01 -7.52556367e-01 0.00000000e+00 1.56637222e+02] [ 7.52556367e-01 6.58527838e-01 0.00000000e+00 6.81256390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83380377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.190371743 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:156.66, Y:68.15, Z:0.02 [[ 6.64669043e-01 -7.47137915e-01 0.00000000e+00 1.56656895e+02] [ 7.47137915e-01 6.64669043e-01 0.00000000e+00 6.81509203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94768340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.220371743 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:156.68, Y:68.18, Z:0.02 [[ 6.64883064e-01 -7.46947462e-01 0.00000000e+00 1.56680095e+02] [ 7.46947462e-01 6.64883064e-01 0.00000000e+00 6.81752534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94768340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.250371743 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:156.70, Y:68.20, Z:0.02 [[ 6.69977348e-01 -7.42381541e-01 0.00000000e+00 1.56700066e+02] [ 7.42381541e-01 6.69977348e-01 0.00000000e+00 6.81998461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94102317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.280371743 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:156.72, Y:68.22, Z:0.02 [[ 6.72968835e-01 -7.39670837e-01 0.00000000e+00 1.56721040e+02] [ 7.39670837e-01 6.72968835e-01 0.00000000e+00 6.82239954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02903386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.310371743 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:156.74, Y:68.25, Z:0.02 [[ 6.73577933e-01 -7.39116207e-01 0.00000000e+00 1.56743591e+02] [ 7.39116207e-01 6.73577933e-01 0.00000000e+00 6.82477845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04442135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.340371743 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:156.78, Y:68.27, Z:0.02 [[ 6.78492998e-01 -7.34606869e-01 0.00000000e+00 1.56779433e+02] [ 7.34606869e-01 6.78492998e-01 0.00000000e+00 6.82714089e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61638176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.370371743 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:156.80, Y:68.29, Z:0.01 [[ 6.75860287e-01 -7.37029764e-01 0.00000000e+00 1.56802633e+02] [ 7.37029764e-01 6.75860287e-01 0.00000000e+00 6.82918446e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47204709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.400371743 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:156.83, Y:68.31, Z:0.02 [[ 6.70378235e-01 -7.42019556e-01 0.00000000e+00 1.56825942e+02] [ 7.42019556e-01 6.70378235e-01 0.00000000e+00 6.83134580e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51264368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.430371743 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:156.85, Y:68.34, Z:0.02 [[ 6.67522199e-01 -7.44589896e-01 0.00000000e+00 1.56847718e+02] [ 7.44589896e-01 6.67522199e-01 0.00000000e+00 6.83359775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69816733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.460371743 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:156.87, Y:68.36, Z:0.02 [[ 6.65224650e-01 -7.46643265e-01 0.00000000e+00 1.56871449e+02] [ 7.46643265e-01 6.65224650e-01 0.00000000e+00 6.83592013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69460639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49037174299997 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:156.89, Y:68.38, Z:0.02 [[ 6.61920431e-01 -7.49574108e-01 0.00000000e+00 1.56893226e+02] [ 7.49574108e-01 6.61920431e-01 0.00000000e+00 6.83791033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87832730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52037174299997 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:156.91, Y:68.40, Z:0.02 [[ 6.56852565e-01 -7.54019037e-01 0.00000000e+00 1.56905418e+02] [ 7.54019037e-01 6.56852565e-01 0.00000000e+00 6.84002975e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97323537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55037174299997 meters Centerline goodness : 0.995997 Centerline is valid? [True, True] Translation: X:156.93, Y:68.42, Z:0.02 [[ 6.55605721e-01 -7.55103396e-01 0.00000000e+00 1.56930934e+02] [ 7.55103396e-01 6.55605721e-01 0.00000000e+00 6.84208097e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98494218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58037174299997 meters Centerline goodness : 0.995955 Centerline is valid? [True, True] Translation: X:156.95, Y:68.44, Z:0.02 [[ 6.55687325e-01 -7.55032537e-01 0.00000000e+00 1.56951719e+02] [ 7.55032537e-01 6.55687325e-01 0.00000000e+00 6.84411147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79506491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61037174299997 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:156.99, Y:68.46, Z:0.02 [[ 6.58252618e-01 -7.52797111e-01 0.00000000e+00 1.56986417e+02] [ 7.52797111e-01 6.58252618e-01 0.00000000e+00 6.84647257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23229975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64037174299997 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:157.00, Y:68.49, Z:0.02 [[ 6.54535777e-01 -7.56031029e-01 0.00000000e+00 1.56998666e+02] [ 7.56031029e-01 6.54535777e-01 0.00000000e+00 6.84853134e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97202579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67037174299998 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:157.03, Y:68.51, Z:0.02 [[ 6.57682896e-01 -7.53294901e-01 0.00000000e+00 1.57031332e+02] [ 7.53294901e-01 6.57682896e-01 0.00000000e+00 6.85088103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23616480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70037174299998 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:157.04, Y:68.53, Z:0.02 [[ 6.51710775e-01 -7.58467577e-01 0.00000000e+00 1.57043770e+02] [ 7.58467577e-01 6.51710775e-01 0.00000000e+00 6.85280059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85179745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73037174299998 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:157.08, Y:68.55, Z:0.02 [[ 6.52437853e-01 -7.57842231e-01 0.00000000e+00 1.57078395e+02] [ 7.57842231e-01 6.52437853e-01 0.00000000e+00 6.85502458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98955382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76037174299998 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:157.09, Y:68.57, Z:0.02 [[ 6.47224000e-01 -7.62299871e-01 0.00000000e+00 1.57089292e+02] [ 7.62299871e-01 6.47224000e-01 0.00000000e+00 6.85703674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84001217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79037174299998 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:157.12, Y:68.59, Z:0.02 [[ 6.49122431e-01 -7.60683948e-01 0.00000000e+00 1.57122018e+02] [ 7.60683948e-01 6.49122431e-01 0.00000000e+00 6.85944625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07335776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82037174299998 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:157.14, Y:68.62, Z:0.02 [[ 6.46350370e-01 -7.63040758e-01 0.00000000e+00 1.57142812e+02] [ 7.63040758e-01 6.46350370e-01 0.00000000e+00 6.86160653e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92436258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85037174299998 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:157.17, Y:68.64, Z:0.02 [[ 6.43795488e-01 -7.65197602e-01 0.00000000e+00 1.57166267e+02] [ 7.65197602e-01 6.43795488e-01 0.00000000e+00 6.86405041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24945411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88037174299998 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:157.19, Y:68.66, Z:0.02 [[ 6.42205268e-01 -7.66532709e-01 0.00000000e+00 1.57189347e+02] [ 7.66532709e-01 6.42205268e-01 0.00000000e+00 6.86616788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28771670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91037174299998 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:157.21, Y:68.69, Z:0.02 [[ 6.39920179e-01 -7.68441386e-01 0.00000000e+00 1.57209976e+02] [ 7.68441386e-01 6.39920179e-01 0.00000000e+00 6.86852637e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25481900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.940371743 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:157.23, Y:68.71, Z:0.02 [[ 6.38907487e-01 -7.69283578e-01 0.00000000e+00 1.57233874e+02] [ 7.69283578e-01 6.38907487e-01 0.00000000e+00 6.87093297e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43151216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.970371743 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:157.25, Y:68.73, Z:0.02 [[ 6.38242716e-01 -7.69835200e-01 0.00000000e+00 1.57254223e+02] [ 7.69835200e-01 6.38242716e-01 0.00000000e+00 6.87312861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43474751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.000371743 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:157.28, Y:68.76, Z:0.02 [[ 6.37201764e-01 -7.70697030e-01 0.00000000e+00 1.57276794e+02] [ 7.70697030e-01 6.37201764e-01 0.00000000e+00 6.87556195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45005869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.030371743 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:157.30, Y:68.78, Z:0.02 [[ 6.36561549e-01 -7.71225904e-01 0.00000000e+00 1.57301218e+02] [ 7.71225904e-01 6.36561549e-01 0.00000000e+00 6.87792487e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08547285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.060371743 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:157.32, Y:68.80, Z:0.02 [[ 6.36051980e-01 -7.71646213e-01 0.00000000e+00 1.57321852e+02] [ 7.71646213e-01 6.36051980e-01 0.00000000e+00 6.88011948e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05074519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.090371743 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:157.34, Y:68.83, Z:0.02 [[ 6.35063501e-01 -7.72459934e-01 0.00000000e+00 1.57343363e+02] [ 7.72459934e-01 6.35063501e-01 0.00000000e+00 6.88253872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97852086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.120371743 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:157.36, Y:68.85, Z:0.02 [[ 6.34720252e-01 -7.72742002e-01 0.00000000e+00 1.57363650e+02] [ 7.72742002e-01 6.34720252e-01 0.00000000e+00 6.88476195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82730591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.150371743 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:157.38, Y:68.87, Z:0.02 [[ 6.34415849e-01 -7.72991934e-01 0.00000000e+00 1.57382673e+02] [ 7.72991934e-01 6.34415849e-01 0.00000000e+00 6.88694426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80324559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.180371743 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:157.40, Y:68.89, Z:0.02 [[ 6.35205837e-01 -7.72342893e-01 0.00000000e+00 1.57403620e+02] [ 7.72342893e-01 6.35205837e-01 0.00000000e+00 6.88931101e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74353838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.210371743 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:157.42, Y:68.92, Z:0.02 [[ 6.35286305e-01 -7.72276706e-01 0.00000000e+00 1.57424659e+02] [ 7.72276706e-01 6.35286305e-01 0.00000000e+00 6.89174315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79347835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24037174299997 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:157.44, Y:68.94, Z:0.02 [[ 6.38324934e-01 -7.69767029e-01 0.00000000e+00 1.57444592e+02] [ 7.69767029e-01 6.38324934e-01 0.00000000e+00 6.89429016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80152153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27037174299997 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:157.47, Y:68.97, Z:0.02 [[ 6.40150114e-01 -7.68249850e-01 0.00000000e+00 1.57467122e+02] [ 7.68249850e-01 6.40150114e-01 0.00000000e+00 6.89688311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70381450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30037174299997 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:157.49, Y:69.00, Z:0.02 [[ 6.44886304e-01 -7.64278519e-01 0.00000000e+00 1.57487823e+02] [ 7.64278519e-01 6.44886304e-01 0.00000000e+00 6.89950143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74081459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33037174299997 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:157.49, Y:69.02, Z:0.02 [[ 6.40506059e-01 -7.67953116e-01 0.00000000e+00 1.57490859e+02] [ 7.67953116e-01 6.40506059e-01 0.00000000e+00 6.90178513e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40514948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36037174299997 meters Centerline goodness : 0.994250 Centerline is valid? [True, True] Translation: X:157.53, Y:69.04, Z:0.02 [[ 6.51778020e-01 -7.58409792e-01 0.00000000e+00 1.57528884e+02] [ 7.58409792e-01 6.51778020e-01 0.00000000e+00 6.90438769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70566502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39037174299997 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:157.55, Y:69.07, Z:0.02 [[ 6.54364501e-01 -7.56179277e-01 0.00000000e+00 1.57550615e+02] [ 7.56179277e-01 6.54364501e-01 0.00000000e+00 6.90675206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58724335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42037174299998 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:157.55, Y:69.09, Z:0.02 [[ 6.49185642e-01 -7.60630003e-01 0.00000000e+00 1.57549098e+02] [ 7.60630003e-01 6.49185642e-01 0.00000000e+00 6.90910479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47000066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45037174299998 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:157.59, Y:69.11, Z:0.02 [[ 6.58145611e-01 -7.52890666e-01 0.00000000e+00 1.57589177e+02] [ 7.52890666e-01 6.58145611e-01 0.00000000e+00 6.91147825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64930776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48037174299998 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:157.59, Y:69.14, Z:0.02 [[ 6.52218324e-01 -7.58031172e-01 0.00000000e+00 1.57590570e+02] [ 7.58031172e-01 6.52218324e-01 0.00000000e+00 6.91367837e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42518033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51037174299998 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:157.63, Y:69.16, Z:0.02 [[ 6.61306930e-01 -7.50115420e-01 0.00000000e+00 1.57632425e+02] [ 7.50115420e-01 6.61306930e-01 0.00000000e+00 6.91610363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67975415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54037174299998 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:157.65, Y:69.19, Z:0.02 [[ 6.62828385e-01 -7.48771348e-01 0.00000000e+00 1.57654993e+02] [ 7.48771348e-01 6.62828385e-01 0.00000000e+00 6.91850969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75008962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57037174299998 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:157.67, Y:69.21, Z:0.02 [[ 6.63948917e-01 -7.47777932e-01 0.00000000e+00 1.57674874e+02] [ 7.47777932e-01 6.63948917e-01 0.00000000e+00 6.92071561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71155696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60037174299998 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:157.68, Y:69.23, Z:0.02 [[ 6.57732871e-01 -7.53251266e-01 0.00000000e+00 1.57675107e+02] [ 7.53251266e-01 6.57732871e-01 0.00000000e+00 6.92280788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49821564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63037174299998 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:157.72, Y:69.25, Z:0.02 [[ 6.66537030e-01 -7.45471923e-01 0.00000000e+00 1.57717258e+02] [ 7.45471923e-01 6.66537030e-01 0.00000000e+00 6.92518720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75374307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66037174299998 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:157.72, Y:69.27, Z:0.02 [[ 6.58143425e-01 -7.52892577e-01 0.00000000e+00 1.57717455e+02] [ 7.52892577e-01 6.58143425e-01 0.00000000e+00 6.92716635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38423145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.690371743 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:157.76, Y:69.29, Z:0.02 [[ 6.68151449e-01 -7.44025296e-01 0.00000000e+00 1.57764058e+02] [ 7.44025296e-01 6.68151449e-01 0.00000000e+00 6.92948289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56255915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.720371743 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:157.79, Y:69.32, Z:0.02 [[ 6.67419387e-01 -7.44682054e-01 0.00000000e+00 1.57786455e+02] [ 7.44682054e-01 6.67419387e-01 0.00000000e+00 6.93179518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59071956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.750371743 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:157.78, Y:69.34, Z:0.03 [[ 6.58558770e-01 -7.52529300e-01 0.00000000e+00 1.57783901e+02] [ 7.52529300e-01 6.58558770e-01 0.00000000e+00 6.93357178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54722253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.780371743 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:157.81, Y:69.36, Z:0.03 [[ 6.59961115e-01 -7.51299759e-01 0.00000000e+00 1.57807633e+02] [ 7.51299759e-01 6.59961115e-01 0.00000000e+00 6.93584227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60700013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.810371743 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:157.83, Y:69.38, Z:0.03 [[ 6.60689250e-01 -7.50659520e-01 0.00000000e+00 1.57830655e+02] [ 7.50659520e-01 6.60689250e-01 0.00000000e+00 6.93811813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57262485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.840371743 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:157.86, Y:69.40, Z:0.03 [[ 6.61819472e-01 -7.49663248e-01 0.00000000e+00 1.57855480e+02] [ 7.49663248e-01 6.61819472e-01 0.00000000e+00 6.94026128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61961625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.870371743 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:157.88, Y:69.43, Z:0.03 [[ 6.61633448e-01 -7.49827433e-01 0.00000000e+00 1.57879365e+02] [ 7.49827433e-01 6.61633448e-01 0.00000000e+00 6.94252993e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60065078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.900371743 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:157.90, Y:69.45, Z:0.03 [[ 6.61714028e-01 -7.49756324e-01 0.00000000e+00 1.57902385e+02] [ 7.49756324e-01 6.61714028e-01 0.00000000e+00 6.94496974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60065078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.930371743 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:157.95, Y:69.47, Z:0.02 [[ 6.67193338e-01 -7.44884588e-01 0.00000000e+00 1.57946830e+02] [ 7.44884588e-01 6.67193338e-01 0.00000000e+00 6.94721486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97741955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96037174299997 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:157.97, Y:69.49, Z:0.02 [[ 6.65927572e-01 -7.46016400e-01 0.00000000e+00 1.57971213e+02] [ 7.46016400e-01 6.65927572e-01 0.00000000e+00 6.94940243e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83301310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99037174299997 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:158.00, Y:69.51, Z:0.02 [[ 6.61133890e-01 -7.50267939e-01 0.00000000e+00 1.57995343e+02] [ 7.50267939e-01 6.61133890e-01 0.00000000e+00 6.95142017e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66285437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02037174299997 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:158.02, Y:69.54, Z:0.01 [[ 6.59263914e-01 -7.51911625e-01 0.00000000e+00 1.58019371e+02] [ 7.51911625e-01 6.59263914e-01 0.00000000e+00 6.95358050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48133155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05037174299997 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:158.04, Y:69.56, Z:0.01 [[ 6.55527083e-01 -7.55171665e-01 0.00000000e+00 1.58042412e+02] [ 7.55171665e-01 6.55527083e-01 0.00000000e+00 6.95582530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47565974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08037174299997 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:158.07, Y:69.58, Z:0.02 [[ 6.49778195e-01 -7.60123870e-01 0.00000000e+00 1.58066180e+02] [ 7.60123870e-01 6.49778195e-01 0.00000000e+00 6.95792978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50540063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11037174299997 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:158.09, Y:69.60, Z:0.01 [[ 6.47552439e-01 -7.62020891e-01 0.00000000e+00 1.58089560e+02] [ 7.62020891e-01 6.47552439e-01 0.00000000e+00 6.96011477e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45776729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14037174299997 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:158.09, Y:69.62, Z:0.02 [[ 6.34765559e-01 -7.72704785e-01 0.00000000e+00 1.58091774e+02] [ 7.72704785e-01 6.34765559e-01 0.00000000e+00 6.96196173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11646051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17037174299998 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:158.13, Y:69.64, Z:0.02 [[ 6.39924796e-01 -7.68437542e-01 0.00000000e+00 1.58132959e+02] [ 7.68437542e-01 6.39924796e-01 0.00000000e+00 6.96443363e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61190061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20037174299998 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:158.15, Y:69.67, Z:0.02 [[ 6.33793637e-01 -7.73502182e-01 0.00000000e+00 1.58154782e+02] [ 7.73502182e-01 6.33793637e-01 0.00000000e+00 6.96664612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67935121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23037174299998 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:158.18, Y:69.69, Z:0.01 [[ 6.32816552e-01 -7.74301757e-01 0.00000000e+00 1.58179938e+02] [ 7.74301757e-01 6.32816552e-01 0.00000000e+00 6.96890369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45612634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26037174299998 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:158.20, Y:69.71, Z:0.01 [[ 6.31316448e-01 -7.75525333e-01 0.00000000e+00 1.58202173e+02] [ 7.75525333e-01 6.31316448e-01 0.00000000e+00 6.97115754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37863962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29037174299998 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:158.20, Y:69.73, Z:0.02 [[ 6.20509370e-01 -7.84199032e-01 0.00000000e+00 1.58200066e+02] [ 7.84199032e-01 6.20509370e-01 0.00000000e+00 6.97293214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17232667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32037174299998 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:158.23, Y:69.75, Z:0.02 [[ 6.24296370e-01 -7.81187584e-01 0.00000000e+00 1.58233871e+02] [ 7.81187584e-01 6.24296370e-01 0.00000000e+00 6.97512602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04613523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35037174299998 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:158.25, Y:69.77, Z:0.02 [[ 6.22731322e-01 -7.82435748e-01 0.00000000e+00 1.58252880e+02] [ 7.82435748e-01 6.22731322e-01 0.00000000e+00 6.97730208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21287903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38037174299998 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:158.27, Y:69.79, Z:0.02 [[ 6.21366588e-01 -7.83519983e-01 0.00000000e+00 1.58270457e+02] [ 7.83519983e-01 6.21366588e-01 0.00000000e+00 6.97935536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33636118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41037174299998 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:158.30, Y:69.82, Z:0.02 [[ 6.22409709e-01 -7.82691609e-01 0.00000000e+00 1.58297523e+02] [ 7.82691609e-01 6.22409709e-01 0.00000000e+00 6.98183265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14047118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.440371743 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:158.31, Y:69.84, Z:0.02 [[ 6.17119831e-01 -7.86869185e-01 0.00000000e+00 1.58311786e+02] [ 7.86869185e-01 6.17119831e-01 0.00000000e+00 6.98393828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30764753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.470371743 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:158.33, Y:69.86, Z:0.02 [[ 6.16401203e-01 -7.87432256e-01 0.00000000e+00 1.58334549e+02] [ 7.87432256e-01 6.16401203e-01 0.00000000e+00 6.98635184e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16978125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.500371743 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:158.35, Y:69.89, Z:0.02 [[ 6.14222212e-01 -7.89133115e-01 0.00000000e+00 1.58354458e+02] [ 7.89133115e-01 6.14222212e-01 0.00000000e+00 6.98873442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02149925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.530371743 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:158.38, Y:69.91, Z:0.02 [[ 6.13260294e-01 -7.89880884e-01 0.00000000e+00 1.58376671e+02] [ 7.89880884e-01 6.13260294e-01 0.00000000e+00 6.99120350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01630248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.560371743 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:158.40, Y:69.94, Z:0.02 [[ 6.11741231e-01 -7.91057941e-01 0.00000000e+00 1.58397949e+02] [ 7.91057941e-01 6.11741231e-01 0.00000000e+00 6.99369059e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01335078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.590371743 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:158.40, Y:69.96, Z:0.02 [[ 6.05589466e-01 -7.95777229e-01 0.00000000e+00 1.58403327e+02] [ 7.95777229e-01 6.05589466e-01 0.00000000e+00 6.99587679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23594146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.620371743 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:158.42, Y:69.98, Z:0.02 [[ 6.05553987e-01 -7.95804228e-01 0.00000000e+00 1.58422051e+02] [ 7.95804228e-01 6.05553987e-01 0.00000000e+00 6.99799038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10067009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.650371743 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:158.46, Y:70.01, Z:0.01 [[ 6.14353969e-01 -7.89030545e-01 0.00000000e+00 1.58462805e+02] [ 7.89030545e-01 6.14353969e-01 0.00000000e+00 7.00070368e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48062201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.680371743 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:158.47, Y:70.03, Z:0.02 [[ 6.12702742e-01 -7.90313451e-01 0.00000000e+00 1.58473988e+02] [ 7.90313451e-01 6.12702742e-01 0.00000000e+00 7.00266711e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87344613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71037174299997 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:158.49, Y:70.05, Z:0.02 [[ 6.12653186e-01 -7.90351867e-01 0.00000000e+00 1.58494945e+02] [ 7.90351867e-01 6.12653186e-01 0.00000000e+00 7.00536307e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01912741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74037174299997 meters Centerline goodness : 0.994991 Centerline is valid? [True, True] Translation: X:158.52, Y:70.08, Z:0.02 [[ 6.13795228e-01 -7.89465273e-01 0.00000000e+00 1.58516363e+02] [ 7.89465273e-01 6.13795228e-01 0.00000000e+00 7.00782058e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02905866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77037174299997 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:158.54, Y:70.10, Z:0.02 [[ 6.15454445e-01 -7.88172460e-01 0.00000000e+00 1.58535676e+02] [ 7.88172460e-01 6.15454445e-01 0.00000000e+00 7.01022444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09943634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80037174299997 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:158.56, Y:70.13, Z:0.02 [[ 6.16019246e-01 -7.87731102e-01 0.00000000e+00 1.58557483e+02] [ 7.87731102e-01 6.16019246e-01 0.00000000e+00 7.01270821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11202431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83037174299997 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:158.58, Y:70.15, Z:0.02 [[ 6.18525544e-01 -7.85764692e-01 0.00000000e+00 1.58576949e+02] [ 7.85764692e-01 6.18525544e-01 0.00000000e+00 7.01510267e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12502113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86037174299997 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:158.60, Y:70.18, Z:0.02 [[ 6.18653421e-01 -7.85664015e-01 0.00000000e+00 1.58596793e+02] [ 7.85664015e-01 6.18653421e-01 0.00000000e+00 7.01758220e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17624002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89037174299997 meters Centerline goodness : 0.995391 Centerline is valid? [True, True] Translation: X:158.62, Y:70.20, Z:0.02 [[ 6.20584898e-01 -7.84139263e-01 0.00000000e+00 1.58616512e+02] [ 7.84139263e-01 6.20584898e-01 0.00000000e+00 7.02018212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11452802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92037174299998 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:158.63, Y:70.22, Z:0.02 [[ 6.22501184e-01 -7.82618858e-01 0.00000000e+00 1.58634817e+02] [ 7.82618858e-01 6.22501184e-01 0.00000000e+00 7.02249005e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04334456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95037174299998 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:158.65, Y:70.25, Z:0.02 [[ 6.25483047e-01 -7.80237757e-01 0.00000000e+00 1.58651207e+02] [ 7.80237757e-01 6.25483047e-01 0.00000000e+00 7.02454782e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04587741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98037174299998 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:158.67, Y:70.27, Z:0.02 [[ 6.26565609e-01 -7.79368679e-01 0.00000000e+00 1.58673642e+02] [ 7.79368679e-01 6.26565609e-01 0.00000000e+00 7.02735726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02706994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01037174299998 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:158.68, Y:70.30, Z:0.02 [[ 6.22263225e-01 -7.82808073e-01 0.00000000e+00 1.58679319e+02] [ 7.82808073e-01 6.22263225e-01 0.00000000e+00 7.02964790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24961737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04037174299998 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:158.71, Y:70.32, Z:0.02 [[ 6.31745868e-01 -7.75175566e-01 0.00000000e+00 1.58713512e+02] [ 7.75175566e-01 6.31745868e-01 0.00000000e+00 7.03230514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14525644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07037174299998 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:158.74, Y:70.35, Z:0.02 [[ 6.33848258e-01 -7.73457423e-01 0.00000000e+00 1.58737675e+02] [ 7.73457423e-01 6.33848258e-01 0.00000000e+00 7.03494531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07723965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10037174299998 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:158.75, Y:70.37, Z:0.02 [[ 6.34737816e-01 -7.72727575e-01 0.00000000e+00 1.58754639e+02] [ 7.72727575e-01 6.34737816e-01 0.00000000e+00 7.03710458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19122409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13037174299998 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:158.77, Y:70.40, Z:0.02 [[ 6.36046985e-01 -7.71650331e-01 0.00000000e+00 1.58774109e+02] [ 7.71650331e-01 6.36046985e-01 0.00000000e+00 7.03969647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26857114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16037174299998 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:158.79, Y:70.42, Z:0.02 [[ 6.37434463e-01 -7.70504578e-01 0.00000000e+00 1.58793536e+02] [ 7.70504578e-01 6.37434463e-01 0.00000000e+00 7.04203306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21564830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.190371743 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:158.81, Y:70.44, Z:0.02 [[ 6.37921852e-01 -7.70101104e-01 0.00000000e+00 1.58814031e+02] [ 7.70101104e-01 6.37921852e-01 0.00000000e+00 7.04448663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17270663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.220371743 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:158.84, Y:70.47, Z:0.02 [[ 6.40330735e-01 -7.68099310e-01 0.00000000e+00 1.58839604e+02] [ 7.68099310e-01 6.40330735e-01 0.00000000e+00 7.04697603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78160844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.250371743 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:158.86, Y:70.49, Z:0.02 [[ 6.42440476e-01 -7.66335589e-01 0.00000000e+00 1.58859995e+02] [ 7.66335589e-01 6.42440476e-01 0.00000000e+00 7.04915030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99400283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.280371743 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:158.88, Y:70.51, Z:0.02 [[ 6.41652983e-01 -7.66995078e-01 0.00000000e+00 1.58878727e+02] [ 7.66995078e-01 6.41652983e-01 0.00000000e+00 7.05143055e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01322032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.310371743 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:158.88, Y:70.54, Z:0.02 [[ 6.30971584e-01 -7.75805942e-01 0.00000000e+00 1.58878446e+02] [ 7.75805942e-01 6.30971584e-01 0.00000000e+00 7.05374742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20653164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.340371743 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:158.90, Y:70.56, Z:0.02 [[ 6.31373658e-01 -7.75478758e-01 0.00000000e+00 1.58896619e+02] [ 7.75478758e-01 6.31373658e-01 0.00000000e+00 7.05581264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15640888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.370371743 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:158.92, Y:70.58, Z:0.02 [[ 6.32183628e-01 -7.74818599e-01 0.00000000e+00 1.58917588e+02] [ 7.74818599e-01 6.32183628e-01 0.00000000e+00 7.05833652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29057379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.400371743 meters Centerline goodness : 0.993908 Centerline is valid? [True, True] Translation: X:158.96, Y:70.61, Z:0.02 [[ 6.40420616e-01 -7.68024371e-01 0.00000000e+00 1.58959473e+02] [ 7.68024371e-01 6.40420616e-01 0.00000000e+00 7.06089103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58298298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.430371743 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:158.96, Y:70.63, Z:0.02 [[ 6.33758828e-01 -7.73530703e-01 0.00000000e+00 1.58957802e+02] [ 7.73530703e-01 6.33758828e-01 0.00000000e+00 7.06295654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28917130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46037174299997 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:158.98, Y:70.65, Z:0.02 [[ 6.37733764e-01 -7.70256870e-01 0.00000000e+00 1.58979605e+02] [ 7.70256870e-01 6.37733764e-01 0.00000000e+00 7.06542566e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35730338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49037174299997 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:159.00, Y:70.68, Z:0.02 [[ 6.41246337e-01 -7.67335087e-01 0.00000000e+00 1.59000753e+02] [ 7.67335087e-01 6.41246337e-01 0.00000000e+00 7.06789740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43921955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52037174299997 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:159.02, Y:70.70, Z:0.03 [[ 6.42881875e-01 -7.65965335e-01 0.00000000e+00 1.59021553e+02] [ 7.65965335e-01 6.42881875e-01 0.00000000e+00 7.07026909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50526202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55037174299997 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:159.04, Y:70.73, Z:0.03 [[ 6.44280632e-01 -7.64789165e-01 0.00000000e+00 1.59042575e+02] [ 7.64789165e-01 6.44280632e-01 0.00000000e+00 7.07264338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62576443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58037174299997 meters Centerline goodness : 0.993793 Centerline is valid? [True, True] Translation: X:159.08, Y:70.75, Z:0.02 [[ 6.53810623e-01 -7.56658225e-01 0.00000000e+00 1.59083921e+02] [ 7.56658225e-01 6.53810623e-01 0.00000000e+00 7.07512852e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22193131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61037174299997 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:159.08, Y:70.77, Z:0.03 [[ 6.45952834e-01 -7.63377322e-01 0.00000000e+00 1.59083884e+02] [ 7.63377322e-01 6.45952834e-01 0.00000000e+00 7.07715463e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73386404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64037174299997 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:159.11, Y:70.80, Z:0.03 [[ 6.45650685e-01 -7.63632892e-01 0.00000000e+00 1.59106715e+02] [ 7.63632892e-01 6.45650685e-01 0.00000000e+00 7.07950715e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69105085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67037174299998 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:159.13, Y:70.82, Z:0.03 [[ 6.44344633e-01 -7.64735245e-01 0.00000000e+00 1.59131711e+02] [ 7.64735245e-01 6.44344633e-01 0.00000000e+00 7.08174440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51885165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70037174299998 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:159.15, Y:70.84, Z:0.02 [[ 6.43187759e-01 -7.65708500e-01 0.00000000e+00 1.59154696e+02] [ 7.65708500e-01 6.43187759e-01 0.00000000e+00 7.08397630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43152723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73037174299998 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:159.20, Y:70.86, Z:0.02 [[ 6.50423390e-01 -7.59571862e-01 0.00000000e+00 1.59199854e+02] [ 7.59571862e-01 6.50423390e-01 0.00000000e+00 7.08634657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81853271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76037174299998 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:159.20, Y:70.88, Z:0.02 [[ 6.37519903e-01 -7.70433886e-01 0.00000000e+00 1.59198634e+02] [ 7.70433886e-01 6.37519903e-01 0.00000000e+00 7.08813092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30043804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79037174299998 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:159.22, Y:70.91, Z:0.02 [[ 6.37575038e-01 -7.70388260e-01 0.00000000e+00 1.59220613e+02] [ 7.70388260e-01 6.37575038e-01 0.00000000e+00 7.09055153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30043804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82037174299998 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:159.27, Y:70.93, Z:0.02 [[ 6.45682531e-01 -7.63605965e-01 0.00000000e+00 1.59265500e+02] [ 7.63605965e-01 6.45682531e-01 0.00000000e+00 7.09301008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80030183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85037174299998 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:159.26, Y:70.95, Z:0.02 [[ 6.33803930e-01 -7.73493748e-01 0.00000000e+00 1.59264422e+02] [ 7.73493748e-01 6.33803930e-01 0.00000000e+00 7.09485216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32596841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88037174299998 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:159.29, Y:70.97, Z:0.02 [[ 6.33145132e-01 -7.74033102e-01 0.00000000e+00 1.59287498e+02] [ 7.74033102e-01 6.33145132e-01 0.00000000e+00 7.09716240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35624891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91037174299998 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:159.31, Y:70.99, Z:0.02 [[ 6.31694506e-01 -7.75217422e-01 0.00000000e+00 1.59310686e+02] [ 7.75217422e-01 6.31694506e-01 0.00000000e+00 7.09932164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45828254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.940371743 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:159.33, Y:71.02, Z:0.03 [[ 6.30660068e-01 -7.76059198e-01 0.00000000e+00 1.59332683e+02] [ 7.76059198e-01 6.30660068e-01 0.00000000e+00 7.10158442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53374691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.970371743 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:159.37, Y:71.04, Z:0.02 [[ 6.36705520e-01 -7.71107049e-01 0.00000000e+00 1.59373489e+02] [ 7.71107049e-01 6.36705520e-01 0.00000000e+00 7.10373399e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11878950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.000371743 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:159.40, Y:71.06, Z:0.02 [[ 6.35140396e-01 -7.72396710e-01 0.00000000e+00 1.59395629e+02] [ 7.72396710e-01 6.35140396e-01 0.00000000e+00 7.10605042e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18325595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.030371743 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:159.42, Y:71.08, Z:0.02 [[ 6.33332711e-01 -7.73879627e-01 0.00000000e+00 1.59417424e+02] [ 7.73879627e-01 6.33332711e-01 0.00000000e+00 7.10841800e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28023328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.060371743 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:159.44, Y:71.11, Z:0.02 [[ 6.34094067e-01 -7.73255918e-01 0.00000000e+00 1.59440242e+02] [ 7.73255918e-01 6.34094067e-01 0.00000000e+00 7.11063831e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15799423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.090371743 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:159.46, Y:71.13, Z:0.02 [[ 6.35853429e-01 -7.71809832e-01 0.00000000e+00 1.59461509e+02] [ 7.71809832e-01 6.35853429e-01 0.00000000e+00 7.11296314e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09447317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.120371743 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:159.48, Y:71.15, Z:0.02 [[ 6.36756875e-01 -7.71064642e-01 0.00000000e+00 1.59483210e+02] [ 7.71064642e-01 6.36756875e-01 0.00000000e+00 7.11544194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09397769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.150371743 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:159.50, Y:71.18, Z:0.02 [[ 6.41641077e-01 -7.67005038e-01 0.00000000e+00 1.59504785e+02] [ 7.67005038e-01 6.41641077e-01 0.00000000e+00 7.11784002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07563637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.180371743 meters Centerline goodness : 0.995278 Centerline is valid? [True, True] Translation: X:159.50, Y:71.20, Z:0.03 [[ 6.36367141e-01 -7.71386324e-01 0.00000000e+00 1.59503475e+02] [ 7.71386324e-01 6.36367141e-01 0.00000000e+00 7.11980128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59527856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21037174299997 meters Centerline goodness : 0.994639 Centerline is valid? [True, True] Translation: X:159.52, Y:71.22, Z:0.03 [[ 6.40662483e-01 -7.67822624e-01 0.00000000e+00 1.59523648e+02] [ 7.67822624e-01 6.40662483e-01 0.00000000e+00 7.12194987e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53090542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24037174299997 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:159.55, Y:71.24, Z:0.03 [[ 6.44242071e-01 -7.64821648e-01 0.00000000e+00 1.59545390e+02] [ 7.64821648e-01 6.44242071e-01 0.00000000e+00 7.12445682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61010401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27037174299997 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:159.57, Y:71.27, Z:0.03 [[ 6.53887836e-01 -7.56591500e-01 0.00000000e+00 1.59566427e+02] [ 7.56591500e-01 6.53887836e-01 0.00000000e+00 7.12676867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61782832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30037174299997 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:159.59, Y:71.29, Z:0.03 [[ 6.58015312e-01 -7.53004548e-01 0.00000000e+00 1.59588149e+02] [ 7.53004548e-01 6.58015312e-01 0.00000000e+00 7.12929750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67996166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33037174299997 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:159.61, Y:71.32, Z:0.03 [[ 6.66731047e-01 -7.45298404e-01 0.00000000e+00 1.59610185e+02] [ 7.45298404e-01 6.66731047e-01 0.00000000e+00 7.13160180e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76873115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36037174299997 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:159.63, Y:71.34, Z:0.03 [[ 6.70464846e-01 -7.41941298e-01 0.00000000e+00 1.59633248e+02] [ 7.41941298e-01 6.70464846e-01 0.00000000e+00 7.13394106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76025206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39037174299997 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:159.66, Y:71.36, Z:0.03 [[ 6.73811374e-01 -7.38903398e-01 0.00000000e+00 1.59656389e+02] [ 7.38903398e-01 6.73811374e-01 0.00000000e+00 7.13620881e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68820409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42037174299998 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:159.68, Y:71.38, Z:0.03 [[ 6.78508225e-01 -7.34592804e-01 0.00000000e+00 1.59682418e+02] [ 7.34592804e-01 6.78508225e-01 0.00000000e+00 7.13826538e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74279690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45037174299998 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:159.71, Y:71.40, Z:0.03 [[ 6.80151294e-01 -7.33071768e-01 0.00000000e+00 1.59707140e+02] [ 7.33071768e-01 6.80151294e-01 0.00000000e+00 7.14046978e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77172706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48037174299998 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:159.73, Y:71.42, Z:0.03 [[ 6.80232479e-01 -7.32996435e-01 0.00000000e+00 1.59734483e+02] [ 7.32996435e-01 6.80232479e-01 0.00000000e+00 7.14222914e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80020060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51037174299998 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:159.77, Y:71.44, Z:0.03 [[ 6.81868013e-01 -7.31475230e-01 0.00000000e+00 1.59766106e+02] [ 7.31475230e-01 6.81868013e-01 0.00000000e+00 7.14414114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73411753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54037174299998 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:159.78, Y:71.46, Z:0.03 [[ 6.77685555e-01 -7.35351812e-01 0.00000000e+00 1.59779949e+02] [ 7.35351812e-01 6.77685555e-01 0.00000000e+00 7.14573735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76151655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57037174299998 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:159.81, Y:71.47, Z:0.03 [[ 6.73960425e-01 -7.38767450e-01 0.00000000e+00 1.59810671e+02] [ 7.38767450e-01 6.73960425e-01 0.00000000e+00 7.14733951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61015949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60037174299998 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:159.83, Y:71.49, Z:0.03 [[ 6.71598699e-01 -7.40915102e-01 0.00000000e+00 1.59833439e+02] [ 7.40915102e-01 6.71598699e-01 0.00000000e+00 7.14897598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50080743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63037174299998 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:159.86, Y:71.51, Z:0.03 [[ 6.68854695e-01 -7.43393164e-01 0.00000000e+00 1.59864194e+02] [ 7.43393164e-01 6.68854695e-01 0.00000000e+00 7.15054108e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53360026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66037174299998 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:159.89, Y:71.52, Z:0.03 [[ 6.68510927e-01 -7.43702320e-01 0.00000000e+00 1.59889108e+02] [ 7.43702320e-01 6.68510927e-01 0.00000000e+00 7.15234822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58363528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.690371743 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:159.91, Y:71.54, Z:0.03 [[ 6.67460630e-01 -7.44645088e-01 0.00000000e+00 1.59912374e+02] [ 7.44645088e-01 6.67460630e-01 0.00000000e+00 7.15412567e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62083519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.720371743 meters Centerline goodness : 0.992566 Centerline is valid? [True, True] Translation: X:159.94, Y:71.55, Z:0.03 [[ 6.66993020e-01 -7.45063965e-01 0.00000000e+00 1.59939638e+02] [ 7.45063965e-01 6.66993020e-01 0.00000000e+00 7.15541695e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63732173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.750371743 meters Centerline goodness : 0.992238 Centerline is valid? [True, True] Translation: X:159.96, Y:71.57, Z:0.03 [[ 6.66279790e-01 -7.45701844e-01 0.00000000e+00 1.59961647e+02] [ 7.45701844e-01 6.66279790e-01 0.00000000e+00 7.15700607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61162400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.780371743 meters Centerline goodness : 0.991328 Centerline is valid? [True, True] Translation: X:159.99, Y:71.58, Z:0.03 [[ 6.62706582e-01 -7.48879153e-01 0.00000000e+00 1.59988449e+02] [ 7.48879153e-01 6.62706582e-01 0.00000000e+00 7.15840601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52244485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.810371743 meters Centerline goodness : 0.990863 Centerline is valid? [True, True] Translation: X:160.01, Y:71.60, Z:0.02 [[ 6.60817417e-01 -7.50546695e-01 0.00000000e+00 1.60011377e+02] [ 7.50546695e-01 6.60817417e-01 0.00000000e+00 7.16010074e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48239626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.840371743 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:160.03, Y:71.62, Z:0.02 [[ 6.58639883e-01 -7.52458308e-01 0.00000000e+00 1.60034343e+02] [ 7.52458308e-01 6.58639883e-01 0.00000000e+00 7.16180135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47797504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.870371743 meters Centerline goodness : 0.990699 Centerline is valid? [True, True] Translation: X:160.06, Y:71.63, Z:0.02 [[ 6.53518755e-01 -7.56910323e-01 0.00000000e+00 1.60059861e+02] [ 7.56910323e-01 6.53518755e-01 0.00000000e+00 7.16316016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43446570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.900371743 meters Centerline goodness : 0.989876 Centerline is valid? [True, True] Translation: X:160.08, Y:71.65, Z:0.02 [[ 6.51941697e-01 -7.58269097e-01 0.00000000e+00 1.60081179e+02] [ 7.58269097e-01 6.51941697e-01 0.00000000e+00 7.16479321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09628907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.930371743 meters Centerline goodness : 0.989015 Centerline is valid? [True, True] Translation: X:160.11, Y:71.66, Z:0.03 [[ 6.46468482e-01 -7.62940693e-01 0.00000000e+00 1.60106983e+02] [ 7.62940693e-01 6.46468482e-01 0.00000000e+00 7.16635845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62846705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96037174299997 meters Centerline goodness : 0.987622 Centerline is valid? [True, True] Translation: X:160.15, Y:71.68, Z:0.02 [[ 6.54382362e-01 -7.56163821e-01 0.00000000e+00 1.60147286e+02] [ 7.56163821e-01 6.54382362e-01 0.00000000e+00 7.16819054e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32607998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99037174299997 meters Centerline goodness : 0.988108 Centerline is valid? [True, True] Translation: X:160.17, Y:71.70, Z:0.02 [[ 6.51728889e-01 -7.58452013e-01 0.00000000e+00 1.60167120e+02] [ 7.58452013e-01 6.51728889e-01 0.00000000e+00 7.16997845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03614796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02037174299997 meters Centerline goodness : 0.988417 Centerline is valid? [True, True] Translation: X:160.19, Y:71.72, Z:0.02 [[ 6.49496037e-01 -7.60364977e-01 0.00000000e+00 1.60187892e+02] [ 7.60364977e-01 6.49496037e-01 0.00000000e+00 7.17187983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26767467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05037174299997 meters Centerline goodness : 0.987598 Centerline is valid? [True, True] Translation: X:160.21, Y:71.74, Z:0.02 [[ 6.43566575e-01 -7.65390138e-01 0.00000000e+00 1.60210483e+02] [ 7.65390138e-01 6.43566575e-01 0.00000000e+00 7.17383271e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13397018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08037174299997 meters Centerline goodness : 0.987570 Centerline is valid? [True, True] Translation: X:160.22, Y:71.75, Z:0.02 [[ 6.34802125e-01 -7.72674745e-01 0.00000000e+00 1.60217287e+02] [ 7.72674745e-01 6.34802125e-01 0.00000000e+00 7.17540109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46183650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11037174299997 meters Centerline goodness : 0.988179 Centerline is valid? [True, True] Translation: X:160.24, Y:71.77, Z:0.02 [[ 6.32905213e-01 -7.74229288e-01 0.00000000e+00 1.60235019e+02] [ 7.74229288e-01 6.32905213e-01 0.00000000e+00 7.17730743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42106456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14037174299997 meters Centerline goodness : 0.987936 Centerline is valid? [True, True] Translation: X:160.28, Y:71.79, Z:0.02 [[ 6.41029698e-01 -7.67516076e-01 0.00000000e+00 1.60275190e+02] [ 7.67516076e-01 6.41029698e-01 0.00000000e+00 7.17943576e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26465579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17037174299998 meters Centerline goodness : 0.988477 Centerline is valid? [True, True] Translation: X:160.28, Y:71.81, Z:0.02 [[ 6.29223879e-01 -7.77224106e-01 0.00000000e+00 1.60275122e+02] [ 7.77224106e-01 6.29223879e-01 0.00000000e+00 7.18115960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44086194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20037174299998 meters Centerline goodness : 0.988501 Centerline is valid? [True, True] Translation: X:160.31, Y:71.83, Z:0.02 [[ 6.33237241e-01 -7.73957749e-01 0.00000000e+00 1.60314956e+02] [ 7.73957749e-01 6.33237241e-01 0.00000000e+00 7.18338984e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27976339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23037174299998 meters Centerline goodness : 0.987904 Centerline is valid? [True, True] Translation: X:160.32, Y:71.85, Z:0.03 [[ 6.24639472e-01 -7.80913266e-01 0.00000000e+00 1.60317843e+02] [ 7.80913266e-01 6.24639472e-01 0.00000000e+00 7.18527481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83315199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26037174299998 meters Centerline goodness : 0.987024 Centerline is valid? [True, True] Translation: X:160.35, Y:71.88, Z:0.03 [[ 6.28778112e-01 -7.77584777e-01 0.00000000e+00 1.60348031e+02] [ 7.77584777e-01 6.28778112e-01 0.00000000e+00 7.18757200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68588762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29037174299998 meters Centerline goodness : 0.987748 Centerline is valid? [True, True] Translation: X:160.35, Y:71.90, Z:0.03 [[ 6.23945245e-01 -7.81468062e-01 0.00000000e+00 1.60354612e+02] [ 7.81468062e-01 6.23945245e-01 0.00000000e+00 7.18953497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83421785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32037174299998 meters Centerline goodness : 0.987222 Centerline is valid? [True, True] Translation: X:160.37, Y:71.92, Z:0.03 [[ 6.24193766e-01 -7.81269571e-01 0.00000000e+00 1.60371925e+02] [ 7.81269571e-01 6.24193766e-01 0.00000000e+00 7.19158965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83111338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35037174299998 meters Centerline goodness : 0.988557 Centerline is valid? [True, True] Translation: X:160.41, Y:71.94, Z:0.02 [[ 6.31280986e-01 -7.75554200e-01 0.00000000e+00 1.60405309e+02] [ 7.75554200e-01 6.31280986e-01 0.00000000e+00 7.19404799e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49584046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38037174299998 meters Centerline goodness : 0.988766 Centerline is valid? [True, True] Translation: X:160.41, Y:71.96, Z:0.03 [[ 6.26451038e-01 -7.79460773e-01 0.00000000e+00 1.60405735e+02] [ 7.79460773e-01 6.26451038e-01 0.00000000e+00 7.19607846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92893407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41037174299998 meters Centerline goodness : 0.988083 Centerline is valid? [True, True] Translation: X:160.44, Y:71.99, Z:0.03 [[ 6.34091166e-01 -7.73258296e-01 0.00000000e+00 1.60437387e+02] [ 7.73258296e-01 6.34091166e-01 0.00000000e+00 7.19850079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56250375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.440371743 meters Centerline goodness : 0.987720 Centerline is valid? [True, True] Translation: X:160.45, Y:72.01, Z:0.03 [[ 6.33942389e-01 -7.73380274e-01 0.00000000e+00 1.60453101e+02] [ 7.73380274e-01 6.33942389e-01 0.00000000e+00 7.20075077e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60356780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.470371743 meters Centerline goodness : 0.986987 Centerline is valid? [True, True] Translation: X:160.47, Y:72.03, Z:0.02 [[ 6.39553768e-01 -7.68746368e-01 0.00000000e+00 1.60470144e+02] [ 7.68746368e-01 6.39553768e-01 0.00000000e+00 7.20308762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44598641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.500371743 meters Centerline goodness : 0.988685 Centerline is valid? [True, True] Translation: X:160.49, Y:72.05, Z:0.03 [[ 6.40913219e-01 -7.67613344e-01 0.00000000e+00 1.60485039e+02] [ 7.67613344e-01 6.40913219e-01 0.00000000e+00 7.20526479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51004867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.530371743 meters Centerline goodness : 0.988692 Centerline is valid? [True, True] Translation: X:160.50, Y:72.08, Z:0.02 [[ 6.42982455e-01 -7.65880906e-01 0.00000000e+00 1.60503433e+02] [ 7.65880906e-01 6.42982455e-01 0.00000000e+00 7.20756534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48310420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.560371743 meters Centerline goodness : 0.988186 Centerline is valid? [True, True] Translation: X:160.50, Y:72.10, Z:0.03 [[ 6.40340499e-01 -7.68091170e-01 0.00000000e+00 1.60503953e+02] [ 7.68091170e-01 6.40340499e-01 0.00000000e+00 7.20963876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97476673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.590371743 meters Centerline goodness : 0.989016 Centerline is valid? [True, True] Translation: X:160.52, Y:72.12, Z:0.03 [[ 6.41688735e-01 -7.66965167e-01 0.00000000e+00 1.60520962e+02] [ 7.66965167e-01 6.41688735e-01 0.00000000e+00 7.21180817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06288743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.620371743 meters Centerline goodness : 0.988989 Centerline is valid? [True, True] Translation: X:160.54, Y:72.14, Z:0.03 [[ 6.45676379e-01 -7.63611166e-01 0.00000000e+00 1.60538327e+02] [ 7.63611166e-01 6.45676379e-01 0.00000000e+00 7.21394844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25819681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.650371743 meters Centerline goodness : 0.989055 Centerline is valid? [True, True] Translation: X:160.56, Y:72.16, Z:0.03 [[ 6.46167948e-01 -7.63195245e-01 0.00000000e+00 1.60555832e+02] [ 7.63195245e-01 6.46167948e-01 0.00000000e+00 7.21618847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32520184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.680371743 meters Centerline goodness : 0.987864 Centerline is valid? [True, True] Translation: X:160.59, Y:72.18, Z:0.03 [[ 6.54072864e-01 -7.56431549e-01 0.00000000e+00 1.60588366e+02] [ 7.56431549e-01 6.54072864e-01 0.00000000e+00 7.21846033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10506858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71037174299997 meters Centerline goodness : 0.987864 Centerline is valid? [True, True] Translation: X:160.61, Y:72.21, Z:0.03 [[ 6.53619461e-01 -7.56823362e-01 0.00000000e+00 1.60606726e+02] [ 7.56823362e-01 6.53619461e-01 0.00000000e+00 7.22060404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10506858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74037174299997 meters Centerline goodness : 0.989497 Centerline is valid? [True, True] Translation: X:160.61, Y:72.23, Z:0.03 [[ 6.47369574e-01 -7.62176249e-01 0.00000000e+00 1.60609274e+02] [ 7.62176249e-01 6.47369574e-01 0.00000000e+00 7.22259662e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40353438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77037174299997 meters Centerline goodness : 0.988580 Centerline is valid? [True, True] Translation: X:160.64, Y:72.25, Z:0.03 [[ 6.56002979e-01 -7.54758300e-01 0.00000000e+00 1.60644427e+02] [ 7.54758300e-01 6.56002979e-01 0.00000000e+00 7.22472835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04839548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80037174299997 meters Centerline goodness : 0.988416 Centerline is valid? [True, True] Translation: X:160.67, Y:72.27, Z:0.03 [[ 6.55426696e-01 -7.55258795e-01 0.00000000e+00 1.60665020e+02] [ 7.55258795e-01 6.55426696e-01 0.00000000e+00 7.22689844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97374833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83037174299997 meters Centerline goodness : 0.988924 Centerline is valid? [True, True] Translation: X:160.67, Y:72.29, Z:0.03 [[ 6.47489615e-01 -7.62074274e-01 0.00000000e+00 1.60668876e+02] [ 7.62074274e-01 6.47489615e-01 0.00000000e+00 7.22858688e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27269875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86037174299997 meters Centerline goodness : 0.988706 Centerline is valid? [True, True] Translation: X:160.69, Y:72.31, Z:0.03 [[ 6.47290057e-01 -7.62243781e-01 0.00000000e+00 1.60688189e+02] [ 7.62243781e-01 6.47290057e-01 0.00000000e+00 7.23054338e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35215426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89037174299997 meters Centerline goodness : 0.988362 Centerline is valid? [True, True] Translation: X:160.71, Y:72.33, Z:0.03 [[ 6.46553330e-01 -7.62868791e-01 0.00000000e+00 1.60707069e+02] [ 7.62868791e-01 6.46553330e-01 0.00000000e+00 7.23254047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46295010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92037174299998 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:160.73, Y:72.34, Z:0.04 [[ 6.45810269e-01 -7.63497935e-01 0.00000000e+00 1.60726968e+02] [ 7.63497935e-01 6.45810269e-01 0.00000000e+00 7.23440917e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63928215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95037174299998 meters Centerline goodness : 0.988614 Centerline is valid? [True, True] Translation: X:160.76, Y:72.37, Z:0.04 [[ 6.49238181e-01 -7.60585160e-01 0.00000000e+00 1.60758198e+02] [ 7.60585160e-01 6.49238181e-01 0.00000000e+00 7.23655461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54203181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98037174299998 meters Centerline goodness : 0.987291 Centerline is valid? [True, True] Translation: X:160.78, Y:72.38, Z:0.03 [[ 6.46857715e-01 -7.62610711e-01 0.00000000e+00 1.60781748e+02] [ 7.62610711e-01 6.46857715e-01 0.00000000e+00 7.23842936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46735965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01037174299998 meters Centerline goodness : 0.988371 Centerline is valid? [True, True] Translation: X:160.79, Y:72.40, Z:0.04 [[ 6.38436116e-01 -7.69674818e-01 0.00000000e+00 1.60787537e+02] [ 7.69674818e-01 6.38436116e-01 0.00000000e+00 7.24022833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59590476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04037174299998 meters Centerline goodness : 0.988286 Centerline is valid? [True, True] Translation: X:160.81, Y:72.42, Z:0.04 [[ 6.35321224e-01 -7.72247980e-01 0.00000000e+00 1.60806724e+02] [ 7.72247980e-01 6.35321224e-01 0.00000000e+00 7.24215523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51656070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07037174299998 meters Centerline goodness : 0.989676 Centerline is valid? [True, True] Translation: X:160.83, Y:72.44, Z:0.03 [[ 6.28801951e-01 -7.77565500e-01 0.00000000e+00 1.60829265e+02] [ 7.77565500e-01 6.28801951e-01 0.00000000e+00 7.24394990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43970302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10037174299998 meters Centerline goodness : 0.988900 Centerline is valid? [True, True] Translation: X:160.85, Y:72.46, Z:0.03 [[ 6.25126773e-01 -7.80523234e-01 0.00000000e+00 1.60848743e+02] [ 7.80523234e-01 6.25126773e-01 0.00000000e+00 7.24579080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40036942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13037174299998 meters Centerline goodness : 0.989907 Centerline is valid? [True, True] Translation: X:160.87, Y:72.48, Z:0.03 [[ 6.15908215e-01 -7.87817917e-01 0.00000000e+00 1.60869167e+02] [ 7.87817917e-01 6.15908215e-01 0.00000000e+00 7.24766292e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26713517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16037174299998 meters Centerline goodness : 0.990937 Centerline is valid? [True, True] Translation: X:160.89, Y:72.50, Z:0.03 [[ 6.11821608e-01 -7.90995778e-01 0.00000000e+00 1.60888642e+02] [ 7.90995778e-01 6.11821608e-01 0.00000000e+00 7.24963902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32108875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.190371743 meters Centerline goodness : 0.990774 Centerline is valid? [True, True] Translation: X:160.91, Y:72.52, Z:0.03 [[ 6.08884017e-01 -7.93259260e-01 0.00000000e+00 1.60908767e+02] [ 7.93259260e-01 6.08884017e-01 0.00000000e+00 7.25158901e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42646926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.220371743 meters Centerline goodness : 0.991091 Centerline is valid? [True, True] Translation: X:160.94, Y:72.54, Z:0.04 [[ 6.06323361e-01 -7.95218197e-01 0.00000000e+00 1.60940109e+02] [ 7.95218197e-01 6.06323361e-01 0.00000000e+00 7.25370402e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54263613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.250371743 meters Centerline goodness : 0.990966 Centerline is valid? [True, True] Translation: X:160.95, Y:72.56, Z:0.04 [[ 5.98131094e-01 -8.01398275e-01 0.00000000e+00 1.60946902e+02] [ 8.01398275e-01 5.98131094e-01 0.00000000e+00 7.25567013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69736313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.280371743 meters Centerline goodness : 0.990469 Centerline is valid? [True, True] Translation: X:160.97, Y:72.58, Z:0.04 [[ 5.95241017e-01 -8.03547218e-01 0.00000000e+00 1.60965413e+02] [ 8.03547218e-01 5.95241017e-01 0.00000000e+00 7.25781467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75920444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.310371743 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:160.98, Y:72.60, Z:0.04 [[ 5.93959219e-01 -8.04495150e-01 0.00000000e+00 1.60983933e+02] [ 8.04495150e-01 5.93959219e-01 0.00000000e+00 7.25981815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86779510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.340371743 meters Centerline goodness : 0.990916 Centerline is valid? [True, True] Translation: X:161.00, Y:72.62, Z:0.04 [[ 5.90412574e-01 -8.07101600e-01 0.00000000e+00 1.61000061e+02] [ 8.07101600e-01 5.90412574e-01 0.00000000e+00 7.26210164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90940399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.370371743 meters Centerline goodness : 0.990989 Centerline is valid? [True, True] Translation: X:161.02, Y:72.64, Z:0.04 [[ 5.89256467e-01 -8.07946048e-01 0.00000000e+00 1.61016041e+02] [ 8.07946048e-01 5.89256467e-01 0.00000000e+00 7.26446062e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86799969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.400371743 meters Centerline goodness : 0.990671 Centerline is valid? [True, True] Translation: X:161.03, Y:72.67, Z:0.04 [[ 5.88830532e-01 -8.08256521e-01 0.00000000e+00 1.61031453e+02] [ 8.08256521e-01 5.88830532e-01 0.00000000e+00 7.26663506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75499994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.430371743 meters Centerline goodness : 0.990307 Centerline is valid? [True, True] Translation: X:161.05, Y:72.69, Z:0.04 [[ 5.88167181e-01 -8.08739369e-01 0.00000000e+00 1.61047519e+02] [ 8.08739369e-01 5.88167181e-01 0.00000000e+00 7.26890417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65238071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46037174299997 meters Centerline goodness : 0.989828 Centerline is valid? [True, True] Translation: X:161.07, Y:72.71, Z:0.03 [[ 5.88662029e-01 -8.08379252e-01 0.00000000e+00 1.61067840e+02] [ 8.08379252e-01 5.88662029e-01 0.00000000e+00 7.27123601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40272976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49037174299997 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:161.08, Y:72.74, Z:0.03 [[ 5.86681373e-01 -8.09817860e-01 0.00000000e+00 1.61080449e+02] [ 8.09817860e-01 5.86681373e-01 0.00000000e+00 7.27360007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35668827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52037174299997 meters Centerline goodness : 0.989249 Centerline is valid? [True, True] Translation: X:161.11, Y:72.76, Z:0.03 [[ 5.90263030e-01 -8.07210974e-01 0.00000000e+00 1.61108794e+02] [ 8.07210974e-01 5.90263030e-01 0.00000000e+00 7.27605199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31531482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55037174299997 meters Centerline goodness : 0.989085 Centerline is valid? [True, True] Translation: X:161.11, Y:72.79, Z:0.03 [[ 5.83669870e-01 -8.11991060e-01 0.00000000e+00 1.61109635e+02] [ 8.11991060e-01 5.83669870e-01 0.00000000e+00 7.27852136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34650300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58037174299997 meters Centerline goodness : 0.988492 Centerline is valid? [True, True] Translation: X:161.13, Y:72.81, Z:0.03 [[ 5.82598559e-01 -8.12760063e-01 0.00000000e+00 1.61125207e+02] [ 8.12760063e-01 5.82598559e-01 0.00000000e+00 7.28087025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45818976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61037174299997 meters Centerline goodness : 0.987596 Centerline is valid? [True, True] Translation: X:161.15, Y:72.84, Z:0.03 [[ 5.86140235e-01 -8.10209618e-01 0.00000000e+00 1.61151183e+02] [ 8.10209618e-01 5.86140235e-01 0.00000000e+00 7.28367144e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31147287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64037174299997 meters Centerline goodness : 0.989210 Centerline is valid? [True, True] Translation: X:161.15, Y:72.86, Z:0.03 [[ 5.80391965e-01 -8.14337256e-01 0.00000000e+00 1.61152919e+02] [ 8.14337256e-01 5.80391965e-01 0.00000000e+00 7.28595110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45753730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67037174299998 meters Centerline goodness : 0.984489 Centerline is valid? [True, True] Translation: X:161.17, Y:72.88, Z:0.03 [[ 5.80862135e-01 -8.14001953e-01 0.00000000e+00 1.61170987e+02] [ 8.14001953e-01 5.80862135e-01 0.00000000e+00 7.28849319e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29305909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70037174299998 meters Centerline goodness : 0.989207 Centerline is valid? [True, True] Translation: X:161.18, Y:72.91, Z:0.04 [[ 5.82927381e-01 -8.12524257e-01 0.00000000e+00 1.61179672e+02] [ 8.12524257e-01 5.82927381e-01 0.00000000e+00 7.29107636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50495607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73037174299998 meters Centerline goodness : 0.987312 Centerline is valid? [True, True] Translation: X:161.21, Y:72.94, Z:0.03 [[ 5.89845334e-01 -8.07516243e-01 0.00000000e+00 1.61208148e+02] [ 8.07516243e-01 5.89845334e-01 0.00000000e+00 7.29363731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37540493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76037174299998 meters Centerline goodness : 0.987267 Centerline is valid? [True, True] Translation: X:161.22, Y:72.96, Z:0.04 [[ 5.91742575e-01 -8.06126990e-01 0.00000000e+00 1.61221332e+02] [ 8.06126990e-01 5.91742575e-01 0.00000000e+00 7.29599551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51298737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79037174299998 meters Centerline goodness : 0.988575 Centerline is valid? [True, True] Translation: X:161.23, Y:72.99, Z:0.04 [[ 5.95470085e-01 -8.03377482e-01 0.00000000e+00 1.61231906e+02] [ 8.03377482e-01 5.95470085e-01 0.00000000e+00 7.29891374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93704668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82037174299998 meters Centerline goodness : 0.989137 Centerline is valid? [True, True] Translation: X:161.25, Y:73.01, Z:0.04 [[ 5.98704027e-01 -8.00970341e-01 0.00000000e+00 1.61245679e+02] [ 8.00970341e-01 5.98704027e-01 0.00000000e+00 7.30132476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99278225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85037174299998 meters Centerline goodness : 0.989404 Centerline is valid? [True, True] Translation: X:161.26, Y:73.04, Z:0.04 [[ 6.04153714e-01 -7.96867799e-01 0.00000000e+00 1.61256132e+02] [ 7.96867799e-01 6.04153714e-01 0.00000000e+00 7.30404851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24433323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88037174299998 meters Centerline goodness : 0.989465 Centerline is valid? [True, True] Translation: X:161.27, Y:73.07, Z:0.04 [[ 6.07281759e-01 -7.94486542e-01 0.00000000e+00 1.61271823e+02] [ 7.94486542e-01 6.07281759e-01 0.00000000e+00 7.30653743e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25859016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91037174299998 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:161.29, Y:73.09, Z:0.04 [[ 6.10150295e-01 -7.92285692e-01 0.00000000e+00 1.61285867e+02] [ 7.92285692e-01 6.10150295e-01 0.00000000e+00 7.30879996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26799221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.940371743 meters Centerline goodness : 0.990339 Centerline is valid? [True, True] Translation: X:161.30, Y:73.11, Z:0.04 [[ 6.12696509e-01 -7.90318282e-01 0.00000000e+00 1.61301291e+02] [ 7.90318282e-01 6.12696509e-01 0.00000000e+00 7.31115532e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23155563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.970371743 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:161.31, Y:73.14, Z:0.04 [[ 6.19168813e-01 -7.85257907e-01 0.00000000e+00 1.61312539e+02] [ 7.85257907e-01 6.19168813e-01 0.00000000e+00 7.31359374e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17909103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.000371743 meters Centerline goodness : 0.991892 Centerline is valid? [True, True] Translation: X:161.33, Y:73.16, Z:0.04 [[ 6.24747052e-01 -7.80827203e-01 0.00000000e+00 1.61327772e+02] [ 7.80827203e-01 6.24747052e-01 0.00000000e+00 7.31620765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91673694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.030371743 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:161.34, Y:73.18, Z:0.04 [[ 6.27328664e-01 -7.78754613e-01 0.00000000e+00 1.61342887e+02] [ 7.78754613e-01 6.27328664e-01 0.00000000e+00 7.31832409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78929729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.060371743 meters Centerline goodness : 0.992249 Centerline is valid? [True, True] Translation: X:161.35, Y:73.21, Z:0.04 [[ 6.23037945e-01 -7.82191613e-01 0.00000000e+00 1.61346523e+02] [ 7.82191613e-01 6.23037945e-01 0.00000000e+00 7.32052251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03549946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.090371743 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:161.36, Y:73.23, Z:0.04 [[ 6.24562702e-01 -7.80974667e-01 0.00000000e+00 1.61363249e+02] [ 7.80974667e-01 6.24562702e-01 0.00000000e+00 7.32279366e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95715653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.120371743 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:161.38, Y:73.25, Z:0.04 [[ 6.24573758e-01 -7.80965826e-01 0.00000000e+00 1.61379571e+02] [ 7.80965826e-01 6.24573758e-01 0.00000000e+00 7.32490308e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01801624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.150371743 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:161.40, Y:73.27, Z:0.04 [[ 6.23183577e-01 -7.82075591e-01 0.00000000e+00 1.61397645e+02] [ 7.82075591e-01 6.23183577e-01 0.00000000e+00 7.32714856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03868196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.180371743 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:161.42, Y:73.29, Z:0.04 [[ 6.22073162e-01 -7.82959119e-01 0.00000000e+00 1.61416455e+02] [ 7.82959119e-01 6.22073162e-01 0.00000000e+00 7.32924672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00364716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21037174299997 meters Centerline goodness : 0.992287 Centerline is valid? [True, True] Translation: X:161.45, Y:73.32, Z:0.04 [[ 6.26095990e-01 -7.79745991e-01 0.00000000e+00 1.61449174e+02] [ 7.79745991e-01 6.26095990e-01 0.00000000e+00 7.33156819e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85704844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24037174299997 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:161.46, Y:73.34, Z:0.04 [[ 6.16121736e-01 -7.87650942e-01 0.00000000e+00 1.61455765e+02] [ 7.87650942e-01 6.16121736e-01 0.00000000e+00 7.33352430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95457356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27037174299997 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:161.47, Y:73.36, Z:0.04 [[ 6.13931402e-01 -7.89359382e-01 0.00000000e+00 1.61474803e+02] [ 7.89359382e-01 6.13931402e-01 0.00000000e+00 7.33554085e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86424041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30037174299997 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:161.51, Y:73.38, Z:0.04 [[ 6.19190871e-01 -7.85240514e-01 0.00000000e+00 1.61510971e+02] [ 7.85240514e-01 6.19190871e-01 0.00000000e+00 7.33771954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55266667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33037174299997 meters Centerline goodness : 0.992178 Centerline is valid? [True, True] Translation: X:161.52, Y:73.40, Z:0.04 [[ 6.07577464e-01 -7.94260427e-01 0.00000000e+00 1.61515209e+02] [ 7.94260427e-01 6.07577464e-01 0.00000000e+00 7.33955041e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84028898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36037174299997 meters Centerline goodness : 0.990865 Centerline is valid? [True, True] Translation: X:161.55, Y:73.42, Z:0.04 [[ 6.12072909e-01 -7.90801337e-01 0.00000000e+00 1.61550275e+02] [ 7.90801337e-01 6.12072909e-01 0.00000000e+00 7.34177960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57194574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39037174299997 meters Centerline goodness : 0.991763 Centerline is valid? [True, True] Translation: X:161.55, Y:73.43, Z:0.04 [[ 6.01243543e-01 -7.99065831e-01 0.00000000e+00 1.61554191e+02] [ 7.99065831e-01 6.01243543e-01 0.00000000e+00 7.34348647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89435536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42037174299998 meters Centerline goodness : 0.990953 Centerline is valid? [True, True] Translation: X:161.57, Y:73.46, Z:0.04 [[ 6.00074583e-01 -7.99944057e-01 0.00000000e+00 1.61573717e+02] [ 7.99944057e-01 6.00074583e-01 0.00000000e+00 7.34554171e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88934319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45037174299998 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:161.59, Y:73.48, Z:0.04 [[ 5.97823486e-01 -8.01627769e-01 0.00000000e+00 1.61591417e+02] [ 8.01627769e-01 5.97823486e-01 0.00000000e+00 7.34768773e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88482288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48037174299998 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:161.61, Y:73.50, Z:0.04 [[ 5.97904849e-01 -8.01567085e-01 0.00000000e+00 1.61611297e+02] [ 8.01567085e-01 5.97904849e-01 0.00000000e+00 7.34971400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88801441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51037174299998 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:161.64, Y:73.52, Z:0.04 [[ 6.04156831e-01 -7.96865436e-01 0.00000000e+00 1.61643182e+02] [ 7.96865436e-01 6.04156831e-01 0.00000000e+00 7.35202100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61411163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54037174299998 meters Centerline goodness : 0.991033 Centerline is valid? [True, True] Translation: X:161.65, Y:73.54, Z:0.04 [[ 6.00771668e-01 -7.99420667e-01 0.00000000e+00 1.61646747e+02] [ 7.99420667e-01 6.00771668e-01 0.00000000e+00 7.35405344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89421825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57037174299998 meters Centerline goodness : 0.989637 Centerline is valid? [True, True] Translation: X:161.68, Y:73.56, Z:0.04 [[ 6.08099237e-01 -7.93861020e-01 0.00000000e+00 1.61676478e+02] [ 7.93861020e-01 6.08099237e-01 0.00000000e+00 7.35627008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76087685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60037174299998 meters Centerline goodness : 0.989637 Centerline is valid? [True, True] Translation: X:161.69, Y:73.58, Z:0.04 [[ 6.07706552e-01 -7.94161662e-01 0.00000000e+00 1.61693803e+02] [ 7.94161662e-01 6.07706552e-01 0.00000000e+00 7.35839033e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76087685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63037174299998 meters Centerline goodness : 0.990432 Centerline is valid? [True, True] Translation: X:161.70, Y:73.60, Z:0.04 [[ 6.05510397e-01 -7.95837395e-01 0.00000000e+00 1.61700373e+02] [ 7.95837395e-01 6.05510397e-01 0.00000000e+00 7.36045068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96709893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66037174299998 meters Centerline goodness : 0.990136 Centerline is valid? [True, True] Translation: X:161.73, Y:73.63, Z:0.04 [[ 6.12296817e-01 -7.90627983e-01 0.00000000e+00 1.61730637e+02] [ 7.90627983e-01 6.12296817e-01 0.00000000e+00 7.36284215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81571252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.690371743 meters Centerline goodness : 0.990176 Centerline is valid? [True, True] Translation: X:161.75, Y:73.65, Z:0.04 [[ 6.15579716e-01 -7.88074624e-01 0.00000000e+00 1.61749101e+02] [ 7.88074624e-01 6.15579716e-01 0.00000000e+00 7.36505163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91546262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.720371743 meters Centerline goodness : 0.989980 Centerline is valid? [True, True] Translation: X:161.76, Y:73.67, Z:0.04 [[ 6.12610943e-01 -7.90384611e-01 0.00000000e+00 1.61755668e+02] [ 7.90384611e-01 6.12610943e-01 0.00000000e+00 7.36696667e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00670393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.750371743 meters Centerline goodness : 0.990932 Centerline is valid? [True, True] Translation: X:161.77, Y:73.69, Z:0.04 [[ 6.12231567e-01 -7.90678512e-01 0.00000000e+00 1.61772478e+02] [ 7.90678512e-01 6.12231567e-01 0.00000000e+00 7.36907050e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94836590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.780371743 meters Centerline goodness : 0.989673 Centerline is valid? [True, True] Translation: X:161.80, Y:73.71, Z:0.04 [[ 6.17446188e-01 -7.86613123e-01 0.00000000e+00 1.61804353e+02] [ 7.86613123e-01 6.17446188e-01 0.00000000e+00 7.37136557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73557243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.810371743 meters Centerline goodness : 0.989586 Centerline is valid? [True, True] Translation: X:161.83, Y:73.73, Z:0.04 [[ 6.17891439e-01 -7.86263422e-01 0.00000000e+00 1.61825534e+02] [ 7.86263422e-01 6.17891439e-01 0.00000000e+00 7.37336269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61143168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.840371743 meters Centerline goodness : 0.989390 Centerline is valid? [True, True] Translation: X:161.83, Y:73.75, Z:0.04 [[ 6.10541362e-01 -7.91984372e-01 0.00000000e+00 1.61830265e+02] [ 7.91984372e-01 6.10541362e-01 0.00000000e+00 7.37536523e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86649762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.870371743 meters Centerline goodness : 0.990187 Centerline is valid? [True, True] Translation: X:161.85, Y:73.77, Z:0.04 [[ 6.09432562e-01 -7.92837911e-01 0.00000000e+00 1.61849641e+02] [ 7.92837911e-01 6.09432562e-01 0.00000000e+00 7.37732479e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89771795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.900371743 meters Centerline goodness : 0.989678 Centerline is valid? [True, True] Translation: X:161.87, Y:73.79, Z:0.04 [[ 6.08965655e-01 -7.93196590e-01 0.00000000e+00 1.61868915e+02] [ 7.93196590e-01 6.08965655e-01 0.00000000e+00 7.37932851e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90181968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.930371743 meters Centerline goodness : 0.988487 Centerline is valid? [True, True] Translation: X:161.90, Y:73.82, Z:0.03 [[ 6.14201362e-01 -7.89149344e-01 0.00000000e+00 1.61903274e+02] [ 7.89149344e-01 6.14201362e-01 0.00000000e+00 7.38157980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49947626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96037174299997 meters Centerline goodness : 0.988591 Centerline is valid? [True, True] Translation: X:161.91, Y:73.83, Z:0.04 [[ 6.05419895e-01 -7.95906245e-01 0.00000000e+00 1.61908190e+02] [ 7.95906245e-01 6.05419895e-01 0.00000000e+00 7.38323904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83135788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99037174299997 meters Centerline goodness : 0.988979 Centerline is valid? [True, True] Translation: X:161.93, Y:73.85, Z:0.04 [[ 6.03698431e-01 -7.97212773e-01 0.00000000e+00 1.61927090e+02] [ 7.97212773e-01 6.03698431e-01 0.00000000e+00 7.38534713e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79176241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02037174299997 meters Centerline goodness : 0.988856 Centerline is valid? [True, True] Translation: X:161.97, Y:73.88, Z:0.03 [[ 6.07637781e-01 -7.94214283e-01 0.00000000e+00 1.61966176e+02] [ 7.94214283e-01 6.07637781e-01 0.00000000e+00 7.38771757e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25610690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05037174299997 meters Centerline goodness : 0.988302 Centerline is valid? [True, True] Translation: X:161.98, Y:73.90, Z:0.03 [[ 6.07380342e-01 -7.94411178e-01 0.00000000e+00 1.61984339e+02] [ 7.94411178e-01 6.07380342e-01 0.00000000e+00 7.38962257e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03808912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08037174299997 meters Centerline goodness : 0.989195 Centerline is valid? [True, True] Translation: X:161.98, Y:73.91, Z:0.04 [[ 5.96167185e-01 -8.02860316e-01 0.00000000e+00 1.61984339e+02] [ 8.02860316e-01 5.96167185e-01 0.00000000e+00 7.39148476e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61652125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11037174299997 meters Centerline goodness : 0.988484 Centerline is valid? [True, True] Translation: X:162.02, Y:73.94, Z:0.03 [[ 5.98059374e-01 -8.01451798e-01 0.00000000e+00 1.62021310e+02] [ 8.01451798e-01 5.98059374e-01 0.00000000e+00 7.39376093e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20154903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14037174299997 meters Centerline goodness : 0.988363 Centerline is valid? [True, True] Translation: X:162.04, Y:73.96, Z:0.03 [[ 5.96456672e-01 -8.02645276e-01 0.00000000e+00 1.62042737e+02] [ 8.02645276e-01 5.96456672e-01 0.00000000e+00 7.39609600e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14304033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17037174299998 meters Centerline goodness : 0.989108 Centerline is valid? [True, True] Translation: X:162.04, Y:73.98, Z:0.04 [[ 5.84179010e-01 -8.11624842e-01 0.00000000e+00 1.62041291e+02] [ 8.11624842e-01 5.84179010e-01 0.00000000e+00 7.39783409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59287881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20037174299998 meters Centerline goodness : 0.988151 Centerline is valid? [True, True] Translation: X:162.06, Y:74.00, Z:0.04 [[ 5.83187779e-01 -8.12337377e-01 0.00000000e+00 1.62059171e+02] [ 8.12337377e-01 5.83187779e-01 0.00000000e+00 7.39994591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57284891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23037174299998 meters Centerline goodness : 0.988294 Centerline is valid? [True, True] Translation: X:162.08, Y:74.02, Z:0.04 [[ 5.81997514e-01 -8.13190564e-01 0.00000000e+00 1.62076650e+02] [ 8.13190564e-01 5.81997514e-01 0.00000000e+00 7.40217725e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59695017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26037174299998 meters Centerline goodness : 0.987703 Centerline is valid? [True, True] Translation: X:162.10, Y:74.05, Z:0.04 [[ 5.86674674e-01 -8.09822713e-01 0.00000000e+00 1.62104891e+02] [ 8.09822713e-01 5.86674674e-01 0.00000000e+00 7.40456071e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69435537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29037174299998 meters Centerline goodness : 0.988709 Centerline is valid? [True, True] Translation: X:162.11, Y:74.07, Z:0.04 [[ 5.82295020e-01 -8.12977558e-01 0.00000000e+00 1.62109777e+02] [ 8.12977558e-01 5.82295020e-01 0.00000000e+00 7.40659941e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72670892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32037174299998 meters Centerline goodness : 0.988318 Centerline is valid? [True, True] Translation: X:162.14, Y:74.09, Z:0.04 [[ 5.88188610e-01 -8.08723784e-01 0.00000000e+00 1.62136166e+02] [ 8.08723784e-01 5.88188610e-01 0.00000000e+00 7.40903484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86467500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35037174299998 meters Centerline goodness : 0.988793 Centerline is valid? [True, True] Translation: X:162.15, Y:74.11, Z:0.04 [[ 5.88877858e-01 -8.08222041e-01 0.00000000e+00 1.62151922e+02] [ 8.08222041e-01 5.88877858e-01 0.00000000e+00 7.41124809e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87226588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38037174299998 meters Centerline goodness : 0.989536 Centerline is valid? [True, True] Translation: X:162.16, Y:74.13, Z:0.04 [[ 5.86419126e-01 -8.10007783e-01 0.00000000e+00 1.62158357e+02] [ 8.10007783e-01 5.86419126e-01 0.00000000e+00 7.41334034e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98343522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41037174299998 meters Centerline goodness : 0.988553 Centerline is valid? [True, True] Translation: X:162.18, Y:74.16, Z:0.04 [[ 5.90606152e-01 -8.06959957e-01 0.00000000e+00 1.62180843e+02] [ 8.06959957e-01 5.90606152e-01 0.00000000e+00 7.41581821e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97275593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.440371743 meters Centerline goodness : 0.988181 Centerline is valid? [True, True] Translation: X:162.20, Y:74.18, Z:0.04 [[ 5.90839311e-01 -8.06789259e-01 0.00000000e+00 1.62197141e+02] [ 8.06789259e-01 5.90839311e-01 0.00000000e+00 7.41808797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00419822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.470371743 meters Centerline goodness : 0.989205 Centerline is valid? [True, True] Translation: X:162.21, Y:74.20, Z:0.04 [[ 5.89416786e-01 -8.07829098e-01 0.00000000e+00 1.62213110e+02] [ 8.07829098e-01 5.89416786e-01 0.00000000e+00 7.42047792e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96065537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.500371743 meters Centerline goodness : 0.989532 Centerline is valid? [True, True] Translation: X:162.23, Y:74.23, Z:0.04 [[ 5.89232866e-01 -8.07963260e-01 0.00000000e+00 1.62226135e+02] [ 8.07963260e-01 5.89232866e-01 0.00000000e+00 7.42269201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90131617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.530371743 meters Centerline goodness : 0.989712 Centerline is valid? [True, True] Translation: X:162.24, Y:74.25, Z:0.04 [[ 5.89910343e-01 -8.07468753e-01 0.00000000e+00 1.62242023e+02] [ 8.07468753e-01 5.89910343e-01 0.00000000e+00 7.42488568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86784487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.560371743 meters Centerline goodness : 0.989189 Centerline is valid? [True, True] Translation: X:162.26, Y:74.27, Z:0.04 [[ 5.91045602e-01 -8.06638145e-01 0.00000000e+00 1.62256783e+02] [ 8.06638145e-01 5.91045602e-01 0.00000000e+00 7.42739895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94480783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.590371743 meters Centerline goodness : 0.989911 Centerline is valid? [True, True] Translation: X:162.27, Y:74.30, Z:0.04 [[ 5.91816513e-01 -8.06072711e-01 0.00000000e+00 1.62271598e+02] [ 8.06072711e-01 5.91816513e-01 0.00000000e+00 7.42964401e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95633929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.620371743 meters Centerline goodness : 0.990462 Centerline is valid? [True, True] Translation: X:162.28, Y:74.32, Z:0.04 [[ 5.90234612e-01 -8.07231753e-01 0.00000000e+00 1.62281869e+02] [ 8.07231753e-01 5.90234612e-01 0.00000000e+00 7.43190233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08711262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.650371743 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:162.30, Y:74.34, Z:0.04 [[ 5.93739669e-01 -8.04657197e-01 0.00000000e+00 1.62303666e+02] [ 8.04657197e-01 5.93739669e-01 0.00000000e+00 7.43441518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15495349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.680371743 meters Centerline goodness : 0.990615 Centerline is valid? [True, True] Translation: X:162.32, Y:74.37, Z:0.04 [[ 5.95974871e-01 -8.03003084e-01 0.00000000e+00 1.62323283e+02] [ 8.03003084e-01 5.95974871e-01 0.00000000e+00 7.43680201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21852773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71037174299997 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:162.33, Y:74.39, Z:0.04 [[ 5.92194109e-01 -8.05795344e-01 0.00000000e+00 1.62329035e+02] [ 8.05795344e-01 5.92194109e-01 0.00000000e+00 7.43891635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16394736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74037174299997 meters Centerline goodness : 0.990767 Centerline is valid? [True, True] Translation: X:162.35, Y:74.41, Z:0.04 [[ 5.91384185e-01 -8.06389946e-01 0.00000000e+00 1.62345085e+02] [ 8.06389946e-01 5.91384185e-01 0.00000000e+00 7.44119478e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15177141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77037174299997 meters Centerline goodness : 0.990811 Centerline is valid? [True, True] Translation: X:162.37, Y:74.44, Z:0.04 [[ 5.94108510e-01 -8.04384906e-01 0.00000000e+00 1.62370177e+02] [ 8.04384906e-01 5.94108510e-01 0.00000000e+00 7.44361194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10662309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80037174299997 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:162.38, Y:74.46, Z:0.04 [[ 5.89675588e-01 -8.07640205e-01 0.00000000e+00 1.62376533e+02] [ 8.07640205e-01 5.89675588e-01 0.00000000e+00 7.44582592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19299547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83037174299997 meters Centerline goodness : 0.991310 Centerline is valid? [True, True] Translation: X:162.40, Y:74.48, Z:0.04 [[ 5.92378061e-01 -8.05660122e-01 0.00000000e+00 1.62402534e+02] [ 8.05660122e-01 5.92378061e-01 0.00000000e+00 7.44831864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12599573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86037174299997 meters Centerline goodness : 0.991134 Centerline is valid? [True, True] Translation: X:162.42, Y:74.51, Z:0.04 [[ 5.90794846e-01 -8.06821821e-01 0.00000000e+00 1.62419070e+02] [ 8.06821821e-01 5.90794846e-01 0.00000000e+00 7.45067752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18410281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89037174299997 meters Centerline goodness : 0.991195 Centerline is valid? [True, True] Translation: X:162.43, Y:74.53, Z:0.04 [[ 5.90615161e-01 -8.06953364e-01 0.00000000e+00 1.62433949e+02] [ 8.06953364e-01 5.90615161e-01 0.00000000e+00 7.45283769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08388715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92037174299998 meters Centerline goodness : 0.991733 Centerline is valid? [True, True] Translation: X:162.44, Y:74.55, Z:0.05 [[ 5.85218996e-01 -8.10875284e-01 0.00000000e+00 1.62440979e+02] [ 8.10875284e-01 5.85218996e-01 0.00000000e+00 7.45500238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51702395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95037174299998 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:162.46, Y:74.58, Z:0.05 [[ 5.87566966e-01 -8.09175543e-01 0.00000000e+00 1.62461605e+02] [ 8.09175543e-01 5.87566966e-01 0.00000000e+00 7.45750648e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58341829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98037174299998 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:162.47, Y:74.60, Z:0.05 [[ 5.85253176e-01 -8.10850615e-01 0.00000000e+00 1.62470790e+02] [ 8.10850615e-01 5.85253176e-01 0.00000000e+00 7.45968103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61306545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01037174299998 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:162.49, Y:74.62, Z:0.05 [[ 5.86207646e-01 -8.10160846e-01 0.00000000e+00 1.62486136e+02] [ 8.10160846e-01 5.86207646e-01 0.00000000e+00 7.46188562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60511362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04037174299998 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:162.51, Y:74.65, Z:0.04 [[ 5.92224613e-01 -8.05772926e-01 0.00000000e+00 1.62510759e+02] [ 8.05772926e-01 5.92224613e-01 0.00000000e+00 7.46453870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48525727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07037174299998 meters Centerline goodness : 0.992791 Centerline is valid? [True, True] Translation: X:162.52, Y:74.67, Z:0.05 [[ 5.89715218e-01 -8.07611269e-01 0.00000000e+00 1.62518949e+02] [ 8.07611269e-01 5.89715218e-01 0.00000000e+00 7.46666205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65221744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10037174299998 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:162.54, Y:74.69, Z:0.04 [[ 5.94532533e-01 -8.04071556e-01 0.00000000e+00 1.62543749e+02] [ 8.04071556e-01 5.94532533e-01 0.00000000e+00 7.46921657e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46639583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13037174299998 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:162.56, Y:74.72, Z:0.04 [[ 5.96636817e-01 -8.02511376e-01 0.00000000e+00 1.62563666e+02] [ 8.02511376e-01 5.96636817e-01 0.00000000e+00 7.47150888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18061363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16037174299998 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:162.58, Y:74.74, Z:0.04 [[ 5.96068287e-01 -8.02933744e-01 0.00000000e+00 1.62579900e+02] [ 8.02933744e-01 5.96068287e-01 0.00000000e+00 7.47380891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19509501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.190371743 meters Centerline goodness : 0.994110 Centerline is valid? [True, True] Translation: X:162.60, Y:74.76, Z:0.04 [[ 5.96048621e-01 -8.02948343e-01 0.00000000e+00 1.62597856e+02] [ 8.02948343e-01 5.96048621e-01 0.00000000e+00 7.47615933e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22821999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.220371743 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:162.61, Y:74.78, Z:0.04 [[ 5.96368166e-01 -8.02711038e-01 0.00000000e+00 1.62611893e+02] [ 8.02711038e-01 5.96368166e-01 0.00000000e+00 7.47839833e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32126331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.250371743 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:162.63, Y:74.81, Z:0.04 [[ 5.96137089e-01 -8.02882664e-01 0.00000000e+00 1.62628743e+02] [ 8.02882664e-01 5.96137089e-01 0.00000000e+00 7.48075529e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36244371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.280371743 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:162.65, Y:74.83, Z:0.04 [[ 5.96342104e-01 -8.02730400e-01 0.00000000e+00 1.62646880e+02] [ 8.02730400e-01 5.96342104e-01 0.00000000e+00 7.48321802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35243204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.310371743 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:162.65, Y:74.85, Z:0.05 [[ 5.91231875e-01 -8.06501624e-01 0.00000000e+00 1.62653260e+02] [ 8.06501624e-01 5.91231875e-01 0.00000000e+00 7.48533165e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70211529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.340371743 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:162.67, Y:74.87, Z:0.05 [[ 5.91424981e-01 -8.06360027e-01 0.00000000e+00 1.62670439e+02] [ 8.06360027e-01 5.91424981e-01 0.00000000e+00 7.48748444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68828278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.370371743 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:162.70, Y:74.90, Z:0.04 [[ 5.95905398e-01 -8.03054641e-01 0.00000000e+00 1.62699152e+02] [ 8.03054641e-01 5.95905398e-01 0.00000000e+00 7.48998315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40897588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.400371743 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:162.72, Y:74.93, Z:0.05 [[ 5.93637980e-01 -8.04732222e-01 0.00000000e+00 1.62719064e+02] [ 8.04732222e-01 5.93637980e-01 0.00000000e+00 7.49259326e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53666251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.430371743 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:162.74, Y:74.95, Z:0.05 [[ 5.92178152e-01 -8.05807071e-01 0.00000000e+00 1.62737055e+02] [ 8.05807071e-01 5.92178152e-01 0.00000000e+00 7.49488991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62211984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46037174299997 meters Centerline goodness : 0.992941 Centerline is valid? [True, True] Translation: X:162.76, Y:74.97, Z:0.04 [[ 5.90432352e-01 -8.07087132e-01 0.00000000e+00 1.62756442e+02] [ 8.07087132e-01 5.90432352e-01 0.00000000e+00 7.49711520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40041397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49037174299997 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:162.77, Y:74.99, Z:0.04 [[ 5.86218593e-01 -8.10152924e-01 0.00000000e+00 1.62774330e+02] [ 8.10152924e-01 5.86218593e-01 0.00000000e+00 7.49921634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34987655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52037174299997 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:162.79, Y:75.01, Z:0.04 [[ 5.85675994e-01 -8.10545267e-01 0.00000000e+00 1.62791687e+02] [ 8.10545267e-01 5.85675994e-01 0.00000000e+00 7.50145198e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34987655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55037174299997 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:162.80, Y:75.03, Z:0.04 [[ 5.79081712e-01 -8.15269508e-01 0.00000000e+00 1.62798424e+02] [ 8.15269508e-01 5.79081712e-01 0.00000000e+00 7.50344208e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35302140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58037174299997 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:162.82, Y:75.06, Z:0.05 [[ 5.76675604e-01 -8.16973223e-01 0.00000000e+00 1.62817363e+02] [ 8.16973223e-01 5.76675604e-01 0.00000000e+00 7.50566817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56707112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61037174299997 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:162.83, Y:75.08, Z:0.05 [[ 5.75235326e-01 -8.17987970e-01 0.00000000e+00 1.62834845e+02] [ 8.17987970e-01 5.75235326e-01 0.00000000e+00 7.50800971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66885520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64037174299997 meters Centerline goodness : 0.992510 Centerline is valid? [True, True] Translation: X:162.85, Y:75.10, Z:0.05 [[ 5.74979826e-01 -8.18167586e-01 0.00000000e+00 1.62852705e+02] [ 8.18167586e-01 5.74979826e-01 0.00000000e+00 7.51021453e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75361331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67037174299998 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:162.87, Y:75.12, Z:0.05 [[ 5.74400661e-01 -8.18574297e-01 0.00000000e+00 1.62870042e+02] [ 8.18574297e-01 5.74400661e-01 0.00000000e+00 7.51236163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83572202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70037174299998 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:162.89, Y:75.15, Z:0.05 [[ 5.72992646e-01 -8.19560509e-01 0.00000000e+00 1.62886702e+02] [ 8.19560509e-01 5.72992646e-01 0.00000000e+00 7.51455019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93008758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73037174299998 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:162.92, Y:75.17, Z:0.05 [[ 5.77254797e-01 -8.16564082e-01 0.00000000e+00 1.62918590e+02] [ 8.16564082e-01 5.77254797e-01 0.00000000e+00 7.51689749e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53601712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76037174299998 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:162.92, Y:75.19, Z:0.05 [[ 5.70823376e-01 -8.21072879e-01 0.00000000e+00 1.62922399e+02] [ 8.21072879e-01 5.70823376e-01 0.00000000e+00 7.51886504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92477459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79037174299998 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:162.95, Y:75.21, Z:0.05 [[ 5.75338614e-01 -8.17915325e-01 0.00000000e+00 1.62952680e+02] [ 8.17915325e-01 5.75338614e-01 0.00000000e+00 7.52121655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56477345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82037174299998 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:162.98, Y:75.24, Z:0.04 [[ 5.76382478e-01 -8.17180053e-01 0.00000000e+00 1.62977546e+02] [ 8.17180053e-01 5.76382478e-01 0.00000000e+00 7.52377462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20121135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85037174299998 meters Centerline goodness : 0.992012 Centerline is valid? [True, True] Translation: X:162.98, Y:75.25, Z:0.05 [[ 5.67656913e-01 -8.23265224e-01 0.00000000e+00 1.62975956e+02] [ 8.23265224e-01 5.67656913e-01 0.00000000e+00 7.52533870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83054971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88037174299998 meters Centerline goodness : 0.993040 Centerline is valid? [True, True] Translation: X:163.01, Y:75.28, Z:0.04 [[ 5.74312022e-01 -8.18636489e-01 0.00000000e+00 1.63012875e+02] [ 8.18636489e-01 5.74312022e-01 0.00000000e+00 7.52819672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04591011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91037174299998 meters Centerline goodness : 0.992155 Centerline is valid? [True, True] Translation: X:163.02, Y:75.30, Z:0.04 [[ 5.71595903e-01 -8.20535267e-01 0.00000000e+00 1.63024878e+02] [ 8.20535267e-01 5.71595903e-01 0.00000000e+00 7.53009593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23714970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.940371743 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:163.04, Y:75.32, Z:0.04 [[ 5.72868815e-01 -8.19647071e-01 0.00000000e+00 1.63044151e+02] [ 8.19647071e-01 5.72868815e-01 0.00000000e+00 7.53246364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14820279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.970371743 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:163.06, Y:75.35, Z:0.04 [[ 5.72292424e-01 -8.20049622e-01 0.00000000e+00 1.63060120e+02] [ 8.20049622e-01 5.72292424e-01 0.00000000e+00 7.53471702e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27948018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.000371743 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:163.06, Y:75.37, Z:0.05 [[ 5.65987908e-01 -8.24413542e-01 0.00000000e+00 1.63061428e+02] [ 8.24413542e-01 5.65987908e-01 0.00000000e+00 7.53655536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77654564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.030371743 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:163.08, Y:75.39, Z:0.05 [[ 5.66356984e-01 -8.24160037e-01 0.00000000e+00 1.63077057e+02] [ 8.24160037e-01 5.66356984e-01 0.00000000e+00 7.53882172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87605316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.060371743 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:163.09, Y:75.41, Z:0.05 [[ 5.66089148e-01 -8.24344028e-01 0.00000000e+00 1.63094085e+02] [ 8.24344028e-01 5.66089148e-01 0.00000000e+00 7.54101703e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85251245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.090371743 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:163.11, Y:75.43, Z:0.05 [[ 5.63838026e-01 -8.25885392e-01 0.00000000e+00 1.63110587e+02] [ 8.25885392e-01 5.63838026e-01 0.00000000e+00 7.54313791e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82525714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.120371743 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:163.14, Y:75.46, Z:0.05 [[ 5.67878320e-01 -8.23112516e-01 0.00000000e+00 1.63141357e+02] [ 8.23112516e-01 5.67878320e-01 0.00000000e+00 7.54571939e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55920577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.150371743 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:163.16, Y:75.48, Z:0.05 [[ 5.65645792e-01 -8.24648311e-01 0.00000000e+00 1.63157734e+02] [ 8.24648311e-01 5.65645792e-01 0.00000000e+00 7.54791019e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55605779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.180371743 meters Centerline goodness : 0.992256 Centerline is valid? [True, True] Translation: X:163.17, Y:75.50, Z:0.05 [[ 5.61108813e-01 -8.27742049e-01 0.00000000e+00 1.63171503e+02] [ 8.27742049e-01 5.61108813e-01 0.00000000e+00 7.55011796e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79927235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21037174299997 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:163.18, Y:75.52, Z:0.05 [[ 5.52109148e-01 -8.33771845e-01 0.00000000e+00 1.63178780e+02] [ 8.33771845e-01 5.52109148e-01 0.00000000e+00 7.55204439e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72086777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24037174299997 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:163.19, Y:75.54, Z:0.05 [[ 5.45567049e-01 -8.38067178e-01 0.00000000e+00 1.63194773e+02] [ 8.38067178e-01 5.45567049e-01 0.00000000e+00 7.55436244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61675946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27037174299997 meters Centerline goodness : 0.992461 Centerline is valid? [True, True] Translation: X:163.22, Y:75.57, Z:0.05 [[ 5.46593187e-01 -8.37398285e-01 0.00000000e+00 1.63221036e+02] [ 8.37398285e-01 5.46593187e-01 0.00000000e+00 7.55686094e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74838915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30037174299997 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:163.24, Y:75.59, Z:0.05 [[ 5.44040533e-01 -8.39058936e-01 0.00000000e+00 1.63236116e+02] [ 8.39058936e-01 5.44040533e-01 0.00000000e+00 7.55915430e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69750561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33037174299997 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:163.25, Y:75.61, Z:0.05 [[ 5.42368478e-01 -8.40140723e-01 0.00000000e+00 1.63251476e+02] [ 8.40140723e-01 5.42368478e-01 0.00000000e+00 7.56144109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64908075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36037174299997 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:163.27, Y:75.64, Z:0.05 [[ 5.42922694e-01 -8.39782679e-01 0.00000000e+00 1.63270642e+02] [ 8.39782679e-01 5.42922694e-01 0.00000000e+00 7.56414813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57175061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39037174299997 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:163.28, Y:75.66, Z:0.05 [[ 5.41049312e-01 -8.40990869e-01 0.00000000e+00 1.63281134e+02] [ 8.40990869e-01 5.41049312e-01 0.00000000e+00 7.56636168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65592427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42037174299998 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:163.30, Y:75.69, Z:0.05 [[ 5.41257622e-01 -8.40856817e-01 0.00000000e+00 1.63297053e+02] [ 8.40856817e-01 5.41257622e-01 0.00000000e+00 7.56877288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82245022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45037174299998 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:163.30, Y:75.71, Z:0.05 [[ 5.39308289e-01 -8.42108407e-01 0.00000000e+00 1.63304315e+02] [ 8.42108407e-01 5.39308289e-01 0.00000000e+00 7.57102260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98333333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48037174299998 meters Centerline goodness : 0.993971 Centerline is valid? [True, True] Translation: X:163.33, Y:75.74, Z:0.05 [[ 5.45454160e-01 -8.38140656e-01 0.00000000e+00 1.63332392e+02] [ 8.38140656e-01 5.45454160e-01 0.00000000e+00 7.57386554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75085707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51037174299998 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:163.34, Y:75.76, Z:0.05 [[ 5.44983260e-01 -8.38446925e-01 0.00000000e+00 1.63339028e+02] [ 8.38446925e-01 5.44983260e-01 0.00000000e+00 7.57617516e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13513735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54037174299998 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:163.35, Y:75.78, Z:0.05 [[ 5.43263459e-01 -8.39562275e-01 0.00000000e+00 1.63346587e+02] [ 8.39562275e-01 5.43263459e-01 0.00000000e+00 7.57840700e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17967937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57037174299998 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:163.38, Y:75.81, Z:0.05 [[ 5.50898165e-01 -8.34572473e-01 0.00000000e+00 1.63375764e+02] [ 8.34572473e-01 5.50898165e-01 0.00000000e+00 7.58129170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79649696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60037174299998 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:163.38, Y:75.83, Z:0.05 [[ 5.45485463e-01 -8.38120284e-01 0.00000000e+00 1.63377383e+02] [ 8.38120284e-01 5.45485463e-01 0.00000000e+00 7.58319542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09500472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63037174299998 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:163.39, Y:75.86, Z:0.05 [[ 5.45854222e-01 -8.37880164e-01 0.00000000e+00 1.63393221e+02] [ 8.37880164e-01 5.45854222e-01 0.00000000e+00 7.58554412e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05862530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66037174299998 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:163.42, Y:75.88, Z:0.05 [[ 5.52047951e-01 -8.33812365e-01 0.00000000e+00 1.63419621e+02] [ 8.33812365e-01 5.52047951e-01 0.00000000e+00 7.58845392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71383533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.690371743 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:163.43, Y:75.91, Z:0.05 [[ 5.52030479e-01 -8.33823932e-01 0.00000000e+00 1.63432478e+02] [ 8.33823932e-01 5.52030479e-01 0.00000000e+00 7.59076147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00834052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.720371743 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:163.44, Y:75.93, Z:0.05 [[ 5.54414797e-01 -8.32240490e-01 0.00000000e+00 1.63444646e+02] [ 8.32240490e-01 5.54414797e-01 0.00000000e+00 7.59331634e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84363298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.750371743 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:163.46, Y:75.96, Z:0.04 [[ 5.57970693e-01 -8.29860654e-01 0.00000000e+00 1.63464449e+02] [ 8.29860654e-01 5.57970693e-01 0.00000000e+00 7.59584609e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30185980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.780371743 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:163.48, Y:75.98, Z:0.05 [[ 5.59568586e-01 -8.28784047e-01 0.00000000e+00 1.63476143e+02] [ 8.28784047e-01 5.59568586e-01 0.00000000e+00 7.59845938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83153714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.810371743 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:163.48, Y:76.01, Z:0.05 [[ 5.59325921e-01 -8.28947835e-01 0.00000000e+00 1.63484993e+02] [ 8.28947835e-01 5.59325921e-01 0.00000000e+00 7.60088443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76101003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.840371743 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:163.51, Y:76.04, Z:0.05 [[ 5.64969637e-01 -8.25111695e-01 0.00000000e+00 1.63510510e+02] [ 8.25111695e-01 5.64969637e-01 0.00000000e+00 7.60388825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04428956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.870371743 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:163.52, Y:76.06, Z:0.05 [[ 5.69067990e-01 -8.22290473e-01 0.00000000e+00 1.63516174e+02] [ 8.22290473e-01 5.69067990e-01 0.00000000e+00 7.60643346e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20817859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.900371743 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:163.54, Y:76.09, Z:0.05 [[ 5.77804015e-01 -8.16175545e-01 0.00000000e+00 1.63544762e+02] [ 8.16175545e-01 5.77804015e-01 0.00000000e+00 7.60925569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92700706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.930371743 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:163.55, Y:76.11, Z:0.05 [[ 5.76220736e-01 -8.17294111e-01 0.00000000e+00 1.63545878e+02] [ 8.17294111e-01 5.76220736e-01 0.00000000e+00 7.61133279e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45958040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96037174299997 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:163.56, Y:76.14, Z:0.06 [[ 5.80305294e-01 -8.14399021e-01 0.00000000e+00 1.63561112e+02] [ 8.14399021e-01 5.80305294e-01 0.00000000e+00 7.61366802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53708174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99037174299997 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:163.58, Y:76.16, Z:0.05 [[ 5.88743325e-01 -8.08320046e-01 0.00000000e+00 1.63575412e+02] [ 8.08320046e-01 5.88743325e-01 0.00000000e+00 7.61599372e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48493355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02037174299997 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:163.59, Y:76.18, Z:0.05 [[ 5.92250514e-01 -8.05753889e-01 0.00000000e+00 1.63591349e+02] [ 8.05753889e-01 5.92250514e-01 0.00000000e+00 7.61830118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42279747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05037174299997 meters Centerline goodness : 0.993811 Centerline is valid? [True, True] Translation: X:163.63, Y:76.21, Z:0.05 [[ 6.05731725e-01 -7.95668950e-01 0.00000000e+00 1.63626305e+02] [ 7.95668950e-01 6.05731725e-01 0.00000000e+00 7.62121111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81581381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08037174299997 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:163.63, Y:76.23, Z:0.05 [[ 6.00872026e-01 -7.99345237e-01 0.00000000e+00 1.63627203e+02] [ 7.99345237e-01 6.00872026e-01 0.00000000e+00 7.62320510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28202219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11037174299997 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:163.66, Y:76.26, Z:0.05 [[ 6.10828305e-01 -7.91763085e-01 0.00000000e+00 1.63663757e+02] [ 7.91763085e-01 6.10828305e-01 0.00000000e+00 7.62600473e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.64685257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14037174299997 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:163.69, Y:76.28, Z:0.05 [[ 6.14968286e-01 -7.88551842e-01 0.00000000e+00 1.63686020e+02] [ 7.88551842e-01 6.14968286e-01 0.00000000e+00 7.62844777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56779321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17037174299998 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:163.71, Y:76.31, Z:0.05 [[ 6.16408532e-01 -7.87426518e-01 0.00000000e+00 1.63705985e+02] [ 7.87426518e-01 6.16408532e-01 0.00000000e+00 7.63087502e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54554919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20037174299998 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:163.71, Y:76.33, Z:0.05 [[ 6.09071933e-01 -7.93114986e-01 0.00000000e+00 1.63706253e+02] [ 7.93114986e-01 6.09071933e-01 0.00000000e+00 7.63277107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03988209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23037174299998 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:163.75, Y:76.35, Z:0.04 [[ 6.20175644e-01 -7.84462983e-01 0.00000000e+00 1.63747647e+02] [ 7.84462983e-01 6.20175644e-01 0.00000000e+00 7.63530337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32166283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26037174299998 meters Centerline goodness : 0.994164 Centerline is valid? [True, True] Translation: X:163.77, Y:76.38, Z:0.04 [[ 6.20360111e-01 -7.84317112e-01 0.00000000e+00 1.63766666e+02] [ 7.84317112e-01 6.20360111e-01 0.00000000e+00 7.63763066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44018232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29037174299998 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:163.79, Y:76.40, Z:0.04 [[ 6.22868075e-01 -7.82326889e-01 0.00000000e+00 1.63788899e+02] [ 7.82326889e-01 6.22868075e-01 0.00000000e+00 7.63994739e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30752178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32037174299998 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:163.81, Y:76.42, Z:0.04 [[ 6.25348839e-01 -7.80345327e-01 0.00000000e+00 1.63812471e+02] [ 7.80345327e-01 6.25348839e-01 0.00000000e+00 7.64204506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44937449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35037174299998 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:163.83, Y:76.44, Z:0.05 [[ 6.25415180e-01 -7.80292159e-01 0.00000000e+00 1.63832931e+02] [ 7.80292159e-01 6.25415180e-01 0.00000000e+00 7.64432466e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68506491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38037174299998 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:163.86, Y:76.47, Z:0.04 [[ 6.28453007e-01 -7.77847555e-01 0.00000000e+00 1.63857585e+02] [ 7.77847555e-01 6.28453007e-01 0.00000000e+00 7.64654240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36800017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41037174299998 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:163.87, Y:76.49, Z:0.04 [[ 6.28042360e-01 -7.78179153e-01 0.00000000e+00 1.63874313e+02] [ 7.78179153e-01 6.28042360e-01 0.00000000e+00 7.64880972e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36800017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.440371743 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:163.88, Y:76.50, Z:0.05 [[ 6.22888337e-01 -7.82310757e-01 0.00000000e+00 1.63884139e+02] [ 7.82310757e-01 6.22888337e-01 0.00000000e+00 7.65025103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77168899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.470371743 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:163.91, Y:76.53, Z:0.05 [[ 6.23627124e-01 -7.81721952e-01 0.00000000e+00 1.63909202e+02] [ 7.81721952e-01 6.23627124e-01 0.00000000e+00 7.65254905e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86772679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.500371743 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:163.93, Y:76.55, Z:0.05 [[ 6.23726230e-01 -7.81642879e-01 0.00000000e+00 1.63932270e+02] [ 7.81642879e-01 6.23726230e-01 0.00000000e+00 7.65466915e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80113102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.530371743 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:163.96, Y:76.56, Z:0.05 [[ 6.24120728e-01 -7.81327919e-01 0.00000000e+00 1.63959513e+02] [ 7.81327919e-01 6.24120728e-01 0.00000000e+00 7.65614769e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86548454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.560371743 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:164.00, Y:76.58, Z:0.05 [[ 6.30225516e-01 -7.76412132e-01 0.00000000e+00 1.63996595e+02] [ 7.76412132e-01 6.30225516e-01 0.00000000e+00 7.65838712e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60803842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.590371743 meters Centerline goodness : 0.990887 Centerline is valid? [True, True] Translation: X:164.02, Y:76.60, Z:0.05 [[ 6.29419648e-01 -7.77065574e-01 0.00000000e+00 1.64019227e+02] [ 7.77065574e-01 6.29419648e-01 0.00000000e+00 7.66038027e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54948230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.620371743 meters Centerline goodness : 0.990243 Centerline is valid? [True, True] Translation: X:164.04, Y:76.62, Z:0.04 [[ 6.28920543e-01 -7.77469582e-01 0.00000000e+00 1.64041988e+02] [ 7.77469582e-01 6.28920543e-01 0.00000000e+00 7.66218910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49235086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.650371743 meters Centerline goodness : 0.990646 Centerline is valid? [True, True] Translation: X:164.05, Y:76.63, Z:0.05 [[ 6.21285842e-01 -7.83584011e-01 0.00000000e+00 1.64054758e+02] [ 7.83584011e-01 6.21285842e-01 0.00000000e+00 7.66322895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72246201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.680371743 meters Centerline goodness : 0.990103 Centerline is valid? [True, True] Translation: X:164.08, Y:76.65, Z:0.05 [[ 6.20726177e-01 -7.84027431e-01 0.00000000e+00 1.64077869e+02] [ 7.84027431e-01 6.20726177e-01 0.00000000e+00 7.66503443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74782380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71037174299997 meters Centerline goodness : 0.988697 Centerline is valid? [True, True] Translation: X:164.11, Y:76.66, Z:0.05 [[ 6.19960373e-01 -7.84633122e-01 0.00000000e+00 1.64106207e+02] [ 7.84633122e-01 6.19960373e-01 0.00000000e+00 7.66642183e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72428478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74037174299997 meters Centerline goodness : 0.987816 Centerline is valid? [True, True] Translation: X:164.13, Y:76.68, Z:0.05 [[ 6.19097127e-01 -7.85314426e-01 0.00000000e+00 1.64127576e+02] [ 7.85314426e-01 6.19097127e-01 0.00000000e+00 7.66813754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71825241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77037174299997 meters Centerline goodness : 0.987239 Centerline is valid? [True, True] Translation: X:164.15, Y:76.70, Z:0.05 [[ 6.18520140e-01 -7.85768946e-01 0.00000000e+00 1.64150335e+02] [ 7.85768946e-01 6.18520140e-01 0.00000000e+00 7.66987663e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75954292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80037174299997 meters Centerline goodness : 0.987090 Centerline is valid? [True, True] Translation: X:164.19, Y:76.72, Z:0.04 [[ 6.24638053e-01 -7.80914402e-01 0.00000000e+00 1.64191639e+02] [ 7.80914402e-01 6.24638053e-01 0.00000000e+00 7.67203047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26587993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83037174299997 meters Centerline goodness : 0.986608 Centerline is valid? [True, True] Translation: X:164.20, Y:76.73, Z:0.05 [[ 6.12648887e-01 -7.90355199e-01 0.00000000e+00 1.64202694e+02] [ 7.90355199e-01 6.12648887e-01 0.00000000e+00 7.67294128e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88398042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86037174299997 meters Centerline goodness : 0.988208 Centerline is valid? [True, True] Translation: X:164.23, Y:76.75, Z:0.05 [[ 6.09807064e-01 -7.92549900e-01 0.00000000e+00 1.64225307e+02] [ 7.92549900e-01 6.09807064e-01 0.00000000e+00 7.67462321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92145794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89037174299997 meters Centerline goodness : 0.987890 Centerline is valid? [True, True] Translation: X:164.26, Y:76.76, Z:0.05 [[ 6.04131847e-01 -7.96884377e-01 0.00000000e+00 1.64255657e+02] [ 7.96884377e-01 6.04131847e-01 0.00000000e+00 7.67583296e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10052529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92037174299998 meters Centerline goodness : 0.988768 Centerline is valid? [True, True] Translation: X:164.28, Y:76.78, Z:0.05 [[ 6.00273998e-01 -7.99794428e-01 0.00000000e+00 1.64277861e+02] [ 7.99794428e-01 6.00273998e-01 0.00000000e+00 7.67753424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14527144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95037174299998 meters Centerline goodness : 0.990105 Centerline is valid? [True, True] Translation: X:164.30, Y:76.79, Z:0.05 [[ 5.95774324e-01 -8.03151888e-01 0.00000000e+00 1.64300412e+02] [ 8.03151888e-01 5.95774324e-01 0.00000000e+00 7.67937953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22408073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98037174299998 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:164.32, Y:76.81, Z:0.05 [[ 5.91475805e-01 -8.06322747e-01 0.00000000e+00 1.64321945e+02] [ 8.06322747e-01 5.91475805e-01 0.00000000e+00 7.68116935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24141410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01037174299998 meters Centerline goodness : 0.992564 Centerline is valid? [True, True] Translation: X:164.35, Y:76.83, Z:0.05 [[ 5.83196719e-01 -8.12330959e-01 0.00000000e+00 1.64349386e+02] [ 8.12330959e-01 5.83196719e-01 0.00000000e+00 7.68262135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34190870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04037174299998 meters Centerline goodness : 0.993331 Centerline is valid? [True, True] Translation: X:164.37, Y:76.84, Z:0.05 [[ 5.79307818e-01 -8.15108859e-01 0.00000000e+00 1.64370040e+02] [ 8.15108859e-01 5.79307818e-01 0.00000000e+00 7.68439194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42336432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07037174299998 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:164.39, Y:76.86, Z:0.06 [[ 5.75915266e-01 -8.17509392e-01 0.00000000e+00 1.64391066e+02] [ 8.17509392e-01 5.75915266e-01 0.00000000e+00 7.68630422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50725821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10037174299998 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:164.41, Y:76.88, Z:0.06 [[ 5.71427868e-01 -8.20652297e-01 0.00000000e+00 1.64414833e+02] [ 8.20652297e-01 5.71427868e-01 0.00000000e+00 7.68800166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60686249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13037174299998 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:164.43, Y:76.90, Z:0.06 [[ 5.69763244e-01 -8.21808886e-01 0.00000000e+00 1.64433681e+02] [ 8.21808886e-01 5.69763244e-01 0.00000000e+00 7.69000965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54715850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16037174299998 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:164.45, Y:76.92, Z:0.06 [[ 5.68268933e-01 -8.22842889e-01 0.00000000e+00 1.64454733e+02] [ 8.22842889e-01 5.68268933e-01 0.00000000e+00 7.69193930e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53679111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.190371743 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:164.47, Y:76.94, Z:0.06 [[ 5.68184417e-01 -8.22901251e-01 0.00000000e+00 1.64472453e+02] [ 8.22901251e-01 5.68184417e-01 0.00000000e+00 7.69392367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53723731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.220371743 meters Centerline goodness : 0.995805 Centerline is valid? [True, True] Translation: X:164.49, Y:76.96, Z:0.06 [[ 5.67998776e-01 -8.23029398e-01 0.00000000e+00 1.64490904e+02] [ 8.23029398e-01 5.67998776e-01 0.00000000e+00 7.69602891e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54519162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.250371743 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:164.51, Y:76.98, Z:0.05 [[ 5.68435671e-01 -8.22727712e-01 0.00000000e+00 1.64511357e+02] [ 8.22727712e-01 5.68435671e-01 0.00000000e+00 7.69792290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46824432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.280371743 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:164.53, Y:77.00, Z:0.05 [[ 5.67682249e-01 -8.23247754e-01 0.00000000e+00 1.64528796e+02] [ 8.23247754e-01 5.67682249e-01 0.00000000e+00 7.70009974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49696838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.310371743 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:164.55, Y:77.02, Z:0.05 [[ 5.67387111e-01 -8.23451192e-01 0.00000000e+00 1.64547077e+02] [ 8.23451192e-01 5.67387111e-01 0.00000000e+00 7.70228846e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45771643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.340371743 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:164.57, Y:77.04, Z:0.05 [[ 5.66863064e-01 -8.23812034e-01 0.00000000e+00 1.64565468e+02] [ 8.23812034e-01 5.66863064e-01 0.00000000e+00 7.70435764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35377170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.370371743 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:164.58, Y:77.07, Z:0.05 [[ 5.66324777e-01 -8.24182169e-01 0.00000000e+00 1.64582450e+02] [ 8.24182169e-01 5.66324777e-01 0.00000000e+00 7.70657895e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34665410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.400371743 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:164.60, Y:77.09, Z:0.05 [[ 5.67020518e-01 -8.23703668e-01 0.00000000e+00 1.64599420e+02] [ 8.23703668e-01 5.67020518e-01 0.00000000e+00 7.70869353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27144025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.430371743 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:164.62, Y:77.11, Z:0.05 [[ 5.69426251e-01 -8.22042423e-01 0.00000000e+00 1.64617058e+02] [ 8.22042423e-01 5.69426251e-01 0.00000000e+00 7.71080908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32931406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46037174299997 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:164.63, Y:77.13, Z:0.05 [[ 5.71306321e-01 -8.20736917e-01 0.00000000e+00 1.64634393e+02] [ 8.20736917e-01 5.71306321e-01 0.00000000e+00 7.71306219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29992694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49037174299997 meters Centerline goodness : 0.996413 Centerline is valid? [True, True] Translation: X:164.65, Y:77.15, Z:0.05 [[ 5.75170666e-01 -8.18033437e-01 0.00000000e+00 1.64650718e+02] [ 8.18033437e-01 5.75170666e-01 0.00000000e+00 7.71528546e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38379482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52037174299997 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:164.67, Y:77.18, Z:0.05 [[ 5.76646662e-01 -8.16993652e-01 0.00000000e+00 1.64666932e+02] [ 8.16993652e-01 5.76646662e-01 0.00000000e+00 7.71751754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41082066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55037174299997 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:164.68, Y:77.20, Z:0.05 [[ 5.77878865e-01 -8.16122550e-01 0.00000000e+00 1.64683763e+02] [ 8.16122550e-01 5.77878865e-01 0.00000000e+00 7.71975697e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45459899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58037174299997 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:164.70, Y:77.22, Z:0.05 [[ 5.79484888e-01 -8.14982984e-01 0.00000000e+00 1.64699717e+02] [ 8.14982984e-01 5.79484888e-01 0.00000000e+00 7.72188390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40881687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61037174299997 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:164.72, Y:77.24, Z:0.05 [[ 5.79762786e-01 -8.14785316e-01 0.00000000e+00 1.64716905e+02] [ 8.14785316e-01 5.79762786e-01 0.00000000e+00 7.72414970e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42892941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64037174299997 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:164.73, Y:77.26, Z:0.06 [[ 5.79246599e-01 -8.15152365e-01 0.00000000e+00 1.64733119e+02] [ 8.15152365e-01 5.79246599e-01 0.00000000e+00 7.72637411e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53774143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67037174299998 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:164.75, Y:77.29, Z:0.05 [[ 5.79936267e-01 -8.14661848e-01 0.00000000e+00 1.64750069e+02] [ 8.14661848e-01 5.79936267e-01 0.00000000e+00 7.72851510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42345415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70037174299998 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:164.77, Y:77.31, Z:0.05 [[ 5.80134050e-01 -8.14521015e-01 0.00000000e+00 1.64768032e+02] [ 8.14521015e-01 5.80134050e-01 0.00000000e+00 7.73062258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37869612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73037174299998 meters Centerline goodness : 0.996640 Centerline is valid? [True, True] Translation: X:164.78, Y:77.33, Z:0.05 [[ 5.80127130e-01 -8.14525944e-01 0.00000000e+00 1.64784762e+02] [ 8.14525944e-01 5.80127130e-01 0.00000000e+00 7.73274259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42958178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76037174299998 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:164.80, Y:77.35, Z:0.06 [[ 5.80599616e-01 -8.14189220e-01 0.00000000e+00 1.64803528e+02] [ 8.14189220e-01 5.80599616e-01 0.00000000e+00 7.73489563e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54505346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79037174299998 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:164.82, Y:77.37, Z:0.06 [[ 5.80751994e-01 -8.14080538e-01 0.00000000e+00 1.64820512e+02] [ 8.14080538e-01 5.80751994e-01 0.00000000e+00 7.73705775e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59192476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82037174299998 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:164.84, Y:77.39, Z:0.06 [[ 5.81094732e-01 -8.13835925e-01 0.00000000e+00 1.64837462e+02] [ 8.13835925e-01 5.81094732e-01 0.00000000e+00 7.73918991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63724571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85037174299998 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:164.86, Y:77.41, Z:0.06 [[ 5.81816298e-01 -8.13320229e-01 0.00000000e+00 1.64856244e+02] [ 8.13320229e-01 5.81816298e-01 0.00000000e+00 7.74129444e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61382729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88037174299998 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:164.87, Y:77.43, Z:0.06 [[ 5.82079661e-01 -8.13131766e-01 0.00000000e+00 1.64873603e+02] [ 8.13131766e-01 5.82079661e-01 0.00000000e+00 7.74344951e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60413935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91037174299998 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:164.89, Y:77.46, Z:0.06 [[ 5.82128855e-01 -8.13096548e-01 0.00000000e+00 1.64891168e+02] [ 8.13096548e-01 5.82128855e-01 0.00000000e+00 7.74562344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58317730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.940371743 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:164.91, Y:77.48, Z:0.05 [[ 5.83080201e-01 -8.12414598e-01 0.00000000e+00 1.64910036e+02] [ 8.12414598e-01 5.83080201e-01 0.00000000e+00 7.74767672e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35655838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.970371743 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:164.93, Y:77.50, Z:0.05 [[ 5.83301045e-01 -8.12256050e-01 0.00000000e+00 1.64927906e+02] [ 8.12256050e-01 5.83301045e-01 0.00000000e+00 7.74985803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30499903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.000371743 meters Centerline goodness : 0.997290 Centerline is valid? [True, True] Translation: X:164.95, Y:77.52, Z:0.05 [[ 5.82834042e-01 -8.12591213e-01 0.00000000e+00 1.64946532e+02] [ 8.12591213e-01 5.82834042e-01 0.00000000e+00 7.75196897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28907833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.030371743 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:164.96, Y:77.54, Z:0.05 [[ 5.81696019e-01 -8.13406258e-01 0.00000000e+00 1.64964386e+02] [ 8.13406258e-01 5.81696019e-01 0.00000000e+00 7.75417230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46635761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.060371743 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:164.98, Y:77.56, Z:0.05 [[ 5.81480274e-01 -8.13560502e-01 0.00000000e+00 1.64983274e+02] [ 8.13560502e-01 5.81480274e-01 0.00000000e+00 7.75627320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45308247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.090371743 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:165.00, Y:77.58, Z:0.06 [[ 5.80615375e-01 -8.14177982e-01 0.00000000e+00 1.65000773e+02] [ 8.14177982e-01 5.80615375e-01 0.00000000e+00 7.75835591e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57776868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.120371743 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:165.02, Y:77.60, Z:0.06 [[ 5.79277096e-01 -8.15130693e-01 0.00000000e+00 1.65019915e+02] [ 8.15130693e-01 5.79277096e-01 0.00000000e+00 7.76045175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70589233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.150371743 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:165.04, Y:77.63, Z:0.06 [[ 5.77957558e-01 -8.16066824e-01 0.00000000e+00 1.65037182e+02] [ 8.16066824e-01 5.77957558e-01 0.00000000e+00 7.76263251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80224161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.180371743 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:165.06, Y:77.65, Z:0.06 [[ 5.75581706e-01 -8.17744275e-01 0.00000000e+00 1.65056379e+02] [ 8.17744275e-01 5.75581706e-01 0.00000000e+00 7.76466424e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74563523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21037174299997 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:165.07, Y:77.67, Z:0.06 [[ 5.74268046e-01 -8.18667338e-01 0.00000000e+00 1.65073938e+02] [ 8.18667338e-01 5.74268046e-01 0.00000000e+00 7.76672823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68464000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24037174299997 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:165.09, Y:77.69, Z:0.06 [[ 5.72304156e-01 -8.20041433e-01 0.00000000e+00 1.65091823e+02] [ 8.20041433e-01 5.72304156e-01 0.00000000e+00 7.76889197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71990853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27037174299997 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:165.11, Y:77.71, Z:0.06 [[ 5.68741411e-01 -8.22516387e-01 0.00000000e+00 1.65110660e+02] [ 8.22516387e-01 5.68741411e-01 0.00000000e+00 7.77087876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62774601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30037174299997 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:165.13, Y:77.73, Z:0.06 [[ 5.66035412e-01 -8.24380927e-01 0.00000000e+00 1.65128215e+02] [ 8.24380927e-01 5.66035412e-01 0.00000000e+00 7.77311719e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71043698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33037174299997 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:165.14, Y:77.75, Z:0.06 [[ 5.65807115e-01 -8.24537633e-01 0.00000000e+00 1.65144921e+02] [ 8.24537633e-01 5.65807115e-01 0.00000000e+00 7.77542335e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71043698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36037174299997 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:165.16, Y:77.77, Z:0.06 [[ 5.60901576e-01 -8.27882493e-01 0.00000000e+00 1.65162734e+02] [ 8.27882493e-01 5.60901576e-01 0.00000000e+00 7.77743744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64042280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39037174299997 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:165.18, Y:77.80, Z:0.06 [[ 5.57739451e-01 -8.30016087e-01 0.00000000e+00 1.65179759e+02] [ 8.30016087e-01 5.57739451e-01 0.00000000e+00 7.77962936e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64599134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42037174299998 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:165.20, Y:77.82, Z:0.06 [[ 5.54514646e-01 -8.32173965e-01 0.00000000e+00 1.65197106e+02] [ 8.32173965e-01 5.54514646e-01 0.00000000e+00 7.78183990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70296304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45037174299998 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:165.21, Y:77.84, Z:0.06 [[ 5.51180565e-01 -8.34385993e-01 0.00000000e+00 1.65213901e+02] [ 8.34385993e-01 5.51180565e-01 0.00000000e+00 7.78402687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64561370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48037174299998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:165.23, Y:77.86, Z:0.06 [[ 5.44357732e-01 -8.38853181e-01 0.00000000e+00 1.65229911e+02] [ 8.38853181e-01 5.44357732e-01 0.00000000e+00 7.78620371e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91492824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51037174299998 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:165.25, Y:77.89, Z:0.06 [[ 5.41245073e-01 -8.40864894e-01 0.00000000e+00 1.65246199e+02] [ 8.40864894e-01 5.41245073e-01 0.00000000e+00 7.78850955e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72015135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54037174299998 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:165.26, Y:77.91, Z:0.06 [[ 5.35904016e-01 -8.44278915e-01 0.00000000e+00 1.65260555e+02] [ 8.44278915e-01 5.35904016e-01 0.00000000e+00 7.79086966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62462502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57037174299998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:165.28, Y:77.93, Z:0.06 [[ 5.33570785e-01 -8.45755412e-01 0.00000000e+00 1.65275025e+02] [ 8.45755412e-01 5.33570785e-01 0.00000000e+00 7.79316151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77946267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60037174299998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:165.29, Y:77.96, Z:0.06 [[ 5.31633011e-01 -8.46974817e-01 0.00000000e+00 1.65290151e+02] [ 8.46974817e-01 5.31633011e-01 0.00000000e+00 7.79552320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88583115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63037174299998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:165.30, Y:77.98, Z:0.06 [[ 5.29074815e-01 -8.48575182e-01 0.00000000e+00 1.65302629e+02] [ 8.48575182e-01 5.29074815e-01 0.00000000e+00 7.79791927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73477071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66037174299998 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:165.32, Y:78.00, Z:0.06 [[ 5.28481655e-01 -8.48944722e-01 0.00000000e+00 1.65316287e+02] [ 8.48944722e-01 5.28481655e-01 0.00000000e+00 7.80029339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66785416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.690371743 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:165.33, Y:78.03, Z:0.06 [[ 5.27319212e-01 -8.49667258e-01 0.00000000e+00 1.65329474e+02] [ 8.49667258e-01 5.27319212e-01 0.00000000e+00 7.80275008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88198064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.720371743 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:165.34, Y:78.05, Z:0.06 [[ 5.27195336e-01 -8.49744125e-01 0.00000000e+00 1.65343164e+02] [ 8.49744125e-01 5.27195336e-01 0.00000000e+00 7.80515847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72028078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.750371743 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:165.35, Y:78.08, Z:0.06 [[ 5.26080711e-01 -8.50434645e-01 0.00000000e+00 1.65354613e+02] [ 8.50434645e-01 5.26080711e-01 0.00000000e+00 7.80783836e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69656670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.780371743 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:165.37, Y:78.10, Z:0.06 [[ 5.25317713e-01 -8.50906165e-01 0.00000000e+00 1.65368758e+02] [ 8.50906165e-01 5.25317713e-01 0.00000000e+00 7.81032256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65038939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.810371743 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:165.38, Y:78.13, Z:0.06 [[ 5.24230730e-01 -8.51576269e-01 0.00000000e+00 1.65382236e+02] [ 8.51576269e-01 5.24230730e-01 0.00000000e+00 7.81278615e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62517180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.840371743 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:165.39, Y:78.15, Z:0.06 [[ 5.21012900e-01 -8.53548802e-01 0.00000000e+00 1.65393105e+02] [ 8.53548802e-01 5.21012900e-01 0.00000000e+00 7.81547756e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52108826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.870371743 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:165.41, Y:78.18, Z:0.06 [[ 5.18666241e-01 -8.54976801e-01 0.00000000e+00 1.65406002e+02] [ 8.54976801e-01 5.18666241e-01 0.00000000e+00 7.81800737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61306743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.900371743 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:165.42, Y:78.21, Z:0.05 [[ 5.16697680e-01 -8.56167920e-01 0.00000000e+00 1.65419533e+02] [ 8.56167920e-01 5.16697680e-01 0.00000000e+00 7.82050337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44054759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.930371743 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:165.43, Y:78.23, Z:0.05 [[ 5.12065896e-01 -8.58946167e-01 0.00000000e+00 1.65429653e+02] [ 8.58946167e-01 5.12065896e-01 0.00000000e+00 7.82326621e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23988753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96037174299997 meters Centerline goodness : 0.997226 Centerline is valid? [True, True] Translation: X:165.44, Y:78.26, Z:0.05 [[ 5.09691431e-01 -8.60357278e-01 0.00000000e+00 1.65441841e+02] [ 8.60357278e-01 5.09691431e-01 0.00000000e+00 7.82570185e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24627712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99037174299997 meters Centerline goodness : 0.996580 Centerline is valid? [True, True] Translation: X:165.45, Y:78.28, Z:0.05 [[ 5.05490851e-01 -8.62831965e-01 0.00000000e+00 1.65450081e+02] [ 8.62831965e-01 5.05490851e-01 0.00000000e+00 7.82848406e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09477268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02037174299997 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:165.46, Y:78.31, Z:0.05 [[ 5.04207218e-01 -8.63582701e-01 0.00000000e+00 1.65462255e+02] [ 8.63582701e-01 5.04207218e-01 0.00000000e+00 7.83103197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06213836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05037174299997 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:165.47, Y:78.34, Z:0.05 [[ 5.02860409e-01 -8.64367635e-01 0.00000000e+00 1.65473454e+02] [ 8.64367635e-01 5.02860409e-01 0.00000000e+00 7.83368598e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08686122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08037174299997 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:165.48, Y:78.37, Z:0.05 [[ 5.02651721e-01 -8.64489009e-01 0.00000000e+00 1.65480657e+02] [ 8.64489009e-01 5.02651721e-01 0.00000000e+00 7.83662732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09016530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11037174299997 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:165.49, Y:78.39, Z:0.05 [[ 5.03337513e-01 -8.64089896e-01 0.00000000e+00 1.65492153e+02] [ 8.64089896e-01 5.03337513e-01 0.00000000e+00 7.83907205e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06911914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14037174299997 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:165.50, Y:78.42, Z:0.05 [[ 5.03734383e-01 -8.63858594e-01 0.00000000e+00 1.65504533e+02] [ 8.63858594e-01 5.03734383e-01 0.00000000e+00 7.84164998e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05939927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17037174299998 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:165.53, Y:78.44, Z:0.05 [[ 5.08523466e-01 -8.61048131e-01 0.00000000e+00 1.65526448e+02] [ 8.61048131e-01 5.08523466e-01 0.00000000e+00 7.84433227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89323401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20037174299998 meters Centerline goodness : 0.991005 Centerline is valid? [True, True] Translation: X:165.53, Y:78.47, Z:0.05 [[ 5.06787706e-01 -8.62070891e-01 0.00000000e+00 1.65525743e+02] [ 8.62070891e-01 5.06787706e-01 0.00000000e+00 7.84708862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06275235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23037174299998 meters Centerline goodness : 0.990719 Centerline is valid? [True, True] Translation: X:165.55, Y:78.50, Z:0.05 [[ 5.11479931e-01 -8.59295223e-01 0.00000000e+00 1.65547269e+02] [ 8.59295223e-01 5.11479931e-01 0.00000000e+00 7.84978299e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96190173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26037174299998 meters Centerline goodness : 0.989819 Centerline is valid? [True, True] Translation: X:165.55, Y:78.52, Z:0.05 [[ 5.08239933e-01 -8.61215519e-01 0.00000000e+00 1.65549848e+02] [ 8.61215519e-01 5.08239933e-01 0.00000000e+00 7.85231883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04788372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29037174299998 meters Centerline goodness : 0.987779 Centerline is valid? [True, True] Translation: X:165.56, Y:78.55, Z:0.05 [[ 5.09988486e-01 -8.60181228e-01 0.00000000e+00 1.65557511e+02] [ 8.60181228e-01 5.09988486e-01 0.00000000e+00 7.85517342e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85035812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32037174299998 meters Centerline goodness : 0.987509 Centerline is valid? [True, True] Translation: X:165.57, Y:78.58, Z:0.05 [[ 5.11901930e-01 -8.59043895e-01 0.00000000e+00 1.65570381e+02] [ 8.59043895e-01 5.11901930e-01 0.00000000e+00 7.85770230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76060394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35037174299998 meters Centerline goodness : 0.986567 Centerline is valid? [True, True] Translation: X:165.58, Y:78.60, Z:0.05 [[ 5.13399166e-01 -8.58149926e-01 0.00000000e+00 1.65581503e+02] [ 8.58149926e-01 5.13399166e-01 0.00000000e+00 7.86018911e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67683274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38037174299998 meters Centerline goodness : 0.986754 Centerline is valid? [True, True] Translation: X:165.60, Y:78.63, Z:0.04 [[ 5.24024979e-01 -8.51702895e-01 0.00000000e+00 1.65601312e+02] [ 8.51702895e-01 5.24024979e-01 0.00000000e+00 7.86332595e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46236359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41037174299998 meters Centerline goodness : 0.986929 Centerline is valid? [True, True] Translation: X:165.60, Y:78.66, Z:0.05 [[ 5.21307266e-01 -8.53369049e-01 0.00000000e+00 1.65601237e+02] [ 8.53369049e-01 5.21307266e-01 0.00000000e+00 7.86566223e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70137315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.440371743 meters Centerline goodness : 0.987564 Centerline is valid? [True, True] Translation: X:165.61, Y:78.68, Z:0.05 [[ 5.23949050e-01 -8.51749607e-01 0.00000000e+00 1.65612571e+02] [ 8.51749607e-01 5.23949050e-01 0.00000000e+00 7.86826396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69299913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.470371743 meters Centerline goodness : 0.986774 Centerline is valid? [True, True] Translation: X:165.62, Y:78.71, Z:0.05 [[ 5.31606631e-01 -8.46991376e-01 0.00000000e+00 1.65621863e+02] [ 8.46991376e-01 5.31606631e-01 0.00000000e+00 7.87101861e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82281564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.500371743 meters Centerline goodness : 0.985001 Centerline is valid? [True, True] Translation: X:165.65, Y:78.74, Z:0.05 [[ 5.41155016e-01 -8.40922855e-01 0.00000000e+00 1.65648066e+02] [ 8.40922855e-01 5.41155016e-01 0.00000000e+00 7.87387334e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52818986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.530371743 meters Centerline goodness : 0.986595 Centerline is valid? [True, True] Translation: X:165.64, Y:78.76, Z:0.05 [[ 5.41426193e-01 -8.40748284e-01 0.00000000e+00 1.65643432e+02] [ 8.40748284e-01 5.41426193e-01 0.00000000e+00 7.87629671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77556244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.560371743 meters Centerline goodness : 0.987038 Centerline is valid? [True, True] Translation: X:165.66, Y:78.79, Z:0.05 [[ 5.44569491e-01 -8.38715726e-01 0.00000000e+00 1.65657286e+02] [ 8.38715726e-01 5.44569491e-01 0.00000000e+00 7.87878684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76177327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.590371743 meters Centerline goodness : 0.986720 Centerline is valid? [True, True] Translation: X:165.69, Y:78.82, Z:0.04 [[ 5.53779778e-01 -8.32663171e-01 0.00000000e+00 1.65685595e+02] [ 8.32663171e-01 5.53779778e-01 0.00000000e+00 7.88167692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39943100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.620371743 meters Centerline goodness : 0.987604 Centerline is valid? [True, True] Translation: X:165.68, Y:78.84, Z:0.05 [[ 5.48688902e-01 -8.36026607e-01 0.00000000e+00 1.65684201e+02] [ 8.36026607e-01 5.48688902e-01 0.00000000e+00 7.88376682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67878881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.650371743 meters Centerline goodness : 0.987849 Centerline is valid? [True, True] Translation: X:165.70, Y:78.86, Z:0.05 [[ 5.51758344e-01 -8.34004035e-01 0.00000000e+00 1.65696191e+02] [ 8.34004035e-01 5.51758344e-01 0.00000000e+00 7.88632558e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71081945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.680371743 meters Centerline goodness : 0.987093 Centerline is valid? [True, True] Translation: X:165.73, Y:78.89, Z:0.05 [[ 5.58450841e-01 -8.29537617e-01 0.00000000e+00 1.65725175e+02] [ 8.29537617e-01 5.58450841e-01 0.00000000e+00 7.88905323e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50957118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71037174299997 meters Centerline goodness : 0.987971 Centerline is valid? [True, True] Translation: X:165.73, Y:78.91, Z:0.05 [[ 5.52488850e-01 -8.33520288e-01 0.00000000e+00 1.65725433e+02] [ 8.33520288e-01 5.52488850e-01 0.00000000e+00 7.89111099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71418518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74037174299997 meters Centerline goodness : 0.989381 Centerline is valid? [True, True] Translation: X:165.74, Y:78.93, Z:0.05 [[ 5.52241828e-01 -8.33683971e-01 0.00000000e+00 1.65740488e+02] [ 8.33683971e-01 5.52241828e-01 0.00000000e+00 7.89348337e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73427095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77037174299997 meters Centerline goodness : 0.987729 Centerline is valid? [True, True] Translation: X:165.77, Y:78.96, Z:0.05 [[ 5.60065029e-01 -8.28448648e-01 0.00000000e+00 1.65770274e+02] [ 8.28448648e-01 5.60065029e-01 0.00000000e+00 7.89610275e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65692833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80037174299997 meters Centerline goodness : 0.987338 Centerline is valid? [True, True] Translation: X:165.77, Y:78.98, Z:0.05 [[ 5.55414126e-01 -8.31573898e-01 0.00000000e+00 1.65772969e+02] [ 8.31573898e-01 5.55414126e-01 0.00000000e+00 7.89805251e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78371101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83037174299997 meters Centerline goodness : 0.987376 Centerline is valid? [True, True] Translation: X:165.80, Y:79.01, Z:0.05 [[ 5.61948769e-01 -8.27172038e-01 0.00000000e+00 1.65802506e+02] [ 8.27172038e-01 5.61948769e-01 0.00000000e+00 7.90067778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65929119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86037174299997 meters Centerline goodness : 0.986764 Centerline is valid? [True, True] Translation: X:165.82, Y:79.03, Z:0.05 [[ 5.65255813e-01 -8.24915672e-01 0.00000000e+00 1.65817821e+02] [ 8.24915672e-01 5.65255813e-01 0.00000000e+00 7.90288255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59349881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89037174299997 meters Centerline goodness : 0.987620 Centerline is valid? [True, True] Translation: X:165.82, Y:79.05, Z:0.05 [[ 5.62630311e-01 -8.26708615e-01 0.00000000e+00 1.65821518e+02] [ 8.26708615e-01 5.62630311e-01 0.00000000e+00 7.90484617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68185236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92037174299998 meters Centerline goodness : 0.987544 Centerline is valid? [True, True] Translation: X:165.85, Y:79.07, Z:0.05 [[ 5.71966674e-01 -8.20276858e-01 0.00000000e+00 1.65850064e+02] [ 8.20276858e-01 5.71966674e-01 0.00000000e+00 7.90726246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61243540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95037174299998 meters Centerline goodness : 0.987247 Centerline is valid? [True, True] Translation: X:165.87, Y:79.10, Z:0.05 [[ 5.73348741e-01 -8.19311431e-01 0.00000000e+00 1.65867657e+02] [ 8.19311431e-01 5.73348741e-01 0.00000000e+00 7.90958231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61216494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98037174299998 meters Centerline goodness : 0.986561 Centerline is valid? [True, True] Translation: X:165.88, Y:79.12, Z:0.05 [[ 5.74887473e-01 -8.18232481e-01 0.00000000e+00 1.65884692e+02] [ 8.18232481e-01 5.74887473e-01 0.00000000e+00 7.91179607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67564957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01037174299998 meters Centerline goodness : 0.988017 Centerline is valid? [True, True] Translation: X:165.89, Y:79.14, Z:0.05 [[ 5.73008005e-01 -8.19549770e-01 0.00000000e+00 1.65892997e+02] [ 8.19549770e-01 5.73008005e-01 0.00000000e+00 7.91354907e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79701393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04037174299998 meters Centerline goodness : 0.986133 Centerline is valid? [True, True] Translation: X:165.92, Y:79.16, Z:0.05 [[ 5.77738526e-01 -8.16221903e-01 0.00000000e+00 1.65921234e+02] [ 8.16221903e-01 5.77738526e-01 0.00000000e+00 7.91589788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84145091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07037174299998 meters Centerline goodness : 0.986728 Centerline is valid? [True, True] Translation: X:165.94, Y:79.18, Z:0.05 [[ 5.77750593e-01 -8.16213362e-01 0.00000000e+00 1.65939404e+02] [ 8.16213362e-01 5.77750593e-01 0.00000000e+00 7.91798992e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86333020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10037174299998 meters Centerline goodness : 0.984936 Centerline is valid? [True, True] Translation: X:165.96, Y:79.20, Z:0.05 [[ 5.77839442e-01 -8.16150464e-01 0.00000000e+00 1.65958075e+02] [ 8.16150464e-01 5.77839442e-01 0.00000000e+00 7.92002057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96552568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13037174299998 meters Centerline goodness : 0.985692 Centerline is valid? [True, True] Translation: X:165.98, Y:79.22, Z:0.05 [[ 5.79848201e-01 -8.14724532e-01 0.00000000e+00 1.65984570e+02] [ 8.14724532e-01 5.79848201e-01 0.00000000e+00 7.92193999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83389138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16037174299998 meters Centerline goodness : 0.986395 Centerline is valid? [True, True] Translation: X:165.99, Y:79.24, Z:0.05 [[ 5.73686617e-01 -8.19074884e-01 0.00000000e+00 1.65990280e+02] [ 8.19074884e-01 5.73686617e-01 0.00000000e+00 7.92364177e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88837468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.190371743 meters Centerline goodness : 0.986309 Centerline is valid? [True, True] Translation: X:166.01, Y:79.25, Z:0.05 [[ 5.71213470e-01 -8.20801542e-01 0.00000000e+00 1.66013102e+02] [ 8.20801542e-01 5.71213470e-01 0.00000000e+00 7.92540002e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86857717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.220371743 meters Centerline goodness : 0.986309 Centerline is valid? [True, True] Translation: X:166.03, Y:79.28, Z:0.05 [[ 5.70976981e-01 -8.20966069e-01 0.00000000e+00 1.66029356e+02] [ 8.20966069e-01 5.70976981e-01 0.00000000e+00 7.92773270e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86857717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.250371743 meters Centerline goodness : 0.985586 Centerline is valid? [True, True] Translation: X:166.06, Y:79.30, Z:0.05 [[ 5.74908864e-01 -8.18217452e-01 0.00000000e+00 1.66062966e+02] [ 8.18217452e-01 5.74908864e-01 0.00000000e+00 7.93008996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51428999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.280371743 meters Centerline goodness : 0.986543 Centerline is valid? [True, True] Translation: X:166.07, Y:79.32, Z:0.05 [[ 5.64877991e-01 -8.25174440e-01 0.00000000e+00 1.66068232e+02] [ 8.25174440e-01 5.64877991e-01 0.00000000e+00 7.93185505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77638713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.310371743 meters Centerline goodness : 0.987663 Centerline is valid? [True, True] Translation: X:166.09, Y:79.34, Z:0.05 [[ 5.56898578e-01 -8.30580504e-01 0.00000000e+00 1.66090871e+02] [ 8.30580504e-01 5.56898578e-01 0.00000000e+00 7.93357518e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74138263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.340371743 meters Centerline goodness : 0.987532 Centerline is valid? [True, True] Translation: X:166.11, Y:79.36, Z:0.05 [[ 5.52556713e-01 -8.33475302e-01 0.00000000e+00 1.66110752e+02] [ 8.33475302e-01 5.52556713e-01 0.00000000e+00 7.93560774e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81960196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.370371743 meters Centerline goodness : 0.988011 Centerline is valid? [True, True] Translation: X:166.14, Y:79.38, Z:0.04 [[ 5.53956713e-01 -8.32545470e-01 0.00000000e+00 1.66143609e+02] [ 8.32545470e-01 5.53956713e-01 0.00000000e+00 7.93801361e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49309363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.400371743 meters Centerline goodness : 0.987999 Centerline is valid? [True, True] Translation: X:166.15, Y:79.39, Z:0.05 [[ 5.38967085e-01 -8.42326826e-01 0.00000000e+00 1.66152288e+02] [ 8.42326826e-01 5.38967085e-01 0.00000000e+00 7.93947506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01607100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.430371743 meters Centerline goodness : 0.989284 Centerline is valid? [True, True] Translation: X:166.17, Y:79.42, Z:0.05 [[ 5.34466080e-01 -8.45189925e-01 0.00000000e+00 1.66170909e+02] [ 8.45189925e-01 5.34466080e-01 0.00000000e+00 7.94161847e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08435153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46037174299997 meters Centerline goodness : 0.990022 Centerline is valid? [True, True] Translation: X:166.19, Y:79.44, Z:0.05 [[ 5.30627028e-01 -8.47605425e-01 0.00000000e+00 1.66189134e+02] [ 8.47605425e-01 5.30627028e-01 0.00000000e+00 7.94372417e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07748941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49037174299997 meters Centerline goodness : 0.990811 Centerline is valid? [True, True] Translation: X:166.21, Y:79.46, Z:0.05 [[ 5.25230751e-01 -8.50959845e-01 0.00000000e+00 1.66210375e+02] [ 8.50959845e-01 5.25230751e-01 0.00000000e+00 7.94567778e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13302724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52037174299997 meters Centerline goodness : 0.990478 Centerline is valid? [True, True] Translation: X:166.23, Y:79.48, Z:0.05 [[ 5.23047418e-01 -8.52303583e-01 0.00000000e+00 1.66227747e+02] [ 8.52303583e-01 5.23047418e-01 0.00000000e+00 7.94775687e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03659546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55037174299997 meters Centerline goodness : 0.990819 Centerline is valid? [True, True] Translation: X:166.25, Y:79.50, Z:0.05 [[ 5.19532402e-01 -8.54450749e-01 0.00000000e+00 1.66247474e+02] [ 8.54450749e-01 5.19532402e-01 0.00000000e+00 7.94981622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11858997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58037174299997 meters Centerline goodness : 0.990835 Centerline is valid? [True, True] Translation: X:166.26, Y:79.52, Z:0.05 [[ 5.17958223e-01 -8.55405915e-01 0.00000000e+00 1.66264186e+02] [ 8.55405915e-01 5.17958223e-01 0.00000000e+00 7.95197200e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13234152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61037174299997 meters Centerline goodness : 0.991548 Centerline is valid? [True, True] Translation: X:166.28, Y:79.54, Z:0.05 [[ 5.16684299e-01 -8.56175995e-01 0.00000000e+00 1.66281064e+02] [ 8.56175995e-01 5.16684299e-01 0.00000000e+00 7.95420908e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22488588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64037174299997 meters Centerline goodness : 0.992153 Centerline is valid? [True, True] Translation: X:166.30, Y:79.56, Z:0.05 [[ 5.14891105e-01 -8.57255592e-01 0.00000000e+00 1.66298415e+02] [ 8.57255592e-01 5.14891105e-01 0.00000000e+00 7.95638306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25336576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67037174299998 meters Centerline goodness : 0.992114 Centerline is valid? [True, True] Translation: X:166.32, Y:79.59, Z:0.05 [[ 5.15472734e-01 -8.56905981e-01 0.00000000e+00 1.66315442e+02] [ 8.56905981e-01 5.15472734e-01 0.00000000e+00 7.95852953e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18120992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70037174299998 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:166.33, Y:79.61, Z:0.05 [[ 5.15388677e-01 -8.56956540e-01 0.00000000e+00 1.66331765e+02] [ 8.56956540e-01 5.15388677e-01 0.00000000e+00 7.96076771e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26179246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73037174299998 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] Translation: X:166.35, Y:79.63, Z:0.05 [[ 5.16184701e-01 -8.56477293e-01 0.00000000e+00 1.66347443e+02] [ 8.56477293e-01 5.16184701e-01 0.00000000e+00 7.96293249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17993696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76037174299998 meters Centerline goodness : 0.991893 Centerline is valid? [True, True] Translation: X:166.36, Y:79.65, Z:0.05 [[ 5.19014938e-01 -8.54765169e-01 0.00000000e+00 1.66363098e+02] [ 8.54765169e-01 5.19014938e-01 0.00000000e+00 7.96525240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24278073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79037174299998 meters Centerline goodness : 0.992458 Centerline is valid? [True, True] Translation: X:166.38, Y:79.68, Z:0.05 [[ 5.21117779e-01 -8.53484774e-01 0.00000000e+00 1.66378530e+02] [ 8.53484774e-01 5.21117779e-01 0.00000000e+00 7.96760593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22193307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82037174299998 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:166.39, Y:79.70, Z:0.05 [[ 5.23593096e-01 -8.51968468e-01 0.00000000e+00 1.66393532e+02] [ 8.51968468e-01 5.23593096e-01 0.00000000e+00 7.96988325e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25580221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85037174299998 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:166.41, Y:79.72, Z:0.05 [[ 5.29047474e-01 -8.48592229e-01 0.00000000e+00 1.66408428e+02] [ 8.48592229e-01 5.29047474e-01 0.00000000e+00 7.97219613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36566730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88037174299998 meters Centerline goodness : 0.992092 Centerline is valid? [True, True] Translation: X:166.42, Y:79.75, Z:0.05 [[ 5.31474965e-01 -8.47074000e-01 0.00000000e+00 1.66423657e+02] [ 8.47074000e-01 5.31474965e-01 0.00000000e+00 7.97456364e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38098691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91037174299998 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:166.44, Y:79.77, Z:0.05 [[ 5.33907274e-01 -8.45543034e-01 0.00000000e+00 1.66439129e+02] [ 8.45543034e-01 5.33907274e-01 0.00000000e+00 7.97684028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45233524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.940371743 meters Centerline goodness : 0.991679 Centerline is valid? [True, True] Translation: X:166.46, Y:79.80, Z:0.05 [[ 5.41810105e-01 -8.40500928e-01 0.00000000e+00 1.66463771e+02] [ 8.40500928e-01 5.41810105e-01 0.00000000e+00 7.97955116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11454553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.970371743 meters Centerline goodness : 0.991166 Centerline is valid? [True, True] Translation: X:166.47, Y:79.82, Z:0.06 [[ 5.38283193e-01 -8.42764026e-01 0.00000000e+00 1.66469217e+02] [ 8.42764026e-01 5.38283193e-01 0.00000000e+00 7.98155916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51306863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.000371743 meters Centerline goodness : 0.992225 Centerline is valid? [True, True] Translation: X:166.48, Y:79.84, Z:0.05 [[ 5.39879110e-01 -8.41742565e-01 0.00000000e+00 1.66484476e+02] [ 8.41742565e-01 5.39879110e-01 0.00000000e+00 7.98385542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47524402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.030371743 meters Centerline goodness : 0.991305 Centerline is valid? [True, True] Translation: X:166.50, Y:79.86, Z:0.05 [[ 5.40524420e-01 -8.41328325e-01 0.00000000e+00 1.66499508e+02] [ 8.41328325e-01 5.40524420e-01 0.00000000e+00 7.98606916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41013182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.060371743 meters Centerline goodness : 0.991890 Centerline is valid? [True, True] Translation: X:166.52, Y:79.88, Z:0.05 [[ 5.41043956e-01 -8.40994315e-01 0.00000000e+00 1.66515381e+02] [ 8.40994315e-01 5.41043956e-01 0.00000000e+00 7.98840645e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47935736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.090371743 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:166.53, Y:79.91, Z:0.05 [[ 5.40734461e-01 -8.41193344e-01 0.00000000e+00 1.66530228e+02] [ 8.41193344e-01 5.40734461e-01 0.00000000e+00 7.99078886e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46824491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.120371743 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:166.55, Y:79.93, Z:0.06 [[ 5.41460438e-01 -8.40726230e-01 0.00000000e+00 1.66545906e+02] [ 8.40726230e-01 5.41460438e-01 0.00000000e+00 7.99308231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56791301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.150371743 meters Centerline goodness : 0.991007 Centerline is valid? [True, True] Translation: X:166.56, Y:79.95, Z:0.06 [[ 5.41853233e-01 -8.40473125e-01 0.00000000e+00 1.66562818e+02] [ 8.40473125e-01 5.41853233e-01 0.00000000e+00 7.99533964e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58143211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.180371743 meters Centerline goodness : 0.991919 Centerline is valid? [True, True] Translation: X:166.58, Y:79.98, Z:0.06 [[ 5.39994690e-01 -8.41668423e-01 0.00000000e+00 1.66579655e+02] [ 8.41668423e-01 5.39994690e-01 0.00000000e+00 7.99755588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52798326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21037174299997 meters Centerline goodness : 0.992193 Centerline is valid? [True, True] Translation: X:166.60, Y:80.00, Z:0.05 [[ 5.38401819e-01 -8.42688247e-01 0.00000000e+00 1.66595944e+02] [ 8.42688247e-01 5.38401819e-01 0.00000000e+00 7.99979098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47299510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24037174299997 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:166.61, Y:80.02, Z:0.05 [[ 5.36482208e-01 -8.43911631e-01 0.00000000e+00 1.66612407e+02] [ 8.43911631e-01 5.36482208e-01 0.00000000e+00 8.00204962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39571081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27037174299997 meters Centerline goodness : 0.992811 Centerline is valid? [True, True] Translation: X:166.63, Y:80.04, Z:0.05 [[ 5.30708625e-01 -8.47554338e-01 0.00000000e+00 1.66628473e+02] [ 8.47554338e-01 5.30708625e-01 0.00000000e+00 8.00428035e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25127189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30037174299997 meters Centerline goodness : 0.991836 Centerline is valid? [True, True] Translation: X:166.64, Y:80.07, Z:0.05 [[ 5.27679156e-01 -8.49443764e-01 0.00000000e+00 1.66644804e+02] [ 8.49443764e-01 5.27679156e-01 0.00000000e+00 8.00654259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22746353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33037174299997 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:166.66, Y:80.09, Z:0.05 [[ 5.25131203e-01 -8.51021280e-01 0.00000000e+00 1.66661695e+02] [ 8.51021280e-01 5.25131203e-01 0.00000000e+00 8.00871630e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24420625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36037174299997 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:166.68, Y:80.11, Z:0.05 [[ 5.19309910e-01 -8.54585992e-01 0.00000000e+00 1.66678063e+02] [ 8.54585992e-01 5.19309910e-01 0.00000000e+00 8.01097096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17639661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39037174299997 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:166.69, Y:80.13, Z:0.05 [[ 5.16355586e-01 -8.56374281e-01 0.00000000e+00 1.66693391e+02] [ 8.56374281e-01 5.16355586e-01 0.00000000e+00 8.01328231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25355890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42037174299998 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:166.71, Y:80.15, Z:0.05 [[ 5.13996163e-01 -8.57792483e-01 0.00000000e+00 1.66708276e+02] [ 8.57792483e-01 5.13996163e-01 0.00000000e+00 8.01549986e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18727362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45037174299998 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:166.72, Y:80.18, Z:0.05 [[ 5.09662105e-01 -8.60374650e-01 0.00000000e+00 1.66723755e+02] [ 8.60374650e-01 5.09662105e-01 0.00000000e+00 8.01784587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28035673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48037174299998 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:166.74, Y:80.20, Z:0.05 [[ 5.07853609e-01 -8.61443389e-01 0.00000000e+00 1.66739620e+02] [ 8.61443389e-01 5.07853609e-01 0.00000000e+00 8.02010802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31169997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51037174299998 meters Centerline goodness : 0.992371 Centerline is valid? [True, True] Translation: X:166.75, Y:80.22, Z:0.05 [[ 5.04982157e-01 -8.63129782e-01 0.00000000e+00 1.66754876e+02] [ 8.63129782e-01 5.04982157e-01 0.00000000e+00 8.02243531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40631618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54037174299998 meters Centerline goodness : 0.991577 Centerline is valid? [True, True] Translation: X:166.77, Y:80.25, Z:0.05 [[ 5.04430005e-01 -8.63452587e-01 0.00000000e+00 1.66770045e+02] [ 8.63452587e-01 5.04430005e-01 0.00000000e+00 8.02467175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38588107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57037174299998 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:166.78, Y:80.27, Z:0.05 [[ 5.03076050e-01 -8.64242147e-01 0.00000000e+00 1.66784733e+02] [ 8.64242147e-01 5.03076050e-01 0.00000000e+00 8.02702390e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44274419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60037174299998 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:166.80, Y:80.29, Z:0.05 [[ 5.02631820e-01 -8.64500580e-01 0.00000000e+00 1.66799558e+02] [ 8.64500580e-01 5.02631820e-01 0.00000000e+00 8.02931788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35636991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63037174299998 meters Centerline goodness : 0.991554 Centerline is valid? [True, True] Translation: X:166.82, Y:80.32, Z:0.05 [[ 5.03796339e-01 -8.63822463e-01 0.00000000e+00 1.66820093e+02] [ 8.63822463e-01 5.03796339e-01 0.00000000e+00 8.03185677e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47520712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66037174299998 meters Centerline goodness : 0.991466 Centerline is valid? [True, True] Translation: X:166.83, Y:80.34, Z:0.05 [[ 5.01566466e-01 -8.65119114e-01 0.00000000e+00 1.66829346e+02] [ 8.65119114e-01 5.01566466e-01 0.00000000e+00 8.03394590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49690733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.690371743 meters Centerline goodness : 0.991172 Centerline is valid? [True, True] Translation: X:166.84, Y:80.36, Z:0.05 [[ 5.00603369e-01 -8.65676768e-01 0.00000000e+00 1.66842980e+02] [ 8.65676768e-01 5.00603369e-01 0.00000000e+00 8.03638421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40009586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.720371743 meters Centerline goodness : 0.991328 Centerline is valid? [True, True] Translation: X:166.86, Y:80.39, Z:0.05 [[ 5.00647285e-01 -8.65651371e-01 0.00000000e+00 1.66857440e+02] [ 8.65651371e-01 5.00647285e-01 0.00000000e+00 8.03873046e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40932379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.750371743 meters Centerline goodness : 0.991037 Centerline is valid? [True, True] Translation: X:166.87, Y:80.41, Z:0.05 [[ 5.01392604e-01 -8.65219889e-01 0.00000000e+00 1.66872200e+02] [ 8.65219889e-01 5.01392604e-01 0.00000000e+00 8.04104885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45083476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.780371743 meters Centerline goodness : 0.991252 Centerline is valid? [True, True] Translation: X:166.88, Y:80.44, Z:0.05 [[ 5.02577482e-01 -8.64532171e-01 0.00000000e+00 1.66884807e+02] [ 8.64532171e-01 5.02577482e-01 0.00000000e+00 8.04359147e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44495756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.810371743 meters Centerline goodness : 0.990589 Centerline is valid? [True, True] Translation: X:166.91, Y:80.46, Z:0.05 [[ 5.07506492e-01 -8.61647933e-01 0.00000000e+00 1.66907948e+02] [ 8.61647933e-01 5.07506492e-01 0.00000000e+00 8.04626652e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40195754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.840371743 meters Centerline goodness : 0.990775 Centerline is valid? [True, True] Translation: X:166.91, Y:80.48, Z:0.06 [[ 5.05428642e-01 -8.62868407e-01 0.00000000e+00 1.66913755e+02] [ 8.62868407e-01 5.05428642e-01 0.00000000e+00 8.04847612e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50609659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.870371743 meters Centerline goodness : 0.989297 Centerline is valid? [True, True] Translation: X:166.93, Y:80.51, Z:0.05 [[ 5.09939267e-01 -8.60210407e-01 0.00000000e+00 1.66926101e+02] [ 8.60210407e-01 5.09939267e-01 0.00000000e+00 8.05095603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43709142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.900371743 meters Centerline goodness : 0.988967 Centerline is valid? [True, True] Translation: X:166.94, Y:80.54, Z:0.05 [[ 5.14383290e-01 -8.57560395e-01 0.00000000e+00 1.66944894e+02] [ 8.57560395e-01 5.14383290e-01 0.00000000e+00 8.05353219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39105031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.930371743 meters Centerline goodness : 0.988309 Centerline is valid? [True, True] Translation: X:166.96, Y:80.56, Z:0.05 [[ 5.20017287e-01 -8.54155736e-01 0.00000000e+00 1.66957494e+02] [ 8.54155736e-01 5.20017287e-01 0.00000000e+00 8.05604636e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22921094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96037174299997 meters Centerline goodness : 0.989054 Centerline is valid? [True, True] Translation: X:166.97, Y:80.59, Z:0.05 [[ 5.21429179e-01 -8.53294563e-01 0.00000000e+00 1.66971339e+02] [ 8.53294563e-01 5.21429179e-01 0.00000000e+00 8.05859164e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15085794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99037174299997 meters Centerline goodness : 0.988270 Centerline is valid? [True, True] Translation: X:166.98, Y:80.61, Z:0.05 [[ 5.20533429e-01 -8.53841291e-01 0.00000000e+00 1.66978109e+02] [ 8.53841291e-01 5.20533429e-01 0.00000000e+00 8.06075260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11690725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02037174299997 meters Centerline goodness : 0.987894 Centerline is valid? [True, True] Translation: X:167.00, Y:80.63, Z:0.05 [[ 5.28271900e-01 -8.49075261e-01 0.00000000e+00 1.67002120e+02] [ 8.49075261e-01 5.28271900e-01 0.00000000e+00 8.06346714e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01814505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05037174299997 meters Centerline goodness : 0.986554 Centerline is valid? [True, True] Translation: X:167.01, Y:80.66, Z:0.05 [[ 5.24221490e-01 -8.51581957e-01 0.00000000e+00 1.67006512e+02] [ 8.51581957e-01 5.24221490e-01 0.00000000e+00 8.06562779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28037684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08037174299997 meters Centerline goodness : 0.987452 Centerline is valid? [True, True] Translation: X:167.02, Y:80.68, Z:0.05 [[ 5.24450083e-01 -8.51441196e-01 0.00000000e+00 1.67020944e+02] [ 8.51441196e-01 5.24450083e-01 0.00000000e+00 8.06804259e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29735817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11037174299997 meters Centerline goodness : 0.987073 Centerline is valid? [True, True] Translation: X:167.03, Y:80.70, Z:0.05 [[ 5.25823633e-01 -8.50593620e-01 0.00000000e+00 1.67033570e+02] [ 8.50593620e-01 5.25823633e-01 0.00000000e+00 8.07038674e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28497729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14037174299997 meters Centerline goodness : 0.987073 Centerline is valid? [True, True] Translation: X:167.05, Y:80.73, Z:0.05 [[ 5.25576117e-01 -8.50746581e-01 0.00000000e+00 1.67049450e+02] [ 8.50746581e-01 5.25576117e-01 0.00000000e+00 8.07274587e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28497729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17037174299998 meters Centerline goodness : 0.987180 Centerline is valid? [True, True] Translation: X:167.06, Y:80.75, Z:0.05 [[ 5.25088767e-01 -8.51047465e-01 0.00000000e+00 1.67063706e+02] [ 8.51047465e-01 5.25088767e-01 0.00000000e+00 8.07520676e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21680762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20037174299998 meters Centerline goodness : 0.987936 Centerline is valid? [True, True] Translation: X:167.08, Y:80.78, Z:0.05 [[ 5.25371119e-01 -8.50873191e-01 0.00000000e+00 1.67077285e+02] [ 8.50873191e-01 5.25371119e-01 0.00000000e+00 8.07758805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06107972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23037174299998 meters Centerline goodness : 0.987566 Centerline is valid? [True, True] Translation: X:167.09, Y:80.80, Z:0.05 [[ 5.25316976e-01 -8.50906619e-01 0.00000000e+00 1.67092391e+02] [ 8.50906619e-01 5.25316976e-01 0.00000000e+00 8.07996392e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97771367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26037174299998 meters Centerline goodness : 0.987149 Centerline is valid? [True, True] Translation: X:167.11, Y:80.82, Z:0.05 [[ 5.25915565e-01 -8.50536783e-01 0.00000000e+00 1.67108874e+02] [ 8.50536783e-01 5.25915565e-01 0.00000000e+00 8.08227813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96178529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29037174299998 meters Centerline goodness : 0.986620 Centerline is valid? [True, True] Translation: X:167.13, Y:80.85, Z:0.05 [[ 5.29472442e-01 -8.48327138e-01 0.00000000e+00 1.67132569e+02] [ 8.48327138e-01 5.29472442e-01 0.00000000e+00 8.08494764e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58571272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32037174299998 meters Centerline goodness : 0.986296 Centerline is valid? [True, True] Translation: X:167.14, Y:80.87, Z:0.05 [[ 5.23653680e-01 -8.51931232e-01 0.00000000e+00 1.67137331e+02] [ 8.51931232e-01 5.23653680e-01 0.00000000e+00 8.08710832e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98356648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35037174299998 meters Centerline goodness : 0.985994 Centerline is valid? [True, True] Translation: X:167.15, Y:80.89, Z:0.05 [[ 5.21808473e-01 -8.53062669e-01 0.00000000e+00 1.67150340e+02] [ 8.53062669e-01 5.21808473e-01 0.00000000e+00 8.08945422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97964309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38037174299998 meters Centerline goodness : 0.987555 Centerline is valid? [True, True] Translation: X:167.18, Y:80.92, Z:0.05 [[ 5.27405504e-01 -8.49613697e-01 0.00000000e+00 1.67178797e+02] [ 8.49613697e-01 5.27405504e-01 0.00000000e+00 8.09223230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53470766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41037174299998 meters Centerline goodness : 0.986457 Centerline is valid? [True, True] Translation: X:167.19, Y:80.95, Z:0.05 [[ 5.25512799e-01 -8.50785694e-01 0.00000000e+00 1.67192010e+02] [ 8.50785694e-01 5.25512799e-01 0.00000000e+00 8.09457475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62884838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.440371743 meters Centerline goodness : 0.986116 Centerline is valid? [True, True] Translation: X:167.19, Y:80.97, Z:0.05 [[ 5.18515401e-01 -8.55068289e-01 0.00000000e+00 1.67193969e+02] [ 8.55068289e-01 5.18515401e-01 0.00000000e+00 8.09670327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17596924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.470371743 meters Centerline goodness : 0.986584 Centerline is valid? [True, True] Translation: X:167.21, Y:80.99, Z:0.05 [[ 5.18241184e-01 -8.55234515e-01 0.00000000e+00 1.67208600e+02] [ 8.55234515e-01 5.18241184e-01 0.00000000e+00 8.09912874e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27155482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.500371743 meters Centerline goodness : 0.986069 Centerline is valid? [True, True] Translation: X:167.23, Y:81.02, Z:0.05 [[ 5.23084644e-01 -8.52280737e-01 0.00000000e+00 1.67234389e+02] [ 8.52280737e-01 5.23084644e-01 0.00000000e+00 8.10197571e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98317831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.530371743 meters Centerline goodness : 0.986889 Centerline is valid? [True, True] Translation: X:167.24, Y:81.04, Z:0.05 [[ 5.17887643e-01 -8.55448648e-01 0.00000000e+00 1.67236627e+02] [ 8.55448648e-01 5.17887643e-01 0.00000000e+00 8.10410616e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34344631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.560371743 meters Centerline goodness : 0.985676 Centerline is valid? [True, True] Translation: X:167.27, Y:81.07, Z:0.05 [[ 5.23726850e-01 -8.51886252e-01 0.00000000e+00 1.67265361e+02] [ 8.51886252e-01 5.23726850e-01 0.00000000e+00 8.10693212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95547588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.590371743 meters Centerline goodness : 0.985562 Centerline is valid? [True, True] Translation: X:167.27, Y:81.09, Z:0.05 [[ 5.15285045e-01 -8.57018858e-01 0.00000000e+00 1.67266509e+02] [ 8.57018858e-01 5.15285045e-01 0.00000000e+00 8.10891014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22294479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.620371743 meters Centerline goodness : 0.985397 Centerline is valid? [True, True] Translation: X:167.28, Y:81.11, Z:0.05 [[ 5.14664815e-01 -8.57391467e-01 0.00000000e+00 1.67281103e+02] [ 8.57391467e-01 5.14664815e-01 0.00000000e+00 8.11115327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14115351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.650371743 meters Centerline goodness : 0.986164 Centerline is valid? [True, True] Translation: X:167.30, Y:81.13, Z:0.05 [[ 5.13876376e-01 -8.57864249e-01 0.00000000e+00 1.67295683e+02] [ 8.57864249e-01 5.13876376e-01 0.00000000e+00 8.11349626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06942785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.680371743 meters Centerline goodness : 0.985415 Centerline is valid? [True, True] Translation: X:167.32, Y:81.16, Z:0.05 [[ 5.19346964e-01 -8.54563474e-01 0.00000000e+00 1.67321335e+02] [ 8.54563474e-01 5.19346964e-01 0.00000000e+00 8.11630921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58909474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71037174299997 meters Centerline goodness : 0.986045 Centerline is valid? [True, True] Translation: X:167.32, Y:81.18, Z:0.05 [[ 5.13820811e-01 -8.57897531e-01 0.00000000e+00 1.67323309e+02] [ 8.57897531e-01 5.13820811e-01 0.00000000e+00 8.11845395e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91775790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74037174299997 meters Centerline goodness : 0.985379 Centerline is valid? [True, True] Translation: X:167.34, Y:81.21, Z:0.05 [[ 5.15979294e-01 -8.56601056e-01 0.00000000e+00 1.67338367e+02] [ 8.56601056e-01 5.15979294e-01 0.00000000e+00 8.12069747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95941073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77037174299997 meters Centerline goodness : 0.986327 Centerline is valid? [True, True] Translation: X:167.35, Y:81.23, Z:0.05 [[ 5.18503903e-01 -8.55075261e-01 0.00000000e+00 1.67351175e+02] [ 8.55075261e-01 5.18503903e-01 0.00000000e+00 8.12321460e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88909355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80037174299997 meters Centerline goodness : 0.985973 Centerline is valid? [True, True] Translation: X:167.37, Y:81.26, Z:0.05 [[ 5.21223142e-01 -8.53420434e-01 0.00000000e+00 1.67366324e+02] [ 8.53420434e-01 5.21223142e-01 0.00000000e+00 8.12561238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94992160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83037174299997 meters Centerline goodness : 0.985724 Centerline is valid? [True, True] Translation: X:167.38, Y:81.28, Z:0.05 [[ 5.26332016e-01 -8.50279136e-01 0.00000000e+00 1.67379645e+02] [ 8.50279136e-01 5.26332016e-01 0.00000000e+00 8.12802090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96311398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86037174299997 meters Centerline goodness : 0.985956 Centerline is valid? [True, True] Translation: X:167.39, Y:81.30, Z:0.05 [[ 5.27785551e-01 -8.49377662e-01 0.00000000e+00 1.67393486e+02] [ 8.49377662e-01 5.27785551e-01 0.00000000e+00 8.13046557e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93899000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89037174299997 meters Centerline goodness : 0.985475 Centerline is valid? [True, True] Translation: X:167.42, Y:81.33, Z:0.05 [[ 5.37134853e-01 -8.43496384e-01 0.00000000e+00 1.67423132e+02] [ 8.43496384e-01 5.37134853e-01 0.00000000e+00 8.13312114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62568788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92037174299998 meters Centerline goodness : 0.986040 Centerline is valid? [True, True] Translation: X:167.42, Y:81.35, Z:0.05 [[ 5.30754554e-01 -8.47525577e-01 0.00000000e+00 1.67422663e+02] [ 8.47525577e-01 5.30754554e-01 0.00000000e+00 8.13513659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00681260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95037174299998 meters Centerline goodness : 0.986072 Centerline is valid? [True, True] Translation: X:167.44, Y:81.37, Z:0.05 [[ 5.30396527e-01 -8.47749683e-01 0.00000000e+00 1.67437753e+02] [ 8.47749683e-01 5.30396527e-01 0.00000000e+00 8.13749872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06077237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98037174299998 meters Centerline goodness : 0.985472 Centerline is valid? [True, True] Translation: X:167.47, Y:81.40, Z:0.05 [[ 5.36848387e-01 -8.43678736e-01 0.00000000e+00 1.67469637e+02] [ 8.43678736e-01 5.36848387e-01 0.00000000e+00 8.14016203e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62354816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01037174299998 meters Centerline goodness : 0.986489 Centerline is valid? [True, True] Translation: X:167.47, Y:81.42, Z:0.05 [[ 5.24716954e-01 -8.51276757e-01 0.00000000e+00 1.67468699e+02] [ 8.51276757e-01 5.24716954e-01 0.00000000e+00 8.14213574e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00950288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04037174299998 meters Centerline goodness : 0.985694 Centerline is valid? [True, True] Translation: X:167.48, Y:81.44, Z:0.05 [[ 5.22248113e-01 -8.52793591e-01 0.00000000e+00 1.67484225e+02] [ 8.52793591e-01 5.22248113e-01 0.00000000e+00 8.14441449e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00799693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07037174299998 meters Centerline goodness : 0.986752 Centerline is valid? [True, True] Translation: X:167.50, Y:81.47, Z:0.05 [[ 5.19516803e-01 -8.54460234e-01 0.00000000e+00 1.67499122e+02] [ 8.54460234e-01 5.19516803e-01 0.00000000e+00 8.14661170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03614700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10037174299998 meters Centerline goodness : 0.986017 Centerline is valid? [True, True] Translation: X:167.52, Y:81.49, Z:0.05 [[ 5.14350107e-01 -8.57580298e-01 0.00000000e+00 1.67515038e+02] [ 8.57580298e-01 5.14350107e-01 0.00000000e+00 8.14893768e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05199776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13037174299998 meters Centerline goodness : 0.985969 Centerline is valid? [True, True] Translation: X:167.53, Y:81.51, Z:0.05 [[ 5.10488620e-01 -8.59884509e-01 0.00000000e+00 1.67531128e+02] [ 8.59884509e-01 5.10488620e-01 0.00000000e+00 8.15116188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07290184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16037174299998 meters Centerline goodness : 0.986815 Centerline is valid? [True, True] Translation: X:167.55, Y:81.53, Z:0.05 [[ 5.08635980e-01 -8.60981672e-01 0.00000000e+00 1.67546687e+02] [ 8.60981672e-01 5.08635980e-01 0.00000000e+00 8.15342923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06521902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.190371743 meters Centerline goodness : 0.984922 Centerline is valid? [True, True] Translation: X:167.57, Y:81.56, Z:0.05 [[ 5.13165914e-01 -8.58289429e-01 0.00000000e+00 1.67574960e+02] [ 8.58289429e-01 5.13165914e-01 0.00000000e+00 8.15609057e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88578797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.220371743 meters Centerline goodness : 0.986126 Centerline is valid? [True, True] Translation: X:167.58, Y:81.58, Z:0.05 [[ 5.05774635e-01 -8.62665647e-01 0.00000000e+00 1.67576549e+02] [ 8.62665647e-01 5.05774635e-01 0.00000000e+00 8.15809111e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07452063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.250371743 meters Centerline goodness : 0.985902 Centerline is valid? [True, True] Translation: X:167.61, Y:81.61, Z:0.05 [[ 5.12514993e-01 -8.58678276e-01 0.00000000e+00 1.67605172e+02] [ 8.58678276e-01 5.12514993e-01 0.00000000e+00 8.16089517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82699117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.280371743 meters Centerline goodness : 0.986336 Centerline is valid? [True, True] Translation: X:167.62, Y:81.63, Z:0.05 [[ 5.12260025e-01 -8.58830406e-01 0.00000000e+00 1.67619223e+02] [ 8.58830406e-01 5.12260025e-01 0.00000000e+00 8.16327664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80678284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.310371743 meters Centerline goodness : 0.986056 Centerline is valid? [True, True] Translation: X:167.62, Y:81.65, Z:0.05 [[ 5.06643102e-01 -8.62155883e-01 0.00000000e+00 1.67617629e+02] [ 8.62155883e-01 5.06643102e-01 0.00000000e+00 8.16522701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02391782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.340371743 meters Centerline goodness : 0.985848 Centerline is valid? [True, True] Translation: X:167.63, Y:81.68, Z:0.05 [[ 5.07710866e-01 -8.61527525e-01 0.00000000e+00 1.67633021e+02] [ 8.61527525e-01 5.07710866e-01 0.00000000e+00 8.16761330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07262150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.370371743 meters Centerline goodness : 0.985876 Centerline is valid? [True, True] Translation: X:167.66, Y:81.70, Z:0.05 [[ 5.16015068e-01 -8.56579506e-01 0.00000000e+00 1.67662559e+02] [ 8.56579506e-01 5.16015068e-01 0.00000000e+00 8.17037693e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82844478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.400371743 meters Centerline goodness : 0.985465 Centerline is valid? [True, True] Translation: X:167.66, Y:81.72, Z:0.05 [[ 5.11231337e-01 -8.59443146e-01 0.00000000e+00 1.67660554e+02] [ 8.59443146e-01 5.11231337e-01 0.00000000e+00 8.17242127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11973183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.430371743 meters Centerline goodness : 0.986499 Centerline is valid? [True, True] Translation: X:167.68, Y:81.75, Z:0.05 [[ 5.12583071e-01 -8.58637639e-01 0.00000000e+00 1.67675170e+02] [ 8.58637639e-01 5.12583071e-01 0.00000000e+00 8.17483544e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11542423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46037174299997 meters Centerline goodness : 0.985855 Centerline is valid? [True, True] Translation: X:167.69, Y:81.77, Z:0.05 [[ 5.14400318e-01 -8.57550181e-01 0.00000000e+00 1.67689718e+02] [ 8.57550181e-01 5.14400318e-01 0.00000000e+00 8.17716280e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07285547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49037174299997 meters Centerline goodness : 0.986041 Centerline is valid? [True, True] Translation: X:167.70, Y:81.80, Z:0.05 [[ 5.18203528e-01 -8.55257332e-01 0.00000000e+00 1.67703408e+02] [ 8.55257332e-01 5.18203528e-01 0.00000000e+00 8.17950302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02597554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52037174299997 meters Centerline goodness : 0.985100 Centerline is valid? [True, True] Translation: X:167.72, Y:81.82, Z:0.05 [[ 5.19993529e-01 -8.54170200e-01 0.00000000e+00 1.67718557e+02] [ 8.54170200e-01 5.19993529e-01 0.00000000e+00 8.18188788e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05133940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55037174299997 meters Centerline goodness : 0.987112 Centerline is valid? [True, True] Translation: X:167.73, Y:81.84, Z:0.05 [[ 5.20493772e-01 -8.53865466e-01 0.00000000e+00 1.67731795e+02] [ 8.53865466e-01 5.20493772e-01 0.00000000e+00 8.18426974e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97885952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58037174299997 meters Centerline goodness : 0.985961 Centerline is valid? [True, True] Translation: X:167.75, Y:81.87, Z:0.05 [[ 5.23720337e-01 -8.51890256e-01 0.00000000e+00 1.67747519e+02] [ 8.51890256e-01 5.23720337e-01 0.00000000e+00 8.18651683e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97199573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61037174299997 meters Centerline goodness : 0.986068 Centerline is valid? [True, True] Translation: X:167.76, Y:81.89, Z:0.05 [[ 5.23493861e-01 -8.52029447e-01 0.00000000e+00 1.67762705e+02] [ 8.52029447e-01 5.23493861e-01 0.00000000e+00 8.18880864e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90952942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64037174299997 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:167.78, Y:81.91, Z:0.05 [[ 5.21131975e-01 -8.53476107e-01 0.00000000e+00 1.67777857e+02] [ 8.53476107e-01 5.21131975e-01 0.00000000e+00 8.19099069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80146310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67037174299998 meters Centerline goodness : 0.986510 Centerline is valid? [True, True] Translation: X:167.79, Y:81.93, Z:0.05 [[ 5.19111315e-01 -8.54706641e-01 0.00000000e+00 1.67793960e+02] [ 8.54706641e-01 5.19111315e-01 0.00000000e+00 8.19327470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79295782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70037174299998 meters Centerline goodness : 0.985910 Centerline is valid? [True, True] Translation: X:167.82, Y:81.96, Z:0.05 [[ 5.22271272e-01 -8.52779408e-01 0.00000000e+00 1.67823020e+02] [ 8.52779408e-01 5.22271272e-01 0.00000000e+00 8.19589230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88611578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73037174299998 meters Centerline goodness : 0.986568 Centerline is valid? [True, True] Translation: X:167.83, Y:81.98, Z:0.05 [[ 5.09619632e-01 -8.60399809e-01 0.00000000e+00 1.67827813e+02] [ 8.60399809e-01 5.09619632e-01 0.00000000e+00 8.19783726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80735630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76037174299998 meters Centerline goodness : 0.987358 Centerline is valid? [True, True] Translation: X:167.84, Y:82.00, Z:0.05 [[ 5.05510790e-01 -8.62820283e-01 0.00000000e+00 1.67843192e+02] [ 8.62820283e-01 5.05510790e-01 0.00000000e+00 8.19999759e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77624735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79037174299998 meters Centerline goodness : 0.986123 Centerline is valid? [True, True] Translation: X:167.86, Y:82.02, Z:0.05 [[ 5.01603971e-01 -8.65097368e-01 0.00000000e+00 1.67859771e+02] [ 8.65097368e-01 5.01603971e-01 0.00000000e+00 8.20224238e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76916371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82037174299998 meters Centerline goodness : 0.985880 Centerline is valid? [True, True] Translation: X:167.89, Y:82.05, Z:0.05 [[ 5.05157937e-01 -8.63026916e-01 0.00000000e+00 1.67892212e+02] [ 8.63026916e-01 5.05157937e-01 0.00000000e+00 8.20501586e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65780445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85037174299998 meters Centerline goodness : 0.985289 Centerline is valid? [True, True] Translation: X:167.91, Y:82.07, Z:0.05 [[ 4.97922650e-01 -8.67221445e-01 0.00000000e+00 1.67906682e+02] [ 8.67221445e-01 4.97922650e-01 0.00000000e+00 8.20721421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63331655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88037174299998 meters Centerline goodness : 0.986965 Centerline is valid? [True, True] Translation: X:167.92, Y:82.10, Z:0.04 [[ 4.95003194e-01 -8.68891154e-01 0.00000000e+00 1.67923858e+02] [ 8.68891154e-01 4.95003194e-01 0.00000000e+00 8.20952170e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46121805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91037174299998 meters Centerline goodness : 0.986129 Centerline is valid? [True, True] Translation: X:167.92, Y:82.11, Z:0.05 [[ 4.85778326e-01 -8.74082043e-01 0.00000000e+00 1.67922581e+02] [ 8.74082043e-01 4.85778326e-01 0.00000000e+00 8.21133109e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69106376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.940371743 meters Centerline goodness : 0.986788 Centerline is valid? [True, True] Translation: X:167.94, Y:82.14, Z:0.05 [[ 4.84718725e-01 -8.74670085e-01 0.00000000e+00 1.67936902e+02] [ 8.74670085e-01 4.84718725e-01 0.00000000e+00 8.21366433e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69027059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.970371743 meters Centerline goodness : 0.987246 Centerline is valid? [True, True] Translation: X:167.95, Y:82.16, Z:0.05 [[ 4.83955064e-01 -8.75092850e-01 0.00000000e+00 1.67951780e+02] [ 8.75092850e-01 4.83955064e-01 0.00000000e+00 8.21604493e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68446237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.000371743 meters Centerline goodness : 0.986956 Centerline is valid? [True, True] Translation: X:167.97, Y:82.18, Z:0.05 [[ 4.83832284e-01 -8.75160740e-01 0.00000000e+00 1.67966652e+02] [ 8.75160740e-01 4.83832284e-01 0.00000000e+00 8.21837763e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73040929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.030371743 meters Centerline goodness : 0.986956 Centerline is valid? [True, True] Translation: X:167.98, Y:82.21, Z:0.05 [[ 4.83573206e-01 -8.75303921e-01 0.00000000e+00 1.67982065e+02] [ 8.75303921e-01 4.83573206e-01 0.00000000e+00 8.22076626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73040929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.060371743 meters Centerline goodness : 0.986769 Centerline is valid? [True, True] Translation: X:168.00, Y:82.23, Z:0.05 [[ 4.82901865e-01 -8.75674477e-01 0.00000000e+00 1.67995945e+02] [ 8.75674477e-01 4.82901865e-01 0.00000000e+00 8.22315022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66081909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.090371743 meters Centerline goodness : 0.986951 Centerline is valid? [True, True] Translation: X:168.03, Y:82.26, Z:0.05 [[ 4.92259760e-01 -8.70448349e-01 0.00000000e+00 1.68028192e+02] [ 8.70448349e-01 4.92259760e-01 0.00000000e+00 8.22614020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53084690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.120371743 meters Centerline goodness : 0.986448 Centerline is valid? [True, True] Translation: X:168.04, Y:82.29, Z:0.05 [[ 4.90884521e-01 -8.71224648e-01 0.00000000e+00 1.68041572e+02] [ 8.71224648e-01 4.90884521e-01 0.00000000e+00 8.22862762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57604449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.150371743 meters Centerline goodness : 0.986260 Centerline is valid? [True, True] Translation: X:168.06, Y:82.31, Z:0.04 [[ 4.92523067e-01 -8.70299390e-01 0.00000000e+00 1.68058213e+02] [ 8.70299390e-01 4.92523067e-01 0.00000000e+00 8.23103873e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42299862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.180371743 meters Centerline goodness : 0.985846 Centerline is valid? [True, True] Translation: X:168.07, Y:82.34, Z:0.05 [[ 4.89517088e-01 -8.71993704e-01 0.00000000e+00 1.68070061e+02] [ 8.71993704e-01 4.89517088e-01 0.00000000e+00 8.23359898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51835876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21037174299997 meters Centerline goodness : 0.985813 Centerline is valid? [True, True] Translation: X:168.07, Y:82.36, Z:0.05 [[ 4.81636342e-01 -8.76371173e-01 0.00000000e+00 1.68067444e+02] [ 8.76371173e-01 4.81636342e-01 0.00000000e+00 8.23552531e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55562304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24037174299997 meters Centerline goodness : 0.986372 Centerline is valid? [True, True] Translation: X:168.10, Y:82.39, Z:0.04 [[ 4.88609964e-01 -8.72502323e-01 0.00000000e+00 1.68100416e+02] [ 8.72502323e-01 4.88609964e-01 0.00000000e+00 8.23857015e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19675399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27037174299997 meters Centerline goodness : 0.985364 Centerline is valid? [True, True] Translation: X:168.11, Y:82.41, Z:0.04 [[ 4.85607394e-01 -8.74177018e-01 0.00000000e+00 1.68112380e+02] [ 8.74177018e-01 4.85607394e-01 0.00000000e+00 8.24090716e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27376395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30037174299997 meters Centerline goodness : 0.987021 Centerline is valid? [True, True] Translation: X:168.11, Y:82.43, Z:0.04 [[ 4.75693487e-01 -8.79611111e-01 0.00000000e+00 1.68109153e+02] [ 8.79611111e-01 4.75693487e-01 0.00000000e+00 8.24290650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41144113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33037174299997 meters Centerline goodness : 0.988032 Centerline is valid? [True, True] Translation: X:168.12, Y:82.45, Z:0.05 [[ 4.72248007e-01 -8.81465722e-01 0.00000000e+00 1.68120980e+02] [ 8.81465722e-01 4.72248007e-01 0.00000000e+00 8.24544190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53565246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36037174299997 meters Centerline goodness : 0.986261 Centerline is valid? [True, True] Translation: X:168.13, Y:82.48, Z:0.05 [[ 4.71191873e-01 -8.82030736e-01 0.00000000e+00 1.68134167e+02] [ 8.82030736e-01 4.71191873e-01 0.00000000e+00 8.24774610e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62924416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39037174299997 meters Centerline goodness : 0.987354 Centerline is valid? [True, True] Translation: X:168.15, Y:82.50, Z:0.05 [[ 4.67112331e-01 -8.84197981e-01 0.00000000e+00 1.68145545e+02] [ 8.84197981e-01 4.67112331e-01 0.00000000e+00 8.25029140e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68143476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42037174299998 meters Centerline goodness : 0.987872 Centerline is valid? [True, True] Translation: X:168.16, Y:82.53, Z:0.05 [[ 4.65482152e-01 -8.85057267e-01 0.00000000e+00 1.68158430e+02] [ 8.85057267e-01 4.65482152e-01 0.00000000e+00 8.25262013e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67239607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45037174299998 meters Centerline goodness : 0.986472 Centerline is valid? [True, True] Translation: X:168.17, Y:82.55, Z:0.05 [[ 4.64460539e-01 -8.85593817e-01 0.00000000e+00 1.68172825e+02] [ 8.85593817e-01 4.64460539e-01 0.00000000e+00 8.25503052e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67574634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48037174299998 meters Centerline goodness : 0.987765 Centerline is valid? [True, True] Translation: X:168.18, Y:82.58, Z:0.05 [[ 4.61104065e-01 -8.87346066e-01 0.00000000e+00 1.68183804e+02] [ 8.87346066e-01 4.61104065e-01 0.00000000e+00 8.25757989e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53571568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51037174299998 meters Centerline goodness : 0.986204 Centerline is valid? [True, True] Translation: X:168.21, Y:82.60, Z:0.04 [[ 4.66411362e-01 -8.84567941e-01 0.00000000e+00 1.68211450e+02] [ 8.84567941e-01 4.66411362e-01 0.00000000e+00 8.26043882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39054256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54037174299998 meters Centerline goodness : 0.987171 Centerline is valid? [True, True] Translation: X:168.22, Y:82.63, Z:0.05 [[ 4.63917404e-01 -8.85878458e-01 0.00000000e+00 1.68221604e+02] [ 8.85878458e-01 4.63917404e-01 0.00000000e+00 8.26304664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50720427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57037174299998 meters Centerline goodness : 0.987952 Centerline is valid? [True, True] Translation: X:168.22, Y:82.65, Z:0.05 [[ 4.56419210e-01 -8.89764859e-01 0.00000000e+00 1.68220081e+02] [ 8.89764859e-01 4.56419210e-01 0.00000000e+00 8.26526227e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55864943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60037174299998 meters Centerline goodness : 0.987858 Centerline is valid? [True, True] Translation: X:168.24, Y:82.68, Z:0.05 [[ 4.61484789e-01 -8.87148122e-01 0.00000000e+00 1.68244085e+02] [ 8.87148122e-01 4.61484789e-01 0.00000000e+00 8.26810237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56191799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63037174299998 meters Centerline goodness : 0.988589 Centerline is valid? [True, True] Translation: X:168.25, Y:82.71, Z:0.05 [[ 4.62719086e-01 -8.86504962e-01 0.00000000e+00 1.68253836e+02] [ 8.86504962e-01 4.62719086e-01 0.00000000e+00 8.27090813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62779181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66037174299998 meters Centerline goodness : 0.989216 Centerline is valid? [True, True] Translation: X:168.27, Y:82.73, Z:0.05 [[ 4.64121995e-01 -8.85771288e-01 0.00000000e+00 1.68265424e+02] [ 8.85771288e-01 4.64121995e-01 0.00000000e+00 8.27348877e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65271184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.690371743 meters Centerline goodness : 0.989326 Centerline is valid? [True, True] Translation: X:168.26, Y:82.76, Z:0.05 [[ 4.65234981e-01 -8.85187219e-01 0.00000000e+00 1.68263125e+02] [ 8.85187219e-01 4.65234981e-01 0.00000000e+00 8.27583910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72644157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.720371743 meters Centerline goodness : 0.990221 Centerline is valid? [True, True] Translation: X:168.27, Y:82.78, Z:0.05 [[ 4.67193823e-01 -8.84154925e-01 0.00000000e+00 1.68273969e+02] [ 8.84154925e-01 4.67193823e-01 0.00000000e+00 8.27846348e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68168131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.750371743 meters Centerline goodness : 0.989829 Centerline is valid? [True, True] Translation: X:168.29, Y:82.81, Z:0.05 [[ 4.71331843e-01 -8.81955948e-01 0.00000000e+00 1.68286176e+02] [ 8.81955948e-01 4.71331843e-01 0.00000000e+00 8.28098302e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67495194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.780371743 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:168.30, Y:82.84, Z:0.05 [[ 4.73047966e-01 -8.81036675e-01 0.00000000e+00 1.68296408e+02] [ 8.81036675e-01 4.73047966e-01 0.00000000e+00 8.28364649e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65578329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.810371743 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:168.31, Y:82.86, Z:0.05 [[ 4.76555587e-01 -8.79144341e-01 0.00000000e+00 1.68308892e+02] [ 8.79144341e-01 4.76555587e-01 0.00000000e+00 8.28620083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.71103813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.840371743 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:168.32, Y:82.89, Z:0.05 [[ 4.81994017e-01 -8.76174507e-01 0.00000000e+00 1.68317529e+02] [ 8.76174507e-01 4.81994017e-01 0.00000000e+00 8.28887690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75800783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.870371743 meters Centerline goodness : 0.991966 Centerline is valid? [True, True] Translation: X:168.33, Y:82.91, Z:0.05 [[ 4.83683656e-01 -8.75242893e-01 0.00000000e+00 1.68328921e+02] [ 8.75242893e-01 4.83683656e-01 0.00000000e+00 8.29148340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88172097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.900371743 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:168.34, Y:82.94, Z:0.05 [[ 4.87345780e-01 -8.73209076e-01 0.00000000e+00 1.68336346e+02] [ 8.73209076e-01 4.87345780e-01 0.00000000e+00 8.29416381e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03172466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.930371743 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:168.35, Y:82.97, Z:0.05 [[ 4.88395532e-01 -8.72622372e-01 0.00000000e+00 1.68347475e+02] [ 8.72622372e-01 4.88395532e-01 0.00000000e+00 8.29661096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01615845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96037174299997 meters Centerline goodness : 0.992783 Centerline is valid? [True, True] Translation: X:168.36, Y:82.99, Z:0.05 [[ 4.89679638e-01 -8.71902433e-01 0.00000000e+00 1.68360097e+02] [ 8.71902433e-01 4.89679638e-01 0.00000000e+00 8.29907988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04533557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99037174299997 meters Centerline goodness : 0.992973 Centerline is valid? [True, True] Translation: X:168.38, Y:83.02, Z:0.05 [[ 4.94099085e-01 -8.69405598e-01 0.00000000e+00 1.68380250e+02] [ 8.69405598e-01 4.94099085e-01 0.00000000e+00 8.30198116e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01716175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02037174299997 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:168.39, Y:83.04, Z:0.05 [[ 4.94300283e-01 -8.69291223e-01 0.00000000e+00 1.68392513e+02] [ 8.69291223e-01 4.94300283e-01 0.00000000e+00 8.30440507e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95588619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05037174299997 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:168.40, Y:83.07, Z:0.05 [[ 4.90252038e-01 -8.71580713e-01 0.00000000e+00 1.68396495e+02] [ 8.71580713e-01 4.90252038e-01 0.00000000e+00 8.30667256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86883865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08037174299997 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:168.41, Y:83.09, Z:0.05 [[ 4.90065413e-01 -8.71685661e-01 0.00000000e+00 1.68409438e+02] [ 8.71685661e-01 4.90065413e-01 0.00000000e+00 8.30916655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89754538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11037174299997 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:168.42, Y:83.12, Z:0.05 [[ 4.89621437e-01 -8.71935117e-01 0.00000000e+00 1.68422082e+02] [ 8.71935117e-01 4.89621437e-01 0.00000000e+00 8.31161159e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91675838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14037174299997 meters Centerline goodness : 0.992939 Centerline is valid? [True, True] Translation: X:168.45, Y:83.14, Z:0.05 [[ 4.95149126e-01 -8.68808001e-01 0.00000000e+00 1.68445311e+02] [ 8.68808001e-01 4.95149126e-01 0.00000000e+00 8.31447320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91120176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17037174299998 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:168.45, Y:83.17, Z:0.05 [[ 4.91002930e-01 -8.71157920e-01 0.00000000e+00 1.68448801e+02] [ 8.71157920e-01 4.91002930e-01 0.00000000e+00 8.31661689e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76904307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20037174299998 meters Centerline goodness : 0.993401 Centerline is valid? [True, True] Translation: X:168.46, Y:83.19, Z:0.05 [[ 4.90691133e-01 -8.71333582e-01 0.00000000e+00 1.68459651e+02] [ 8.71333582e-01 4.90691133e-01 0.00000000e+00 8.31919214e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87854456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23037174299998 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:168.47, Y:83.22, Z:0.05 [[ 4.90609674e-01 -8.71379451e-01 0.00000000e+00 1.68473163e+02] [ 8.71379451e-01 4.90609674e-01 0.00000000e+00 8.32163872e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07022153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26037174299998 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:168.49, Y:83.24, Z:0.05 [[ 4.91297379e-01 -8.70991897e-01 0.00000000e+00 1.68487330e+02] [ 8.70991897e-01 4.91297379e-01 0.00000000e+00 8.32399049e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18083637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29037174299998 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:168.50, Y:83.27, Z:0.05 [[ 4.89024668e-01 -8.72269955e-01 0.00000000e+00 1.68500502e+02] [ 8.72269955e-01 4.89024668e-01 0.00000000e+00 8.32655266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39803700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32037174299998 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:168.51, Y:83.29, Z:0.05 [[ 4.87996178e-01 -8.72845765e-01 0.00000000e+00 1.68514360e+02] [ 8.72845765e-01 4.87996178e-01 0.00000000e+00 8.32888613e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35588393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35037174299998 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:168.53, Y:83.31, Z:0.05 [[ 4.86167860e-01 -8.73865443e-01 0.00000000e+00 1.68528088e+02] [ 8.73865443e-01 4.86167860e-01 0.00000000e+00 8.33130237e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24302949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38037174299998 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:168.54, Y:83.34, Z:0.05 [[ 4.84563658e-01 -8.74756001e-01 0.00000000e+00 1.68541281e+02] [ 8.74756001e-01 4.84563658e-01 0.00000000e+00 8.33373735e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24480562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41037174299998 meters Centerline goodness : 0.993109 Centerline is valid? [True, True] Translation: X:168.56, Y:83.36, Z:0.05 [[ 4.84103317e-01 -8.75010844e-01 0.00000000e+00 1.68556245e+02] [ 8.75010844e-01 4.84103317e-01 0.00000000e+00 8.33618678e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19903746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.440371743 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:168.58, Y:83.39, Z:0.05 [[ 4.88860549e-01 -8.72361945e-01 0.00000000e+00 1.68583619e+02] [ 8.72361945e-01 4.88860549e-01 0.00000000e+00 8.33914508e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81053915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.470371743 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:168.60, Y:83.42, Z:0.05 [[ 4.89102269e-01 -8.72226444e-01 0.00000000e+00 1.68599400e+02] [ 8.72226444e-01 4.89102269e-01 0.00000000e+00 8.34166249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75062641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.500371743 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:168.60, Y:83.43, Z:0.05 [[ 4.80755778e-01 -8.76854538e-01 0.00000000e+00 1.68596688e+02] [ 8.76854538e-01 4.80755778e-01 0.00000000e+00 8.34347464e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25532739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.530371743 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:168.61, Y:83.46, Z:0.05 [[ 4.80177359e-01 -8.77171422e-01 0.00000000e+00 1.68611492e+02] [ 8.77171422e-01 4.80177359e-01 0.00000000e+00 8.34597750e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35643983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.560371743 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:168.64, Y:83.49, Z:0.05 [[ 4.85021087e-01 -8.74502456e-01 0.00000000e+00 1.68639247e+02] [ 8.74502456e-01 4.85021087e-01 0.00000000e+00 8.34883755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16519721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.590371743 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:168.64, Y:83.51, Z:0.05 [[ 4.76761795e-01 -8.79032531e-01 0.00000000e+00 1.68639591e+02] [ 8.79032531e-01 4.76761795e-01 0.00000000e+00 8.35085088e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33723365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.620371743 meters Centerline goodness : 0.992489 Centerline is valid? [True, True] Translation: X:168.67, Y:83.54, Z:0.05 [[ 4.80990074e-01 -8.76726040e-01 0.00000000e+00 1.68666173e+02] [ 8.76726040e-01 4.80990074e-01 0.00000000e+00 8.35356844e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30914745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.650371743 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:168.68, Y:83.56, Z:0.05 [[ 4.80774465e-01 -8.76844293e-01 0.00000000e+00 1.68683244e+02] [ 8.76844293e-01 4.80774465e-01 0.00000000e+00 8.35618954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10866553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.680371743 meters Centerline goodness : 0.993030 Centerline is valid? [True, True] Translation: X:168.68, Y:83.58, Z:0.05 [[ 4.72946205e-01 -8.81091305e-01 0.00000000e+00 1.68683653e+02] [ 8.81091305e-01 4.72946205e-01 0.00000000e+00 8.35814155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20979223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71037174299997 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:168.70, Y:83.61, Z:0.05 [[ 4.71285412e-01 -8.81980760e-01 0.00000000e+00 1.68697893e+02] [ 8.81980760e-01 4.71285412e-01 0.00000000e+00 8.36061605e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27394288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74037174299997 meters Centerline goodness : 0.992494 Centerline is valid? [True, True] Translation: X:168.72, Y:83.63, Z:0.05 [[ 4.75359177e-01 -8.79791823e-01 0.00000000e+00 1.68724286e+02] [ 8.79791823e-01 4.75359177e-01 0.00000000e+00 8.36335086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18730097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77037174299997 meters Centerline goodness : 0.992757 Centerline is valid? [True, True] Translation: X:168.74, Y:83.66, Z:0.05 [[ 4.74570539e-01 -8.80217475e-01 0.00000000e+00 1.68741131e+02] [ 8.80217475e-01 4.74570539e-01 0.00000000e+00 8.36588592e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08745473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80037174299997 meters Centerline goodness : 0.992483 Centerline is valid? [True, True] Translation: X:168.76, Y:83.68, Z:0.05 [[ 4.72253369e-01 -8.81462849e-01 0.00000000e+00 1.68757616e+02] [ 8.81462849e-01 4.72253369e-01 0.00000000e+00 8.36839654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85432587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83037174299997 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:168.78, Y:83.71, Z:0.05 [[ 4.72977107e-01 -8.81074717e-01 0.00000000e+00 1.68775363e+02] [ 8.81074717e-01 4.72977107e-01 0.00000000e+00 8.37087230e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50563267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86037174299997 meters Centerline goodness : 0.992875 Centerline is valid? [True, True] Translation: X:168.79, Y:83.73, Z:0.05 [[ 4.67388570e-01 -8.84051992e-01 0.00000000e+00 1.68789319e+02] [ 8.84051992e-01 4.67388570e-01 0.00000000e+00 8.37330746e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61079604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89037174299997 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:168.80, Y:83.75, Z:0.05 [[ 4.66164623e-01 -8.84697996e-01 0.00000000e+00 1.68799007e+02] [ 8.84697996e-01 4.66164623e-01 0.00000000e+00 8.37532351e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72986595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92037174299998 meters Centerline goodness : 0.992072 Centerline is valid? [True, True] Translation: X:168.82, Y:83.78, Z:0.05 [[ 4.63873834e-01 -8.85901273e-01 0.00000000e+00 1.68815198e+02] [ 8.85901273e-01 4.63873834e-01 0.00000000e+00 8.37785681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83587794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95037174299998 meters Centerline goodness : 0.992072 Centerline is valid? [True, True] Translation: X:168.83, Y:83.80, Z:0.05 [[ 4.63275645e-01 -8.86214238e-01 0.00000000e+00 1.68829213e+02] [ 8.86214238e-01 4.63275645e-01 0.00000000e+00 8.38019748e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83587794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98037174299998 meters Centerline goodness : 0.993378 Centerline is valid? [True, True] Translation: X:168.85, Y:83.83, Z:0.04 [[ 4.58144665e-01 -8.88877644e-01 0.00000000e+00 1.68845095e+02] [ 8.88877644e-01 4.58144665e-01 0.00000000e+00 8.38286213e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42562123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01037174299998 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:168.86, Y:83.85, Z:0.05 [[ 4.55533193e-01 -8.90218799e-01 0.00000000e+00 1.68860030e+02] [ 8.90218799e-01 4.55533193e-01 0.00000000e+00 8.38542398e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53453420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04037174299998 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:168.87, Y:83.88, Z:0.05 [[ 4.53875075e-01 -8.91065327e-01 0.00000000e+00 1.68873825e+02] [ 8.91065327e-01 4.53875075e-01 0.00000000e+00 8.38794521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68374387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07037174299998 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:168.89, Y:83.91, Z:0.05 [[ 4.50626646e-01 -8.92712510e-01 0.00000000e+00 1.68886737e+02] [ 8.92712510e-01 4.50626646e-01 0.00000000e+00 8.39051629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90020432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10037174299998 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:168.90, Y:83.93, Z:0.05 [[ 4.50700106e-01 -8.92675425e-01 0.00000000e+00 1.68898975e+02] [ 8.92675425e-01 4.50700106e-01 0.00000000e+00 8.39279593e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89473307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13037174299998 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:168.91, Y:83.95, Z:0.05 [[ 4.50050314e-01 -8.93003200e-01 0.00000000e+00 1.68911865e+02] [ 8.93003200e-01 4.50050314e-01 0.00000000e+00 8.39523619e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90506233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16037174299998 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:168.92, Y:83.98, Z:0.05 [[ 4.48830828e-01 -8.93616746e-01 0.00000000e+00 1.68924335e+02] [ 8.93616746e-01 4.48830828e-01 0.00000000e+00 8.39774802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96202786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.190371743 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:168.92, Y:84.00, Z:0.05 [[ 4.43993911e-01 -8.96029803e-01 0.00000000e+00 1.68920783e+02] [ 8.96029803e-01 4.43993911e-01 0.00000000e+00 8.39978455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35150080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.220371743 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:168.95, Y:84.03, Z:0.05 [[ 4.51291455e-01 -8.92376615e-01 0.00000000e+00 1.68948160e+02] [ 8.92376615e-01 4.51291455e-01 0.00000000e+00 8.40276443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91439239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.250371743 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:168.94, Y:84.05, Z:0.06 [[ 4.47309563e-01 -8.94379201e-01 0.00000000e+00 1.68944486e+02] [ 8.94379201e-01 4.47309563e-01 0.00000000e+00 8.40495036e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54224537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.280371743 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:168.96, Y:84.07, Z:0.06 [[ 4.49699394e-01 -8.93179968e-01 0.00000000e+00 1.68957468e+02] [ 8.93179968e-01 4.49699394e-01 0.00000000e+00 8.40735385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50893222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.310371743 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:168.99, Y:84.11, Z:0.05 [[ 4.60596909e-01 -8.87609423e-01 0.00000000e+00 1.68986134e+02] [ 8.87609423e-01 4.60596909e-01 0.00000000e+00 8.41068641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88631945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.340371743 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:169.00, Y:84.13, Z:0.05 [[ 4.62876519e-01 -8.86422770e-01 0.00000000e+00 1.68998585e+02] [ 8.86422770e-01 4.62876519e-01 0.00000000e+00 8.41312643e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76278436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.370371743 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:168.99, Y:84.15, Z:0.05 [[ 4.54891065e-01 -8.90547090e-01 0.00000000e+00 1.68992570e+02] [ 8.90547090e-01 4.54891065e-01 0.00000000e+00 8.41511127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47616608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.400371743 meters Centerline goodness : 0.992893 Centerline is valid? [True, True] Translation: X:169.02, Y:84.18, Z:0.05 [[ 4.62317313e-01 -8.86714555e-01 0.00000000e+00 1.69018041e+02] [ 8.86714555e-01 4.62317313e-01 0.00000000e+00 8.41786752e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79571141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.430371743 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:169.03, Y:84.21, Z:0.05 [[ 4.62268037e-01 -8.86740245e-01 0.00000000e+00 1.69031806e+02] [ 8.86740245e-01 4.62268037e-01 0.00000000e+00 8.42054949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79572843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46037174299997 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:169.05, Y:84.23, Z:0.05 [[ 4.64483024e-01 -8.85582023e-01 0.00000000e+00 1.69045202e+02] [ 8.85582023e-01 4.64483024e-01 0.00000000e+00 8.42333814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62321320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49037174299997 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:169.06, Y:84.26, Z:0.05 [[ 4.64293957e-01 -8.85681163e-01 0.00000000e+00 1.69057832e+02] [ 8.85681163e-01 4.64293957e-01 0.00000000e+00 8.42580929e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61218749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52037174299997 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:169.07, Y:84.29, Z:0.05 [[ 4.65140554e-01 -8.85236841e-01 0.00000000e+00 1.69072022e+02] [ 8.85236841e-01 4.65140554e-01 0.00000000e+00 8.42851481e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60884469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55037174299997 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:169.08, Y:84.31, Z:0.05 [[ 4.63700510e-01 -8.85992007e-01 0.00000000e+00 1.69084166e+02] [ 8.85992007e-01 4.63700510e-01 0.00000000e+00 8.43097258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70038413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58037174299997 meters Centerline goodness : 0.994178 Centerline is valid? [True, True] Translation: X:169.10, Y:84.34, Z:0.05 [[ 4.63371178e-01 -8.86164291e-01 0.00000000e+00 1.69098691e+02] [ 8.86164291e-01 4.63371178e-01 0.00000000e+00 8.43351562e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73121834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61037174299997 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:169.11, Y:84.36, Z:0.05 [[ 4.60898543e-01 -8.87452834e-01 0.00000000e+00 1.69110549e+02] [ 8.87452834e-01 4.60898543e-01 0.00000000e+00 8.43595965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72733860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64037174299997 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:169.12, Y:84.38, Z:0.05 [[ 4.58876741e-01 -8.88499936e-01 0.00000000e+00 1.69124079e+02] [ 8.88499936e-01 4.58876741e-01 0.00000000e+00 8.43842802e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73797908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67037174299998 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:169.14, Y:84.41, Z:0.05 [[ 4.57051414e-01 -8.89440276e-01 0.00000000e+00 1.69138554e+02] [ 8.89440276e-01 4.57051414e-01 0.00000000e+00 8.44093301e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66202600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70037174299998 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:169.15, Y:84.43, Z:0.05 [[ 4.52540899e-01 -8.91743649e-01 0.00000000e+00 1.69150036e+02] [ 8.91743649e-01 4.52540899e-01 0.00000000e+00 8.44322244e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74757426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73037174299998 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:169.17, Y:84.46, Z:0.05 [[ 4.50715602e-01 -8.92667601e-01 0.00000000e+00 1.69165649e+02] [ 8.92667601e-01 4.50715602e-01 0.00000000e+00 8.44577602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66911346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76037174299998 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:169.18, Y:84.48, Z:0.05 [[ 4.48084176e-01 -8.93991371e-01 0.00000000e+00 1.69180198e+02] [ 8.93991371e-01 4.48084176e-01 0.00000000e+00 8.44842660e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67699249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79037174299998 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:169.19, Y:84.51, Z:0.05 [[ 4.44354906e-01 -8.95850834e-01 0.00000000e+00 1.69190344e+02] [ 8.95850834e-01 4.44354906e-01 0.00000000e+00 8.45073869e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74205215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82037174299998 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:169.21, Y:84.54, Z:0.05 [[ 4.42932884e-01 -8.96554772e-01 0.00000000e+00 1.69208106e+02] [ 8.96554772e-01 4.42932884e-01 0.00000000e+00 8.45368996e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68265996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85037174299998 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:169.22, Y:84.56, Z:0.05 [[ 4.42440260e-01 -8.96797980e-01 0.00000000e+00 1.69223939e+02] [ 8.96797980e-01 4.42440260e-01 0.00000000e+00 8.45646305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67748669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88037174299998 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:169.24, Y:84.59, Z:0.05 [[ 4.42658299e-01 -8.96690376e-01 0.00000000e+00 1.69236916e+02] [ 8.96690376e-01 4.42658299e-01 0.00000000e+00 8.45919946e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79675619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91037174299998 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:169.25, Y:84.62, Z:0.05 [[ 4.42131312e-01 -8.96950335e-01 0.00000000e+00 1.69249682e+02] [ 8.96950335e-01 4.42131312e-01 0.00000000e+00 8.46172447e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85124839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.940371743 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:169.26, Y:84.64, Z:0.05 [[ 4.42920272e-01 -8.96561003e-01 0.00000000e+00 1.69259569e+02] [ 8.96561003e-01 4.42920272e-01 0.00000000e+00 8.46409484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00736245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.970371743 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:169.27, Y:84.67, Z:0.05 [[ 4.42743860e-01 -8.96648133e-01 0.00000000e+00 1.69272211e+02] [ 8.96648133e-01 4.42743860e-01 0.00000000e+00 8.46655353e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06067000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.000371743 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:169.29, Y:84.69, Z:0.05 [[ 4.43358825e-01 -8.96344215e-01 0.00000000e+00 1.69285831e+02] [ 8.96344215e-01 4.43358825e-01 0.00000000e+00 8.46907737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05481498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.030371743 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:169.30, Y:84.72, Z:0.05 [[ 4.42788375e-01 -8.96626151e-01 0.00000000e+00 1.69297674e+02] [ 8.96626151e-01 4.42788375e-01 0.00000000e+00 8.47151357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01407219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.060371743 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:169.31, Y:84.74, Z:0.05 [[ 4.41988720e-01 -8.97020608e-01 0.00000000e+00 1.69309917e+02] [ 8.97020608e-01 4.41988720e-01 0.00000000e+00 8.47391309e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04321479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.090371743 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:169.32, Y:84.76, Z:0.05 [[ 4.43227638e-01 -8.96409092e-01 0.00000000e+00 1.69321711e+02] [ 8.96409092e-01 4.43227638e-01 0.00000000e+00 8.47612151e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96831658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.120371743 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:169.34, Y:84.79, Z:0.05 [[ 4.41503823e-01 -8.97259369e-01 0.00000000e+00 1.69338419e+02] [ 8.97259369e-01 4.41503823e-01 0.00000000e+00 8.47933060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01888240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.150371743 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:169.35, Y:84.82, Z:0.05 [[ 4.42751601e-01 -8.96644311e-01 0.00000000e+00 1.69352097e+02] [ 8.96644311e-01 4.42751601e-01 0.00000000e+00 8.48193020e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04812700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.180371743 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:169.37, Y:84.85, Z:0.05 [[ 4.41469344e-01 -8.97276333e-01 0.00000000e+00 1.69368484e+02] [ 8.97276333e-01 4.41469344e-01 0.00000000e+00 8.48501578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97127776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21037174299997 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:169.38, Y:84.88, Z:0.05 [[ 4.40992120e-01 -8.97510975e-01 0.00000000e+00 1.69381049e+02] [ 8.97510975e-01 4.40992120e-01 0.00000000e+00 8.48757385e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11362051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24037174299997 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:169.39, Y:84.90, Z:0.05 [[ 4.40477609e-01 -8.97763597e-01 0.00000000e+00 1.69393398e+02] [ 8.97763597e-01 4.40477609e-01 0.00000000e+00 8.49005105e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15568280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27037174299997 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:169.41, Y:84.93, Z:0.05 [[ 4.40039911e-01 -8.97978216e-01 0.00000000e+00 1.69408364e+02] [ 8.97978216e-01 4.40039911e-01 0.00000000e+00 8.49298888e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13350363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30037174299997 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:169.42, Y:84.96, Z:0.05 [[ 4.40116467e-01 -8.97940697e-01 0.00000000e+00 1.69419298e+02] [ 8.97940697e-01 4.40116467e-01 0.00000000e+00 8.49574876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25235523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33037174299997 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:169.43, Y:84.98, Z:0.05 [[ 4.40717234e-01 -8.97645988e-01 0.00000000e+00 1.69433172e+02] [ 8.97645988e-01 4.40717234e-01 0.00000000e+00 8.49841627e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06574474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36037174299997 meters Centerline goodness : 0.994009 Centerline is valid? [True, True] Translation: X:169.45, Y:85.01, Z:0.05 [[ 4.39987286e-01 -8.98004002e-01 0.00000000e+00 1.69446095e+02] [ 8.98004002e-01 4.39987286e-01 0.00000000e+00 8.50132255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25540370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39037174299997 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:169.46, Y:85.04, Z:0.05 [[ 4.39696754e-01 -8.98146293e-01 0.00000000e+00 1.69460802e+02] [ 8.98146293e-01 4.39696754e-01 0.00000000e+00 8.50411603e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24235782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42037174299998 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:169.48, Y:85.07, Z:0.05 [[ 4.38746762e-01 -8.98610749e-01 0.00000000e+00 1.69475967e+02] [ 8.98610749e-01 4.38746762e-01 0.00000000e+00 8.50702459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26878374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45037174299998 meters Centerline goodness : 0.993954 Centerline is valid? [True, True] Translation: X:169.49, Y:85.10, Z:0.05 [[ 4.37135331e-01 -8.99395743e-01 0.00000000e+00 1.69488169e+02] [ 8.99395743e-01 4.37135331e-01 0.00000000e+00 8.50984522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24661617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48037174299998 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:169.50, Y:85.13, Z:0.05 [[ 4.34928923e-01 -9.00464787e-01 0.00000000e+00 1.69501021e+02] [ 9.00464787e-01 4.34928923e-01 0.00000000e+00 8.51250670e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27933516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51037174299998 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:169.51, Y:85.15, Z:0.05 [[ 4.33740301e-01 -9.01037930e-01 0.00000000e+00 1.69514991e+02] [ 9.01037930e-01 4.33740301e-01 0.00000000e+00 8.51513841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21848045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54037174299998 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:169.53, Y:85.18, Z:0.05 [[ 4.30975993e-01 -9.02363393e-01 0.00000000e+00 1.69526891e+02] [ 9.02363393e-01 4.30975993e-01 0.00000000e+00 8.51763236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09823094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57037174299998 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:169.54, Y:85.20, Z:0.05 [[ 4.29612934e-01 -9.03013138e-01 0.00000000e+00 1.69541818e+02] [ 9.03013138e-01 4.29612934e-01 0.00000000e+00 8.52041421e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00950238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60037174299998 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:169.56, Y:85.23, Z:0.05 [[ 4.27276738e-01 -9.04120893e-01 0.00000000e+00 1.69556476e+02] [ 9.04120893e-01 4.27276738e-01 0.00000000e+00 8.52330009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03795485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63037174299998 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:169.57, Y:85.26, Z:0.05 [[ 4.25063812e-01 -9.05163386e-01 0.00000000e+00 1.69570462e+02] [ 9.05163386e-01 4.25063812e-01 0.00000000e+00 8.52619896e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92213476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66037174299998 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:169.58, Y:85.29, Z:0.05 [[ 4.23174616e-01 -9.06048147e-01 0.00000000e+00 1.69584510e+02] [ 9.06048147e-01 4.23174616e-01 0.00000000e+00 8.52903190e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93111971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.690371743 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:169.60, Y:85.32, Z:0.05 [[ 4.20622070e-01 -9.07235953e-01 0.00000000e+00 1.69597515e+02] [ 9.07235953e-01 4.20622070e-01 0.00000000e+00 8.53197650e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91381455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.720371743 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:169.61, Y:85.35, Z:0.05 [[ 4.19324848e-01 -9.07836258e-01 0.00000000e+00 1.69611678e+02] [ 9.07836258e-01 4.19324848e-01 0.00000000e+00 8.53479607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88018227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.750371743 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:169.63, Y:85.38, Z:0.05 [[ 4.17754870e-01 -9.08559777e-01 0.00000000e+00 1.69626307e+02] [ 9.08559777e-01 4.17754870e-01 0.00000000e+00 8.53764665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84745608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.780371743 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:169.64, Y:85.40, Z:0.05 [[ 4.16294664e-01 -9.09229758e-01 0.00000000e+00 1.69640734e+02] [ 9.09229758e-01 4.16294664e-01 0.00000000e+00 8.54043994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84852480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.810371743 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:169.65, Y:85.43, Z:0.05 [[ 4.13480985e-01 -9.10512754e-01 0.00000000e+00 1.69651657e+02] [ 9.10512754e-01 4.13480985e-01 0.00000000e+00 8.54288594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80952915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.840371743 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:169.67, Y:85.45, Z:0.05 [[ 4.12814971e-01 -9.10814910e-01 0.00000000e+00 1.69665319e+02] [ 9.10814910e-01 4.12814971e-01 0.00000000e+00 8.54535117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80952915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.870371743 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:169.68, Y:85.48, Z:0.05 [[ 4.11089544e-01 -9.11594969e-01 0.00000000e+00 1.69679233e+02] [ 9.11594969e-01 4.11089544e-01 0.00000000e+00 8.54805973e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87330851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.900371743 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:169.69, Y:85.51, Z:0.05 [[ 4.09670227e-01 -9.12233690e-01 0.00000000e+00 1.69690409e+02] [ 9.12233690e-01 4.09670227e-01 0.00000000e+00 8.55050092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96409328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.930371743 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:169.70, Y:85.53, Z:0.05 [[ 4.08508171e-01 -9.12754663e-01 0.00000000e+00 1.69702733e+02] [ 9.12754663e-01 4.08508171e-01 0.00000000e+00 8.55304681e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04967410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96037174299997 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:169.71, Y:85.56, Z:0.05 [[ 4.08351017e-01 -9.12824982e-01 0.00000000e+00 1.69714877e+02] [ 9.12824982e-01 4.08351017e-01 0.00000000e+00 8.55568320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93855397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99037174299997 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:169.73, Y:85.59, Z:0.05 [[ 4.09116303e-01 -9.12482247e-01 0.00000000e+00 1.69730967e+02] [ 9.12482247e-01 4.09116303e-01 0.00000000e+00 8.55856665e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82064866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02037174299997 meters Centerline goodness : 0.993695 Centerline is valid? [True, True] Translation: X:169.74, Y:85.61, Z:0.05 [[ 4.10252615e-01 -9.11971925e-01 0.00000000e+00 1.69740877e+02] [ 9.11971925e-01 4.10252615e-01 0.00000000e+00 8.56112406e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84817233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05037174299997 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:169.75, Y:85.64, Z:0.05 [[ 4.09775490e-01 -9.12186411e-01 0.00000000e+00 1.69753381e+02] [ 9.12186411e-01 4.09775490e-01 0.00000000e+00 8.56396680e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10984848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08037174299997 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:169.76, Y:85.67, Z:0.05 [[ 4.11213094e-01 -9.11539243e-01 0.00000000e+00 1.69764898e+02] [ 9.11539243e-01 4.11213094e-01 0.00000000e+00 8.56682260e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05409689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11037174299997 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:169.78, Y:85.69, Z:0.05 [[ 4.11568430e-01 -9.11378861e-01 0.00000000e+00 1.69776220e+02] [ 9.11378861e-01 4.11568430e-01 0.00000000e+00 8.56932916e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09078372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14037174299997 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:169.79, Y:85.72, Z:0.05 [[ 4.11814593e-01 -9.11267656e-01 0.00000000e+00 1.69789686e+02] [ 9.11267656e-01 4.11814593e-01 0.00000000e+00 8.57197738e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01429617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17037174299998 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:169.80, Y:85.75, Z:0.05 [[ 4.11302861e-01 -9.11498742e-01 0.00000000e+00 1.69803389e+02] [ 9.11498742e-01 4.11302861e-01 0.00000000e+00 8.57483236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09283842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20037174299998 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:169.82, Y:85.78, Z:0.05 [[ 4.11484823e-01 -9.11416612e-01 0.00000000e+00 1.69817541e+02] [ 9.11416612e-01 4.11484823e-01 0.00000000e+00 8.57785839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09762769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23037174299998 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:169.83, Y:85.80, Z:0.05 [[ 4.12333393e-01 -9.11033025e-01 0.00000000e+00 1.69830689e+02] [ 9.11033025e-01 4.12333393e-01 0.00000000e+00 8.58049734e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92678958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26037174299998 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:169.84, Y:85.83, Z:0.05 [[ 4.12316417e-01 -9.11040708e-01 0.00000000e+00 1.69842269e+02] [ 9.11040708e-01 4.12316417e-01 0.00000000e+00 8.58323216e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08732794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29037174299998 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:169.86, Y:85.86, Z:0.05 [[ 4.13884028e-01 -9.10329617e-01 0.00000000e+00 1.69858372e+02] [ 9.10329617e-01 4.13884028e-01 0.00000000e+00 8.58612293e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79545177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32037174299998 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:169.87, Y:85.89, Z:0.05 [[ 4.15254323e-01 -9.09705363e-01 0.00000000e+00 1.69870785e+02] [ 9.09705363e-01 4.15254323e-01 0.00000000e+00 8.58868635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80491205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35037174299998 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:169.88, Y:85.92, Z:0.05 [[ 4.16746466e-01 -9.09022763e-01 0.00000000e+00 1.69884942e+02] [ 9.09022763e-01 4.16746466e-01 0.00000000e+00 8.59166096e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82994531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38037174299998 meters Centerline goodness : 0.993211 Centerline is valid? [True, True] Translation: X:169.90, Y:85.95, Z:0.05 [[ 4.17917731e-01 -9.08484876e-01 0.00000000e+00 1.69900110e+02] [ 9.08484876e-01 4.17917731e-01 0.00000000e+00 8.59463007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84569726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41037174299998 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:169.91, Y:85.97, Z:0.05 [[ 4.19145035e-01 -9.07919291e-01 0.00000000e+00 1.69914002e+02] [ 9.07919291e-01 4.19145035e-01 0.00000000e+00 8.59740281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82847314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.440371743 meters Centerline goodness : 0.992365 Centerline is valid? [True, True] Translation: X:169.93, Y:86.00, Z:0.05 [[ 4.22481917e-01 -9.06371353e-01 0.00000000e+00 1.69927409e+02] [ 9.06371353e-01 4.22481917e-01 0.00000000e+00 8.60024525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79881547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.470371743 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:169.94, Y:86.03, Z:0.05 [[ 4.23898879e-01 -9.05709523e-01 0.00000000e+00 1.69939496e+02] [ 9.05709523e-01 4.23898879e-01 0.00000000e+00 8.60273762e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84348213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.500371743 meters Centerline goodness : 0.993158 Centerline is valid? [True, True] Translation: X:169.95, Y:86.05, Z:0.05 [[ 4.27238116e-01 -9.04139144e-01 0.00000000e+00 1.69949060e+02] [ 9.04139144e-01 4.27238116e-01 0.00000000e+00 8.60510692e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01185399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.530371743 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:169.96, Y:86.08, Z:0.05 [[ 4.27997414e-01 -9.03779959e-01 0.00000000e+00 1.69963223e+02] [ 9.03779959e-01 4.27997414e-01 0.00000000e+00 8.60799103e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02315119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.560371743 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:169.98, Y:86.11, Z:0.05 [[ 4.30644791e-01 -9.02521504e-01 0.00000000e+00 1.69977466e+02] [ 9.02521504e-01 4.30644791e-01 0.00000000e+00 8.61075233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04903747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.590371743 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:169.99, Y:86.14, Z:0.05 [[ 4.31727964e-01 -9.02003861e-01 0.00000000e+00 1.69992033e+02] [ 9.02003861e-01 4.31727964e-01 0.00000000e+00 8.61363899e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10718172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.620371743 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:170.01, Y:86.16, Z:0.05 [[ 4.35520866e-01 -9.00178635e-01 0.00000000e+00 1.70005570e+02] [ 9.00178635e-01 4.35520866e-01 0.00000000e+00 8.61649100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16537968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.650371743 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:170.02, Y:86.19, Z:0.05 [[ 4.37761079e-01 -8.99091340e-01 0.00000000e+00 1.70020238e+02] [ 8.99091340e-01 4.37761079e-01 0.00000000e+00 8.61925897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08659223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.680371743 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:170.03, Y:86.22, Z:0.05 [[ 4.39608897e-01 -8.98189300e-01 0.00000000e+00 1.70033313e+02] [ 8.98189300e-01 4.39608897e-01 0.00000000e+00 8.62217173e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19356050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71037174299997 meters Centerline goodness : 0.992796 Centerline is valid? [True, True] Translation: X:170.05, Y:86.25, Z:0.05 [[ 4.41985413e-01 -8.97022238e-01 0.00000000e+00 1.70048049e+02] [ 8.97022238e-01 4.41985413e-01 0.00000000e+00 8.62498454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15794159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74037174299997 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:170.06, Y:86.28, Z:0.05 [[ 4.42522498e-01 -8.96757402e-01 0.00000000e+00 1.70063158e+02] [ 8.96757402e-01 4.42522498e-01 0.00000000e+00 8.62789454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12399275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77037174299997 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:170.08, Y:86.31, Z:0.05 [[ 4.44289660e-01 -8.95883194e-01 0.00000000e+00 1.70079019e+02] [ 8.95883194e-01 4.44289660e-01 0.00000000e+00 8.63075321e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96872167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80037174299997 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:170.08, Y:86.33, Z:0.05 [[ 4.40548265e-01 -8.97728927e-01 0.00000000e+00 1.70078508e+02] [ 8.97728927e-01 4.40548265e-01 0.00000000e+00 8.63304107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06973522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83037174299997 meters Centerline goodness : 0.992474 Centerline is valid? [True, True] Translation: X:170.11, Y:86.36, Z:0.05 [[ 4.47789465e-01 -8.94139025e-01 0.00000000e+00 1.70106598e+02] [ 8.94139025e-01 4.47789465e-01 0.00000000e+00 8.63634352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02823629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86037174299997 meters Centerline goodness : 0.993015 Centerline is valid? [True, True] Translation: X:170.12, Y:86.39, Z:0.05 [[ 4.50227679e-01 -8.92913791e-01 0.00000000e+00 1.70121423e+02] [ 8.92913791e-01 4.50227679e-01 0.00000000e+00 8.63932834e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89773179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89037174299997 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:170.14, Y:86.42, Z:0.05 [[ 4.51644965e-01 -8.92197750e-01 0.00000000e+00 1.70137278e+02] [ 8.92197750e-01 4.51644965e-01 0.00000000e+00 8.64222839e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77843993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92037174299998 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:170.15, Y:86.45, Z:0.05 [[ 4.53573425e-01 -8.91218912e-01 0.00000000e+00 1.70152523e+02] [ 8.91218912e-01 4.53573425e-01 0.00000000e+00 8.64501994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74113583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95037174299998 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:170.17, Y:86.48, Z:0.05 [[ 4.54615070e-01 -8.90688014e-01 0.00000000e+00 1.70168027e+02] [ 8.90688014e-01 4.54615070e-01 0.00000000e+00 8.64791273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84215686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98037174299998 meters Centerline goodness : 0.992836 Centerline is valid? [True, True] Translation: X:170.18, Y:86.51, Z:0.05 [[ 4.55570455e-01 -8.90199731e-01 0.00000000e+00 1.70182896e+02] [ 8.90199731e-01 4.55570455e-01 0.00000000e+00 8.65060090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16590164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01037174299998 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:170.20, Y:86.53, Z:0.05 [[ 4.54948915e-01 -8.90517538e-01 0.00000000e+00 1.70197598e+02] [ 8.90517538e-01 4.54948915e-01 0.00000000e+00 8.65341999e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95139589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04037174299998 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:170.21, Y:86.56, Z:0.05 [[ 4.52685245e-01 -8.91670381e-01 0.00000000e+00 1.70210490e+02] [ 8.91670381e-01 4.52685245e-01 0.00000000e+00 8.65607512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15927974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07037174299998 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:170.21, Y:86.58, Z:0.05 [[ 4.46061710e-01 -8.95002207e-01 0.00000000e+00 1.70212075e+02] [ 8.95002207e-01 4.46061710e-01 0.00000000e+00 8.65831781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34362244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10037174299998 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:170.24, Y:86.62, Z:0.05 [[ 4.52264394e-01 -8.91883915e-01 0.00000000e+00 1.70242259e+02] [ 8.91883915e-01 4.52264394e-01 0.00000000e+00 8.66155966e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00995217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13037174299998 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:170.26, Y:86.64, Z:0.05 [[ 4.51773791e-01 -8.92132525e-01 0.00000000e+00 1.70258661e+02] [ 8.92132525e-01 4.51773791e-01 0.00000000e+00 8.66436805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93812021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16037174299998 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:170.27, Y:86.67, Z:0.05 [[ 4.51236811e-01 -8.92404247e-01 0.00000000e+00 1.70274285e+02] [ 8.92404247e-01 4.51236811e-01 0.00000000e+00 8.66711684e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94178535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.190371743 meters Centerline goodness : 0.993358 Centerline is valid? [True, True] Translation: X:170.29, Y:86.70, Z:0.05 [[ 4.50320129e-01 -8.92867169e-01 0.00000000e+00 1.70286672e+02] [ 8.92867169e-01 4.50320129e-01 0.00000000e+00 8.66973857e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07922165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.220371743 meters Centerline goodness : 0.992905 Centerline is valid? [True, True] Translation: X:170.30, Y:86.73, Z:0.05 [[ 4.51234495e-01 -8.92405418e-01 0.00000000e+00 1.70304941e+02] [ 8.92405418e-01 4.51234495e-01 0.00000000e+00 8.67258594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00267161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.250371743 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:170.32, Y:86.75, Z:0.05 [[ 4.52001929e-01 -8.92016960e-01 0.00000000e+00 1.70321639e+02] [ 8.92016960e-01 4.52001929e-01 0.00000000e+00 8.67543494e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86559169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.280371743 meters Centerline goodness : 0.992860 Centerline is valid? [True, True] Translation: X:170.34, Y:86.78, Z:0.05 [[ 4.53968504e-01 -8.91017731e-01 0.00000000e+00 1.70336347e+02] [ 8.91017731e-01 4.53968504e-01 0.00000000e+00 8.67786076e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28872131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.310371743 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:170.35, Y:86.81, Z:0.05 [[ 4.53257343e-01 -8.91379707e-01 0.00000000e+00 1.70349049e+02] [ 8.91379707e-01 4.53257343e-01 0.00000000e+00 8.68064246e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40408659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.340371743 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:170.37, Y:86.83, Z:0.05 [[ 4.56355545e-01 -8.89797514e-01 0.00000000e+00 1.70366070e+02] [ 8.89797514e-01 4.56355545e-01 0.00000000e+00 8.68348526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29982057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.370371743 meters Centerline goodness : 0.992587 Centerline is valid? [True, True] Translation: X:170.38, Y:86.86, Z:0.05 [[ 4.59544337e-01 -8.88154830e-01 0.00000000e+00 1.70384009e+02] [ 8.88154830e-01 4.59544337e-01 0.00000000e+00 8.68624952e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15843325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.400371743 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:170.40, Y:86.89, Z:0.05 [[ 4.61533714e-01 -8.87122670e-01 0.00000000e+00 1.70401759e+02] [ 8.87122670e-01 4.61533714e-01 0.00000000e+00 8.68914025e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18934293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.430371743 meters Centerline goodness : 0.992342 Centerline is valid? [True, True] Translation: X:170.42, Y:86.92, Z:0.05 [[ 4.62874675e-01 -8.86423734e-01 0.00000000e+00 1.70416608e+02] [ 8.86423734e-01 4.62874675e-01 0.00000000e+00 8.69169344e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41700573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46037174299997 meters Centerline goodness : 0.992552 Centerline is valid? [True, True] Translation: X:170.44, Y:86.94, Z:0.06 [[ 4.67037472e-01 -8.84237525e-01 0.00000000e+00 1.70436292e+02] [ 8.84237525e-01 4.67037472e-01 0.00000000e+00 8.69444028e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63029484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49037174299997 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:170.45, Y:86.97, Z:0.05 [[ 4.66085632e-01 -8.84739613e-01 0.00000000e+00 1.70450837e+02] [ 8.84739613e-01 4.66085632e-01 0.00000000e+00 8.69714894e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35192211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52037174299997 meters Centerline goodness : 0.992943 Centerline is valid? [True, True] Translation: X:170.47, Y:87.00, Z:0.06 [[ 4.66859919e-01 -8.84331282e-01 0.00000000e+00 1.70469669e+02] [ 8.84331282e-01 4.66859919e-01 0.00000000e+00 8.69972425e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63080465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55037174299997 meters Centerline goodness : 0.992723 Centerline is valid? [True, True] Translation: X:170.49, Y:87.03, Z:0.05 [[ 4.66957378e-01 -8.84279824e-01 0.00000000e+00 1.70488327e+02] [ 8.84279824e-01 4.66957378e-01 0.00000000e+00 8.70253231e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23830650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58037174299997 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:170.49, Y:87.04, Z:0.06 [[ 4.58195221e-01 -8.88851585e-01 0.00000000e+00 1.70487181e+02] [ 8.88851585e-01 4.58195221e-01 0.00000000e+00 8.70431761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70290078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61037174299997 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:170.52, Y:87.07, Z:0.05 [[ 4.63773167e-01 -8.85953977e-01 0.00000000e+00 1.70523534e+02] [ 8.85953977e-01 4.63773167e-01 0.00000000e+00 8.70749191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15441910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64037174299997 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:170.54, Y:87.10, Z:0.05 [[ 4.61657130e-01 -8.87058450e-01 0.00000000e+00 1.70539692e+02] [ 8.87058450e-01 4.61657130e-01 0.00000000e+00 8.71010312e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19897371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67037174299998 meters Centerline goodness : 0.992855 Centerline is valid? [True, True] Translation: X:170.56, Y:87.13, Z:0.05 [[ 4.61150664e-01 -8.87321850e-01 0.00000000e+00 1.70556268e+02] [ 8.87321850e-01 4.61150664e-01 0.00000000e+00 8.71274107e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15527099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70037174299998 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:170.57, Y:87.15, Z:0.05 [[ 4.59591795e-01 -8.88130273e-01 0.00000000e+00 1.70571040e+02] [ 8.88130273e-01 4.59591795e-01 0.00000000e+00 8.71509730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19943838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73037174299998 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:170.59, Y:87.18, Z:0.05 [[ 4.59258079e-01 -8.88302886e-01 0.00000000e+00 1.70593141e+02] [ 8.88302886e-01 4.59258079e-01 0.00000000e+00 8.71788675e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14331979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76037174299998 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:170.61, Y:87.21, Z:0.05 [[ 4.58804610e-01 -8.88537185e-01 0.00000000e+00 1.70607728e+02] [ 8.88537185e-01 4.58804610e-01 0.00000000e+00 8.72067618e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14331979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79037174299998 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:170.62, Y:87.23, Z:0.05 [[ 4.58972100e-01 -8.88450680e-01 0.00000000e+00 1.70622812e+02] [ 8.88450680e-01 4.58972100e-01 0.00000000e+00 8.72318742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17080792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82037174299998 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:170.62, Y:87.25, Z:0.06 [[ 4.51212314e-01 -8.92416634e-01 0.00000000e+00 1.70621520e+02] [ 8.92416634e-01 4.51212314e-01 0.00000000e+00 8.72491495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72131292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85037174299998 meters Centerline goodness : 0.991987 Centerline is valid? [True, True] Translation: X:170.64, Y:87.27, Z:0.06 [[ 4.50999577e-01 -8.92524163e-01 0.00000000e+00 1.70639381e+02] [ 8.92524163e-01 4.50999577e-01 0.00000000e+00 8.72714698e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68025150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88037174299998 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:170.67, Y:87.30, Z:0.05 [[ 4.58138608e-01 -8.88880766e-01 0.00000000e+00 1.70671753e+02] [ 8.88880766e-01 4.58138608e-01 0.00000000e+00 8.73006875e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05964732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91037174299998 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:170.69, Y:87.33, Z:0.05 [[ 4.55496985e-01 -8.90237326e-01 0.00000000e+00 1.70691171e+02] [ 8.90237326e-01 4.55496985e-01 0.00000000e+00 8.73267893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05085001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.940371743 meters Centerline goodness : 0.992673 Centerline is valid? [True, True] Translation: X:170.69, Y:87.35, Z:0.05 [[ 4.46088805e-01 -8.94988703e-01 0.00000000e+00 1.70690768e+02] [ 8.94988703e-01 4.46088805e-01 0.00000000e+00 8.73459130e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45131640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.970371743 meters Centerline goodness : 0.992413 Centerline is valid? [True, True] Translation: X:170.71, Y:87.37, Z:0.05 [[ 4.44682504e-01 -8.95688266e-01 0.00000000e+00 1.70706126e+02] [ 8.95688266e-01 4.44682504e-01 0.00000000e+00 8.73687552e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42689592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.000371743 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:170.74, Y:87.40, Z:0.05 [[ 4.50520198e-01 -8.92766235e-01 0.00000000e+00 1.70737371e+02] [ 8.92766235e-01 4.50520198e-01 0.00000000e+00 8.73974629e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93654853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.030371743 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:170.74, Y:87.42, Z:0.05 [[ 4.38519714e-01 -8.98721570e-01 0.00000000e+00 1.70739799e+02] [ 8.98721570e-01 4.38519714e-01 0.00000000e+00 8.74161386e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36262295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.060371743 meters Centerline goodness : 0.992579 Centerline is valid? [True, True] Translation: X:170.76, Y:87.44, Z:0.05 [[ 4.35696901e-01 -9.00093445e-01 0.00000000e+00 1.70755481e+02] [ 9.00093445e-01 4.35696901e-01 0.00000000e+00 8.74398983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32285018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.090371743 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:170.79, Y:87.47, Z:0.05 [[ 4.40116833e-01 -8.97940517e-01 0.00000000e+00 1.70786249e+02] [ 8.97940517e-01 4.40116833e-01 0.00000000e+00 8.74688923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82073877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.120371743 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:170.80, Y:87.49, Z:0.05 [[ 4.34251006e-01 -9.00791909e-01 0.00000000e+00 1.70804894e+02] [ 9.00791909e-01 4.34251006e-01 0.00000000e+00 8.74929274e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74634012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.150371743 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:170.82, Y:87.52, Z:0.05 [[ 4.30228995e-01 -9.02719786e-01 0.00000000e+00 1.70819259e+02] [ 9.02719786e-01 4.30228995e-01 0.00000000e+00 8.75167492e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82987254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.180371743 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:170.84, Y:87.54, Z:0.05 [[ 4.25136542e-01 -9.05129229e-01 0.00000000e+00 1.70837746e+02] [ 9.05129229e-01 4.25136542e-01 0.00000000e+00 8.75398808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52761869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21037174299997 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:170.85, Y:87.56, Z:0.05 [[ 4.21336275e-01 -9.06904484e-01 0.00000000e+00 1.70851711e+02] [ 9.06904484e-01 4.21336275e-01 0.00000000e+00 8.75632320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55244046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24037174299997 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:170.87, Y:87.59, Z:0.04 [[ 4.18551752e-01 -9.08192948e-01 0.00000000e+00 1.70866703e+02] [ 9.08192948e-01 4.18551752e-01 0.00000000e+00 8.75871254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43320390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27037174299997 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:170.88, Y:87.61, Z:0.05 [[ 4.13128277e-01 -9.10672843e-01 0.00000000e+00 1.70882257e+02] [ 9.10672843e-01 4.13128277e-01 0.00000000e+00 8.76105898e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53448265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30037174299997 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:170.90, Y:87.63, Z:0.05 [[ 4.10791659e-01 -9.11729243e-01 0.00000000e+00 1.70896288e+02] [ 9.11729243e-01 4.10791659e-01 0.00000000e+00 8.76342219e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68029234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33037174299997 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:170.91, Y:87.66, Z:0.05 [[ 4.08717599e-01 -9.12660903e-01 0.00000000e+00 1.70911975e+02] [ 9.12660903e-01 4.08717599e-01 0.00000000e+00 8.76598443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50429744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36037174299997 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:170.93, Y:87.68, Z:0.04 [[ 4.06162241e-01 -9.13800982e-01 0.00000000e+00 1.70928818e+02] [ 9.13800982e-01 4.06162241e-01 0.00000000e+00 8.76836475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44967337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39037174299997 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:170.94, Y:87.71, Z:0.05 [[ 4.04469669e-01 -9.14551413e-01 0.00000000e+00 1.70941125e+02] [ 9.14551413e-01 4.04469669e-01 0.00000000e+00 8.77057995e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58276718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42037174299998 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:170.96, Y:87.73, Z:0.04 [[ 4.03830809e-01 -9.14833689e-01 0.00000000e+00 1.70956532e+02] [ 9.14833689e-01 4.03830809e-01 0.00000000e+00 8.77306988e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48393081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45037174299998 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:170.97, Y:87.76, Z:0.04 [[ 4.03626202e-01 -9.14923980e-01 0.00000000e+00 1.70972957e+02] [ 9.14923980e-01 4.03626202e-01 0.00000000e+00 8.77564823e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31433867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48037174299998 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:170.97, Y:87.77, Z:0.05 [[ 3.94837617e-01 -9.18750922e-01 0.00000000e+00 1.70974420e+02] [ 9.18750922e-01 3.94837617e-01 0.00000000e+00 8.77734569e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72984364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51037174299998 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:171.00, Y:87.80, Z:0.04 [[ 4.02203606e-01 -9.15550250e-01 0.00000000e+00 1.71004212e+02] [ 9.15550250e-01 4.02203606e-01 0.00000000e+00 8.78035641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18214173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54037174299998 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:171.00, Y:87.82, Z:0.05 [[ 3.94050340e-01 -9.19088858e-01 0.00000000e+00 1.71004251e+02] [ 9.19088858e-01 3.94050340e-01 0.00000000e+00 8.78226644e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62808840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57037174299998 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:171.03, Y:87.85, Z:0.04 [[ 4.00904734e-01 -9.16119749e-01 0.00000000e+00 1.71033322e+02] [ 9.16119749e-01 4.00904734e-01 0.00000000e+00 8.78515112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32255528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60037174299998 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:171.05, Y:87.87, Z:0.04 [[ 4.01532237e-01 -9.15844890e-01 0.00000000e+00 1.71047085e+02] [ 9.15844890e-01 4.01532237e-01 0.00000000e+00 8.78749931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22154864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63037174299998 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:171.06, Y:87.90, Z:0.04 [[ 4.03201773e-01 -9.15111103e-01 0.00000000e+00 1.71063272e+02] [ 9.15111103e-01 4.03201773e-01 0.00000000e+00 8.78982963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08080251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66037174299998 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:171.08, Y:87.92, Z:0.04 [[ 4.02793949e-01 -9.15290683e-01 0.00000000e+00 1.71076525e+02] [ 9.15290683e-01 4.02793949e-01 0.00000000e+00 8.79229499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24520217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.690371743 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:171.09, Y:87.95, Z:0.04 [[ 4.03798243e-01 -9.14848063e-01 0.00000000e+00 1.71091229e+02] [ 9.14848063e-01 4.03798243e-01 0.00000000e+00 8.79474699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11316177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.720371743 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:171.10, Y:87.97, Z:0.04 [[ 4.05142613e-01 -9.14253501e-01 0.00000000e+00 1.71104940e+02] [ 9.14253501e-01 4.05142613e-01 0.00000000e+00 8.79706904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16082409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.750371743 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:171.12, Y:87.99, Z:0.04 [[ 4.05113505e-01 -9.14266399e-01 0.00000000e+00 1.71118092e+02] [ 9.14266399e-01 4.05113505e-01 0.00000000e+00 8.79946172e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20848352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.780371743 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:171.13, Y:88.02, Z:0.04 [[ 4.07089457e-01 -9.13388293e-01 0.00000000e+00 1.71133878e+02] [ 9.13388293e-01 4.07089457e-01 0.00000000e+00 8.80206404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97415778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.810371743 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:171.13, Y:88.04, Z:0.05 [[ 4.00782252e-01 -9.16173339e-01 0.00000000e+00 1.71132943e+02] [ 9.16173339e-01 4.00782252e-01 0.00000000e+00 8.80391124e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60856430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.840371743 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:171.15, Y:88.06, Z:0.05 [[ 4.02864393e-01 -9.15259679e-01 0.00000000e+00 1.71147883e+02] [ 9.15259679e-01 4.02864393e-01 0.00000000e+00 8.80622588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67909675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.870371743 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:171.16, Y:88.09, Z:0.05 [[ 4.03910741e-01 -9.14798400e-01 0.00000000e+00 1.71161223e+02] [ 9.14798400e-01 4.03910741e-01 0.00000000e+00 8.80864533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79832234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.900371743 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:171.19, Y:88.12, Z:0.04 [[ 4.12005608e-01 -9.11181310e-01 0.00000000e+00 1.71188880e+02] [ 9.11181310e-01 4.12005608e-01 0.00000000e+00 8.81173458e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34271699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.930371743 meters Centerline goodness : 0.995126 Centerline is valid? [True, True] Translation: X:171.19, Y:88.14, Z:0.05 [[ 4.05236718e-01 -9.14211793e-01 0.00000000e+00 1.71187746e+02] [ 9.14211793e-01 4.05236718e-01 0.00000000e+00 8.81356902e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88413928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96037174299997 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:171.22, Y:88.17, Z:0.04 [[ 4.12736534e-01 -9.10850456e-01 0.00000000e+00 1.71216924e+02] [ 9.10850456e-01 4.12736534e-01 0.00000000e+00 8.81662622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32702558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99037174299997 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:171.22, Y:88.18, Z:0.05 [[ 4.04770063e-01 -9.14418502e-01 0.00000000e+00 1.71216593e+02] [ 9.14418502e-01 4.04770063e-01 0.00000000e+00 8.81842671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75339002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02037174299997 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:171.24, Y:88.21, Z:0.05 [[ 4.07994290e-01 -9.12984479e-01 0.00000000e+00 1.71243232e+02] [ 9.12984479e-01 4.07994290e-01 0.00000000e+00 8.82124118e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59965475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05037174299997 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:171.26, Y:88.24, Z:0.04 [[ 4.06848531e-01 -9.13495634e-01 0.00000000e+00 1.71257091e+02] [ 9.13495634e-01 4.06848531e-01 0.00000000e+00 8.82373437e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49696770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08037174299997 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:171.27, Y:88.26, Z:0.05 [[ 4.03496297e-01 -9.14981278e-01 0.00000000e+00 1.71269756e+02] [ 9.14981278e-01 4.03496297e-01 0.00000000e+00 8.82623069e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69383909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11037174299997 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:171.28, Y:88.29, Z:0.05 [[ 4.02090288e-01 -9.15600022e-01 0.00000000e+00 1.71283190e+02] [ 9.15600022e-01 4.02090288e-01 0.00000000e+00 8.82873462e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53440570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14037174299997 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:171.30, Y:88.31, Z:0.05 [[ 3.97516569e-01 -9.17594996e-01 0.00000000e+00 1.71296743e+02] [ 9.17594996e-01 3.97516569e-01 0.00000000e+00 8.83133194e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.66495960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17037174299998 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:171.31, Y:88.34, Z:0.05 [[ 3.95578303e-01 -9.18432255e-01 0.00000000e+00 1.71308108e+02] [ 9.18432255e-01 3.95578303e-01 0.00000000e+00 8.83365530e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89060041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20037174299998 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:171.32, Y:88.36, Z:0.05 [[ 3.93504721e-01 -9.19322595e-01 0.00000000e+00 1.71320736e+02] [ 9.19322595e-01 3.93504721e-01 0.00000000e+00 8.83626362e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97802199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23037174299998 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:171.33, Y:88.39, Z:0.05 [[ 3.91871662e-01 -9.20019891e-01 0.00000000e+00 1.71331505e+02] [ 9.20019891e-01 3.91871662e-01 0.00000000e+00 8.83863174e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01462032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26037174299998 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:171.34, Y:88.41, Z:0.05 [[ 3.90648520e-01 -9.20539914e-01 0.00000000e+00 1.71343221e+02] [ 9.20539914e-01 3.90648520e-01 0.00000000e+00 8.84119083e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08043650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29037174299998 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:171.36, Y:88.44, Z:0.05 [[ 3.90328683e-01 -9.20675578e-01 0.00000000e+00 1.71355614e+02] [ 9.20675578e-01 3.90328683e-01 0.00000000e+00 8.84379269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16982716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32037174299998 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:171.37, Y:88.46, Z:0.05 [[ 3.89660097e-01 -9.20958744e-01 0.00000000e+00 1.71365782e+02] [ 9.20958744e-01 3.89660097e-01 0.00000000e+00 8.84641038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32794552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35037174299998 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:171.37, Y:88.48, Z:0.06 [[ 3.83484187e-01 -9.23547442e-01 0.00000000e+00 1.71365114e+02] [ 9.23547442e-01 3.83484187e-01 0.00000000e+00 8.84844457e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70864075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38037174299998 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:171.39, Y:88.52, Z:0.05 [[ 3.89307777e-01 -9.21107733e-01 0.00000000e+00 1.71389863e+02] [ 9.21107733e-01 3.89307777e-01 0.00000000e+00 8.85151842e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36911347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41037174299998 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:171.40, Y:88.54, Z:0.05 [[ 3.88484424e-01 -9.21455290e-01 0.00000000e+00 1.71399986e+02] [ 9.21455290e-01 3.88484424e-01 0.00000000e+00 8.85402969e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48874006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.440371743 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:171.40, Y:88.56, Z:0.06 [[ 3.82008495e-01 -9.24158812e-01 0.00000000e+00 1.71399766e+02] [ 9.24158812e-01 3.82008495e-01 0.00000000e+00 8.85619092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72560014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.470371743 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:171.42, Y:88.59, Z:0.06 [[ 3.87290927e-01 -9.21957558e-01 0.00000000e+00 1.71422481e+02] [ 9.21957558e-01 3.87290927e-01 0.00000000e+00 8.85927981e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54749955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.500371743 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:171.43, Y:88.62, Z:0.06 [[ 3.86889930e-01 -9.22125904e-01 0.00000000e+00 1.71432601e+02] [ 9.22125904e-01 3.86889930e-01 0.00000000e+00 8.86199407e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68705891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.530371743 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:171.43, Y:88.64, Z:0.06 [[ 3.82068868e-01 -9.24133854e-01 0.00000000e+00 1.71433476e+02] [ 9.24133854e-01 3.82068868e-01 0.00000000e+00 8.86412761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51900244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.560371743 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:171.46, Y:88.67, Z:0.06 [[ 3.87215905e-01 -9.21989069e-01 0.00000000e+00 1.71455441e+02] [ 9.21989069e-01 3.87215905e-01 0.00000000e+00 8.86723638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61531641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.590371743 meters Centerline goodness : 0.993898 Centerline is valid? [True, True] Translation: X:171.47, Y:88.70, Z:0.06 [[ 3.87606414e-01 -9.21824966e-01 0.00000000e+00 1.71466391e+02] [ 9.21824966e-01 3.87606414e-01 0.00000000e+00 8.86975377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51499451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.620371743 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:171.47, Y:88.72, Z:0.06 [[ 3.88704840e-01 -9.21362332e-01 0.00000000e+00 1.71474891e+02] [ 9.21362332e-01 3.88704840e-01 0.00000000e+00 8.87231060e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69017491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.650371743 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:171.49, Y:88.75, Z:0.06 [[ 3.88092869e-01 -9.21620272e-01 0.00000000e+00 1.71487268e+02] [ 9.21620272e-01 3.88092869e-01 0.00000000e+00 8.87485195e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69017491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.680371743 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:171.50, Y:88.77, Z:0.06 [[ 3.87677378e-01 -9.21795124e-01 0.00000000e+00 1.71497576e+02] [ 9.21795124e-01 3.87677378e-01 0.00000000e+00 8.87748442e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83442482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71037174299997 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:171.51, Y:88.80, Z:0.06 [[ 3.88165727e-01 -9.21589588e-01 0.00000000e+00 1.71508864e+02] [ 9.21589588e-01 3.88165727e-01 0.00000000e+00 8.88015606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83630949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74037174299997 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:171.52, Y:88.83, Z:0.06 [[ 3.89537470e-01 -9.21010619e-01 0.00000000e+00 1.71516554e+02] [ 9.21010619e-01 3.89537470e-01 0.00000000e+00 8.88281380e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96362650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77037174299997 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:171.53, Y:88.85, Z:0.06 [[ 3.90123832e-01 -9.20762399e-01 0.00000000e+00 1.71527962e+02] [ 9.20762399e-01 3.90123832e-01 0.00000000e+00 8.88540222e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.97718681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80037174299997 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:171.54, Y:88.88, Z:0.06 [[ 3.89813899e-01 -9.20893655e-01 0.00000000e+00 1.71538022e+02] [ 9.20893655e-01 3.89813899e-01 0.00000000e+00 8.88796217e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01006841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83037174299997 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:171.54, Y:88.90, Z:0.06 [[ 3.84956607e-01 -9.22934673e-01 0.00000000e+00 1.71537311e+02] [ 9.22934673e-01 3.84956607e-01 0.00000000e+00 8.89008472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03992059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86037174299997 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:171.55, Y:88.93, Z:0.06 [[ 3.83991323e-01 -9.23336701e-01 0.00000000e+00 1.71547977e+02] [ 9.23336701e-01 3.83991323e-01 0.00000000e+00 8.89268327e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13396703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89037174299997 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:171.57, Y:88.96, Z:0.06 [[ 3.87301862e-01 -9.21952964e-01 0.00000000e+00 1.71568398e+02] [ 9.21952964e-01 3.87301862e-01 0.00000000e+00 8.89560248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04061382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92037174299998 meters Centerline goodness : 0.995051 Centerline is valid? [True, True] Translation: X:171.57, Y:88.98, Z:0.06 [[ 3.82839891e-01 -9.23814710e-01 0.00000000e+00 1.71569282e+02] [ 9.23814710e-01 3.82839891e-01 0.00000000e+00 8.89792189e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06854294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95037174299998 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:171.59, Y:89.01, Z:0.06 [[ 3.86208502e-01 -9.22411510e-01 0.00000000e+00 1.71589174e+02] [ 9.22411510e-01 3.86208502e-01 0.00000000e+00 8.90086921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15169053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98037174299998 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:171.60, Y:89.04, Z:0.06 [[ 3.87469820e-01 -9.21882389e-01 0.00000000e+00 1.71602326e+02] [ 9.21882389e-01 3.87469820e-01 0.00000000e+00 8.90350573e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74053631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01037174299998 meters Centerline goodness : 0.994361 Centerline is valid? [True, True] Translation: X:171.61, Y:89.06, Z:0.06 [[ 3.87600559e-01 -9.21827428e-01 0.00000000e+00 1.71610786e+02] [ 9.21827428e-01 3.87600559e-01 0.00000000e+00 8.90605758e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87250015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04037174299998 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:171.61, Y:89.08, Z:0.06 [[ 3.83852268e-01 -9.23394518e-01 0.00000000e+00 1.71611784e+02] [ 9.23394518e-01 3.83852268e-01 0.00000000e+00 8.90822825e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24504138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07037174299998 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:171.62, Y:89.11, Z:0.06 [[ 3.83542313e-01 -9.23523305e-01 0.00000000e+00 1.71622427e+02] [ 9.23523305e-01 3.83542313e-01 0.00000000e+00 8.91083717e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33058741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10037174299998 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:171.64, Y:89.14, Z:0.06 [[ 3.87747539e-01 -9.21765613e-01 0.00000000e+00 1.71642455e+02] [ 9.21765613e-01 3.87747539e-01 0.00000000e+00 8.91383893e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24099886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13037174299998 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:171.64, Y:89.16, Z:0.06 [[ 3.83905621e-01 -9.23372338e-01 0.00000000e+00 1.71644232e+02] [ 9.23372338e-01 3.83905621e-01 0.00000000e+00 8.91612330e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38996482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16037174299998 meters Centerline goodness : 0.993835 Centerline is valid? [True, True] Translation: X:171.67, Y:89.19, Z:0.06 [[ 3.88997173e-01 -9.21238948e-01 0.00000000e+00 1.71667176e+02] [ 9.21238948e-01 3.88997173e-01 0.00000000e+00 8.91901504e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90057581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.190371743 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:171.68, Y:89.22, Z:0.06 [[ 3.87708246e-01 -9.21782141e-01 0.00000000e+00 1.71678884e+02] [ 9.21782141e-01 3.87708246e-01 0.00000000e+00 8.92172889e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93982444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.220371743 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:171.69, Y:89.24, Z:0.06 [[ 3.86663502e-01 -9.22220872e-01 0.00000000e+00 1.71688300e+02] [ 9.22220872e-01 3.86663502e-01 0.00000000e+00 8.92420178e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94642460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.250371743 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:171.70, Y:89.27, Z:0.06 [[ 3.86183159e-01 -9.22422120e-01 0.00000000e+00 1.71700591e+02] [ 9.22422120e-01 3.86183159e-01 0.00000000e+00 8.92682737e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76646545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.280371743 meters Centerline goodness : 0.992457 Centerline is valid? [True, True] Translation: X:171.72, Y:89.30, Z:0.05 [[ 3.87297343e-01 -9.21954862e-01 0.00000000e+00 1.71715750e+02] [ 9.21954862e-01 3.87297343e-01 0.00000000e+00 8.92954808e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41925887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.310371743 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:171.71, Y:89.31, Z:0.06 [[ 3.79903851e-01 -9.25025980e-01 0.00000000e+00 1.71710533e+02] [ 9.25025980e-01 3.79903851e-01 0.00000000e+00 8.93132817e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.97366094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.340371743 meters Centerline goodness : 0.992029 Centerline is valid? [True, True] Translation: X:171.73, Y:89.34, Z:0.06 [[ 3.83935105e-01 -9.23360079e-01 0.00000000e+00 1.71733863e+02] [ 9.23360079e-01 3.83935105e-01 0.00000000e+00 8.93434273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63916677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.370371743 meters Centerline goodness : 0.992244 Centerline is valid? [True, True] Translation: X:171.74, Y:89.37, Z:0.06 [[ 3.82961519e-01 -9.23764296e-01 0.00000000e+00 1.71744114e+02] [ 9.23764296e-01 3.82961519e-01 0.00000000e+00 8.93692664e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79280149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.400371743 meters Centerline goodness : 0.991304 Centerline is valid? [True, True] Translation: X:171.75, Y:89.39, Z:0.06 [[ 3.82970121e-01 -9.23760730e-01 0.00000000e+00 1.71753084e+02] [ 9.23760730e-01 3.82970121e-01 0.00000000e+00 8.93942396e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95076147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.430371743 meters Centerline goodness : 0.990874 Centerline is valid? [True, True] Translation: X:171.76, Y:89.42, Z:0.06 [[ 3.82062058e-01 -9.24136669e-01 0.00000000e+00 1.71763405e+02] [ 9.24136669e-01 3.82062058e-01 0.00000000e+00 8.94201255e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16714830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46037174299997 meters Centerline goodness : 0.991147 Centerline is valid? [True, True] Translation: X:171.77, Y:89.45, Z:0.06 [[ 3.81790320e-01 -9.24248966e-01 0.00000000e+00 1.71773382e+02] [ 9.24248966e-01 3.81790320e-01 0.00000000e+00 8.94454635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11809058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49037174299997 meters Centerline goodness : 0.989042 Centerline is valid? [True, True] Translation: X:171.79, Y:89.47, Z:0.06 [[ 3.82047695e-01 -9.24142607e-01 0.00000000e+00 1.71787599e+02] [ 9.24142607e-01 3.82047695e-01 0.00000000e+00 8.94733706e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71015782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52037174299997 meters Centerline goodness : 0.988083 Centerline is valid? [True, True] Translation: X:171.80, Y:89.50, Z:0.06 [[ 3.79097070e-01 -9.25356910e-01 0.00000000e+00 1.71795704e+02] [ 9.25356910e-01 3.79097070e-01 0.00000000e+00 8.94980862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82380981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55037174299997 meters Centerline goodness : 0.985092 Centerline is valid? [True, True] Translation: X:171.81, Y:89.53, Z:0.05 [[ 3.75662126e-01 -9.26756693e-01 0.00000000e+00 1.71807259e+02] [ 9.26756693e-01 3.75662126e-01 0.00000000e+00 8.95250761e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41458490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58037174299997 meters Centerline goodness : 0.987489 Centerline is valid? [True, True] Translation: X:171.82, Y:89.55, Z:0.06 [[ 3.73335135e-01 -9.27696544e-01 0.00000000e+00 1.71820120e+02] [ 9.27696544e-01 3.73335135e-01 0.00000000e+00 8.95511635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02134767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61037174299997 meters Centerline goodness : 0.989029 Centerline is valid? [True, True] Translation: X:171.83, Y:89.58, Z:0.06 [[ 3.72047933e-01 -9.28213518e-01 0.00000000e+00 1.71831713e+02] [ 9.28213518e-01 3.72047933e-01 0.00000000e+00 8.95753472e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96216342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64037174299997 meters Centerline goodness : 0.989992 Centerline is valid? [True, True] Translation: X:171.84, Y:89.60, Z:0.06 [[ 3.70789978e-01 -9.28716745e-01 0.00000000e+00 1.71844809e+02] [ 9.28716745e-01 3.70789978e-01 0.00000000e+00 8.96013311e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86253692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67037174299998 meters Centerline goodness : 0.989375 Centerline is valid? [True, True] Translation: X:171.85, Y:89.62, Z:0.05 [[ 3.66863221e-01 -9.30274893e-01 0.00000000e+00 1.71854752e+02] [ 9.30274893e-01 3.66863221e-01 0.00000000e+00 8.96243728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44230424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70037174299998 meters Centerline goodness : 0.989465 Centerline is valid? [True, True] Translation: X:171.87, Y:89.65, Z:0.06 [[ 3.63703109e-01 -9.31514921e-01 0.00000000e+00 1.71867308e+02] [ 9.31514921e-01 3.63703109e-01 0.00000000e+00 8.96507312e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96680365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73037174299998 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:171.88, Y:89.68, Z:0.06 [[ 3.59225342e-01 -9.33250852e-01 0.00000000e+00 1.71878995e+02] [ 9.33250852e-01 3.59225342e-01 0.00000000e+00 8.96762127e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93465323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76037174299998 meters Centerline goodness : 0.990284 Centerline is valid? [True, True] Translation: X:171.89, Y:89.70, Z:0.06 [[ 3.57176270e-01 -9.34036997e-01 0.00000000e+00 1.71889576e+02] [ 9.34036997e-01 3.57176270e-01 0.00000000e+00 8.97001699e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89119639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79037174299998 meters Centerline goodness : 0.990768 Centerline is valid? [True, True] Translation: X:171.90, Y:89.72, Z:0.06 [[ 3.55082966e-01 -9.34834791e-01 0.00000000e+00 1.71899955e+02] [ 9.34834791e-01 3.55082966e-01 0.00000000e+00 8.97242590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87658359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82037174299998 meters Centerline goodness : 0.990775 Centerline is valid? [True, True] Translation: X:171.91, Y:89.75, Z:0.06 [[ 3.52937885e-01 -9.35646755e-01 0.00000000e+00 1.71912001e+02] [ 9.35646755e-01 3.52937885e-01 0.00000000e+00 8.97506622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01155103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85037174299998 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:171.92, Y:89.78, Z:0.06 [[ 3.51490192e-01 -9.36191564e-01 0.00000000e+00 1.71922693e+02] [ 9.36191564e-01 3.51490192e-01 0.00000000e+00 8.97757264e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99249694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88037174299998 meters Centerline goodness : 0.991208 Centerline is valid? [True, True] Translation: X:171.93, Y:89.80, Z:0.06 [[ 3.51226288e-01 -9.36290604e-01 0.00000000e+00 1.71934589e+02] [ 9.36290604e-01 3.51226288e-01 0.00000000e+00 8.98008882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01747973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91037174299998 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:171.95, Y:89.83, Z:0.06 [[ 3.51373400e-01 -9.36235405e-01 0.00000000e+00 1.71946354e+02] [ 9.36235405e-01 3.51373400e-01 0.00000000e+00 8.98267961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12902765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.940371743 meters Centerline goodness : 0.992582 Centerline is valid? [True, True] Translation: X:171.96, Y:89.85, Z:0.06 [[ 3.51572295e-01 -9.36160735e-01 0.00000000e+00 1.71958201e+02] [ 9.36160735e-01 3.51572295e-01 0.00000000e+00 8.98524679e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19266840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.970371743 meters Centerline goodness : 0.991787 Centerline is valid? [True, True] Translation: X:171.97, Y:89.88, Z:0.06 [[ 3.52634490e-01 -9.35761143e-01 0.00000000e+00 1.71970217e+02] [ 9.35761143e-01 3.52634490e-01 0.00000000e+00 8.98775098e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20189342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.000371743 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:171.98, Y:89.90, Z:0.06 [[ 3.53606059e-01 -9.35394438e-01 0.00000000e+00 1.71981027e+02] [ 9.35394438e-01 3.53606059e-01 0.00000000e+00 8.99035359e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14779379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.030371743 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:171.99, Y:89.93, Z:0.06 [[ 3.54271698e-01 -9.35142537e-01 0.00000000e+00 1.71992322e+02] [ 9.35142537e-01 3.54271698e-01 0.00000000e+00 8.99293048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10543168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.060371743 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:172.00, Y:89.95, Z:0.06 [[ 3.57683063e-01 -9.33843042e-01 0.00000000e+00 1.72003005e+02] [ 9.33843042e-01 3.57683063e-01 0.00000000e+00 8.99548811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96031214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.090371743 meters Centerline goodness : 0.990837 Centerline is valid? [True, True] Translation: X:172.01, Y:89.98, Z:0.06 [[ 3.59150256e-01 -9.33279751e-01 0.00000000e+00 1.72013196e+02] [ 9.33279751e-01 3.59150256e-01 0.00000000e+00 8.99799488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96716793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.120371743 meters Centerline goodness : 0.989124 Centerline is valid? [True, True] Translation: X:172.02, Y:90.01, Z:0.06 [[ 3.60971909e-01 -9.32576689e-01 0.00000000e+00 1.72023879e+02] [ 9.32576689e-01 3.60971909e-01 0.00000000e+00 9.00053506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01431686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.150371743 meters Centerline goodness : 0.988872 Centerline is valid? [True, True] Translation: X:172.04, Y:90.03, Z:0.06 [[ 3.62709340e-01 -9.31902320e-01 0.00000000e+00 1.72035294e+02] [ 9.31902320e-01 3.62709340e-01 0.00000000e+00 9.00307876e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92055514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.180371743 meters Centerline goodness : 0.989478 Centerline is valid? [True, True] Translation: X:172.05, Y:90.06, Z:0.06 [[ 3.65048627e-01 -9.30988453e-01 0.00000000e+00 1.72045708e+02] [ 9.30988453e-01 3.65048627e-01 0.00000000e+00 9.00573455e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03251601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21037174299997 meters Centerline goodness : 0.989431 Centerline is valid? [True, True] Translation: X:172.06, Y:90.08, Z:0.06 [[ 3.65293796e-01 -9.30892283e-01 0.00000000e+00 1.72055391e+02] [ 9.30892283e-01 3.65293796e-01 0.00000000e+00 9.00824449e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26540356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24037174299997 meters Centerline goodness : 0.990167 Centerline is valid? [True, True] Translation: X:172.07, Y:90.11, Z:0.06 [[ 3.67045859e-01 -9.30202847e-01 0.00000000e+00 1.72066922e+02] [ 9.30202847e-01 3.67045859e-01 0.00000000e+00 9.01095983e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23921377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27037174299997 meters Centerline goodness : 0.990306 Centerline is valid? [True, True] Translation: X:172.08, Y:90.13, Z:0.06 [[ 3.66884968e-01 -9.30266317e-01 0.00000000e+00 1.72077282e+02] [ 9.30266317e-01 3.66884968e-01 0.00000000e+00 9.01348927e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45204592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30037174299997 meters Centerline goodness : 0.989699 Centerline is valid? [True, True] Translation: X:172.09, Y:90.16, Z:0.06 [[ 3.67702217e-01 -9.29943589e-01 0.00000000e+00 1.72089704e+02] [ 9.29943589e-01 3.67702217e-01 0.00000000e+00 9.01614624e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26526136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33037174299997 meters Centerline goodness : 0.989705 Centerline is valid? [True, True] Translation: X:172.10, Y:90.19, Z:0.06 [[ 3.70673367e-01 -9.28763293e-01 0.00000000e+00 1.72100726e+02] [ 9.28763293e-01 3.70673367e-01 0.00000000e+00 9.01868068e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15533363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36037174299997 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:172.11, Y:90.21, Z:0.06 [[ 3.71301451e-01 -9.28512376e-01 0.00000000e+00 1.72112416e+02] [ 9.28512376e-01 3.71301451e-01 0.00000000e+00 9.02139320e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09483731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39037174299997 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:172.12, Y:90.24, Z:0.06 [[ 3.71827546e-01 -9.28301824e-01 0.00000000e+00 1.72123129e+02] [ 9.28301824e-01 3.71827546e-01 0.00000000e+00 9.02397284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19700347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42037174299998 meters Centerline goodness : 0.992096 Centerline is valid? [True, True] Translation: X:172.14, Y:90.27, Z:0.06 [[ 3.75473886e-01 -9.26832974e-01 0.00000000e+00 1.72137871e+02] [ 9.26832974e-01 3.75473886e-01 0.00000000e+00 9.02702701e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60343036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45037174299998 meters Centerline goodness : 0.990640 Centerline is valid? [True, True] Translation: X:172.15, Y:90.30, Z:0.06 [[ 3.73368931e-01 -9.27682942e-01 0.00000000e+00 1.72148907e+02] [ 9.27682942e-01 3.73368931e-01 0.00000000e+00 9.02976440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02070181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48037174299998 meters Centerline goodness : 0.990265 Centerline is valid? [True, True] Translation: X:172.16, Y:90.32, Z:0.06 [[ 3.73418519e-01 -9.27662983e-01 0.00000000e+00 1.72160399e+02] [ 9.27662983e-01 3.73418519e-01 0.00000000e+00 9.03242704e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01585019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51037174299998 meters Centerline goodness : 0.988212 Centerline is valid? [True, True] Translation: X:172.17, Y:90.34, Z:0.06 [[ 3.77111782e-01 -9.26167751e-01 0.00000000e+00 1.72166627e+02] [ 9.26167751e-01 3.77111782e-01 0.00000000e+00 9.03434375e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31970841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54037174299998 meters Centerline goodness : 0.989702 Centerline is valid? [True, True] Translation: X:172.18, Y:90.37, Z:0.06 [[ 3.72621675e-01 -9.27983344e-01 0.00000000e+00 1.72181651e+02] [ 9.27983344e-01 3.72621675e-01 0.00000000e+00 9.03749596e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13766816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57037174299998 meters Centerline goodness : 0.989702 Centerline is valid? [True, True] Translation: X:172.19, Y:90.40, Z:0.06 [[ 3.71898352e-01 -9.28273460e-01 0.00000000e+00 1.72193073e+02] [ 9.28273460e-01 3.71898352e-01 0.00000000e+00 9.04007245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13766816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60037174299998 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:172.19, Y:90.42, Z:0.06 [[ 3.64631454e-01 -9.31151922e-01 0.00000000e+00 1.72190261e+02] [ 9.31151922e-01 3.64631454e-01 0.00000000e+00 9.04193728e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38771362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63037174299998 meters Centerline goodness : 0.988884 Centerline is valid? [True, True] Translation: X:172.21, Y:90.45, Z:0.07 [[ 3.74064630e-01 -9.27402638e-01 0.00000000e+00 1.72214535e+02] [ 9.27402638e-01 3.74064630e-01 0.00000000e+00 9.04482148e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51476915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66037174299998 meters Centerline goodness : 0.990366 Centerline is valid? [True, True] Translation: X:172.23, Y:90.48, Z:0.06 [[ 3.69260407e-01 -9.29325966e-01 0.00000000e+00 1.72226236e+02] [ 9.29325966e-01 3.69260407e-01 0.00000000e+00 9.04767835e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45530018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.690371743 meters Centerline goodness : 0.989158 Centerline is valid? [True, True] Translation: X:172.24, Y:90.50, Z:0.06 [[ 3.70085482e-01 -9.28997705e-01 0.00000000e+00 1.72236708e+02] [ 9.28997705e-01 3.70085482e-01 0.00000000e+00 9.04998971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49756310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.720371743 meters Centerline goodness : 0.991434 Centerline is valid? [True, True] Translation: X:172.25, Y:90.53, Z:0.06 [[ 3.66796911e-01 -9.30301041e-01 0.00000000e+00 1.72253876e+02] [ 9.30301041e-01 3.66796911e-01 0.00000000e+00 9.05319400e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00658008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.750371743 meters Centerline goodness : 0.991798 Centerline is valid? [True, True] Translation: X:172.27, Y:90.56, Z:0.06 [[ 3.65602944e-01 -9.30770910e-01 0.00000000e+00 1.72265515e+02] [ 9.30770910e-01 3.65602944e-01 0.00000000e+00 9.05571720e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94888048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.780371743 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:172.28, Y:90.58, Z:0.06 [[ 3.65543340e-01 -9.30794320e-01 0.00000000e+00 1.72277793e+02] [ 9.30794320e-01 3.65543340e-01 0.00000000e+00 9.05814136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61431676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.810371743 meters Centerline goodness : 0.990198 Centerline is valid? [True, True] Translation: X:172.29, Y:90.61, Z:0.06 [[ 3.63753468e-01 -9.31495257e-01 0.00000000e+00 1.72289034e+02] [ 9.31495257e-01 3.63753468e-01 0.00000000e+00 9.06063865e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59801568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.840371743 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:172.30, Y:90.63, Z:0.06 [[ 3.59766051e-01 -9.33042544e-01 0.00000000e+00 1.72300067e+02] [ 9.33042544e-01 3.59766051e-01 0.00000000e+00 9.06326803e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81773200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.870371743 meters Centerline goodness : 0.990525 Centerline is valid? [True, True] Translation: X:172.29, Y:90.65, Z:0.06 [[ 3.49589141e-01 -9.36903107e-01 0.00000000e+00 1.72291720e+02] [ 9.36903107e-01 3.49589141e-01 0.00000000e+00 9.06477061e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12205080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.900371743 meters Centerline goodness : 0.988776 Centerline is valid? [True, True] Translation: X:172.32, Y:90.68, Z:0.06 [[ 3.60987778e-01 -9.32570546e-01 0.00000000e+00 1.72318557e+02] [ 9.32570546e-01 3.60987778e-01 0.00000000e+00 9.06778997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34779086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.930371743 meters Centerline goodness : 0.989105 Centerline is valid? [True, True] Translation: X:172.33, Y:90.71, Z:0.06 [[ 3.56102712e-01 -9.34446820e-01 0.00000000e+00 1.72331230e+02] [ 9.34446820e-01 3.56102712e-01 0.00000000e+00 9.07082617e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16155800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96037174299997 meters Centerline goodness : 0.990948 Centerline is valid? [True, True] Translation: X:172.32, Y:90.73, Z:0.06 [[ 3.48216978e-01 -9.37413962e-01 0.00000000e+00 1.72324547e+02] [ 9.37413962e-01 3.48216978e-01 0.00000000e+00 9.07256614e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20930916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99037174299997 meters Centerline goodness : 0.988672 Centerline is valid? [True, True] Translation: X:172.35, Y:90.76, Z:0.06 [[ 3.55821333e-01 -9.34554000e-01 0.00000000e+00 1.72352665e+02] [ 9.34554000e-01 3.55821333e-01 0.00000000e+00 9.07599286e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36216822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02037174299997 meters Centerline goodness : 0.989195 Centerline is valid? [True, True] Translation: X:172.36, Y:90.79, Z:0.06 [[ 3.57394908e-01 -9.33953361e-01 0.00000000e+00 1.72364692e+02] [ 9.33953361e-01 3.57394908e-01 0.00000000e+00 9.07857490e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96099763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05037174299997 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:172.37, Y:90.81, Z:0.06 [[ 3.54996938e-01 -9.34867463e-01 0.00000000e+00 1.72374203e+02] [ 9.34867463e-01 3.54996938e-01 0.00000000e+00 9.08110367e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22018579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08037174299997 meters Centerline goodness : 0.990045 Centerline is valid? [True, True] Translation: X:172.38, Y:90.84, Z:0.06 [[ 3.55679378e-01 -9.34608036e-01 0.00000000e+00 1.72384370e+02] [ 9.34608036e-01 3.55679378e-01 0.00000000e+00 9.08371845e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84636203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11037174299997 meters Centerline goodness : 0.990585 Centerline is valid? [True, True] Translation: X:172.39, Y:90.86, Z:0.06 [[ 3.52963762e-01 -9.35636993e-01 0.00000000e+00 1.72393762e+02] [ 9.35636993e-01 3.52963762e-01 0.00000000e+00 9.08630923e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06885356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14037174299997 meters Centerline goodness : 0.990994 Centerline is valid? [True, True] Translation: X:172.41, Y:90.89, Z:0.06 [[ 3.53347249e-01 -9.35492235e-01 0.00000000e+00 1.72405008e+02] [ 9.35492235e-01 3.53347249e-01 0.00000000e+00 9.08888188e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92523520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17037174299998 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:172.42, Y:90.91, Z:0.06 [[ 3.51839920e-01 -9.36060185e-01 0.00000000e+00 1.72415027e+02] [ 9.36060185e-01 3.51839920e-01 0.00000000e+00 9.09149968e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95636337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20037174299998 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:172.43, Y:90.94, Z:0.06 [[ 3.51291554e-01 -9.36266118e-01 0.00000000e+00 1.72427081e+02] [ 9.36266118e-01 3.51291554e-01 0.00000000e+00 9.09430956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84639928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23037174299998 meters Centerline goodness : 0.992091 Centerline is valid? [True, True] Translation: X:172.42, Y:90.96, Z:0.06 [[ 3.40859062e-01 -9.40114408e-01 0.00000000e+00 1.72417929e+02] [ 9.40114408e-01 3.40859062e-01 0.00000000e+00 9.09592786e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23483611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26037174299998 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:172.43, Y:90.99, Z:0.06 [[ 3.40367345e-01 -9.40292545e-01 0.00000000e+00 1.72427574e+02] [ 9.40292545e-01 3.40367345e-01 0.00000000e+00 9.09858868e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23660984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29037174299998 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:172.44, Y:91.01, Z:0.06 [[ 3.40044826e-01 -9.40409228e-01 0.00000000e+00 1.72437892e+02] [ 9.40409228e-01 3.40044826e-01 0.00000000e+00 9.10121510e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20445739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32037174299998 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:172.45, Y:91.04, Z:0.06 [[ 3.39575077e-01 -9.40578953e-01 0.00000000e+00 1.72447934e+02] [ 9.40578953e-01 3.39575077e-01 0.00000000e+00 9.10381349e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17967190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35037174299998 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:172.46, Y:91.06, Z:0.06 [[ 3.38852782e-01 -9.40839408e-01 0.00000000e+00 1.72457044e+02] [ 9.40839408e-01 3.38852782e-01 0.00000000e+00 9.10639958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17013784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38037174299998 meters Centerline goodness : 0.990865 Centerline is valid? [True, True] Translation: X:172.49, Y:91.10, Z:0.06 [[ 3.47655785e-01 -9.37622235e-01 0.00000000e+00 1.72488066e+02] [ 9.37622235e-01 3.47655785e-01 0.00000000e+00 9.10994515e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90905324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41037174299998 meters Centerline goodness : 0.988762 Centerline is valid? [True, True] Translation: X:172.50, Y:91.12, Z:0.07 [[ 3.50799506e-01 -9.36450589e-01 0.00000000e+00 1.72495316e+02] [ 9.36450589e-01 3.50799506e-01 0.00000000e+00 9.11202647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.63597396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.440371743 meters Centerline goodness : 0.989166 Centerline is valid? [True, True] Translation: X:172.50, Y:91.15, Z:0.07 [[ 3.50948492e-01 -9.36394765e-01 0.00000000e+00 1.72504739e+02] [ 9.36394765e-01 3.50948492e-01 0.00000000e+00 9.11470440e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79912941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.470371743 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:172.51, Y:91.17, Z:0.06 [[ 3.50436529e-01 -9.36586482e-01 0.00000000e+00 1.72514377e+02] [ 9.36586482e-01 3.50436529e-01 0.00000000e+00 9.11733690e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33662570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.500371743 meters Centerline goodness : 0.989790 Centerline is valid? [True, True] Translation: X:172.52, Y:91.20, Z:0.07 [[ 3.52001051e-01 -9.35999605e-01 0.00000000e+00 1.72522287e+02] [ 9.35999605e-01 3.52001051e-01 0.00000000e+00 9.11977813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62982165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.530371743 meters Centerline goodness : 0.989087 Centerline is valid? [True, True] Translation: X:172.53, Y:91.22, Z:0.07 [[ 3.54330068e-01 -9.35120422e-01 0.00000000e+00 1.72531288e+02] [ 9.35120422e-01 3.54330068e-01 0.00000000e+00 9.12217500e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94245185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.560371743 meters Centerline goodness : 0.991963 Centerline is valid? [True, True] Translation: X:172.55, Y:91.26, Z:0.06 [[ 3.50663704e-01 -9.36501450e-01 0.00000000e+00 1.72545406e+02] [ 9.36501450e-01 3.50663704e-01 0.00000000e+00 9.12574356e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88683096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.590371743 meters Centerline goodness : 0.990048 Centerline is valid? [True, True] Translation: X:172.55, Y:91.28, Z:0.06 [[ 3.56743222e-01 -9.34202480e-01 0.00000000e+00 1.72552110e+02] [ 9.34202480e-01 3.56743222e-01 0.00000000e+00 9.12754289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15094322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.620371743 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:172.55, Y:91.30, Z:0.07 [[ 3.44441530e-01 -9.38807772e-01 0.00000000e+00 1.72545862e+02] [ 9.38807772e-01 3.44441530e-01 0.00000000e+00 9.13019191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53904831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.650371743 meters Centerline goodness : 0.989226 Centerline is valid? [True, True] Translation: X:172.57, Y:91.33, Z:0.07 [[ 3.56413672e-01 -9.34328258e-01 0.00000000e+00 1.72571422e+02] [ 9.34328258e-01 3.56413672e-01 0.00000000e+00 9.13287503e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52899491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.680371743 meters Centerline goodness : 0.990006 Centerline is valid? [True, True] Translation: X:172.58, Y:91.36, Z:0.07 [[ 3.55393470e-01 -9.34716792e-01 0.00000000e+00 1.72580445e+02] [ 9.34716792e-01 3.55393470e-01 0.00000000e+00 9.13553418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62183890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71037174299997 meters Centerline goodness : 0.992082 Centerline is valid? [True, True] Translation: X:172.59, Y:91.39, Z:0.06 [[ 3.53818863e-01 -9.35313964e-01 0.00000000e+00 1.72592812e+02] [ 9.35313964e-01 3.53818863e-01 0.00000000e+00 9.13871815e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03957674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74037174299997 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:172.60, Y:91.41, Z:0.06 [[ 3.54807972e-01 -9.34939197e-01 0.00000000e+00 1.72601258e+02] [ 9.34939197e-01 3.54807972e-01 0.00000000e+00 9.14121814e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08305286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77037174299997 meters Centerline goodness : 0.991935 Centerline is valid? [True, True] Translation: X:172.61, Y:91.44, Z:0.06 [[ 3.56450754e-01 -9.34314112e-01 0.00000000e+00 1.72609964e+02] [ 9.34314112e-01 3.56450754e-01 0.00000000e+00 9.14391897e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10620294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80037174299997 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:172.62, Y:91.46, Z:0.06 [[ 3.60757937e-01 -9.32659483e-01 0.00000000e+00 1.72618901e+02] [ 9.32659483e-01 3.60757937e-01 0.00000000e+00 9.14613265e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95230453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83037174299997 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:172.63, Y:91.49, Z:0.06 [[ 3.61176510e-01 -9.32497469e-01 0.00000000e+00 1.72630207e+02] [ 9.32497469e-01 3.61176510e-01 0.00000000e+00 9.14905360e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26270558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86037174299997 meters Centerline goodness : 0.991160 Centerline is valid? [True, True] Translation: X:172.64, Y:91.52, Z:0.06 [[ 3.61823965e-01 -9.32246436e-01 0.00000000e+00 1.72642238e+02] [ 9.32246436e-01 3.61823965e-01 0.00000000e+00 9.15187456e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24719962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89037174299997 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:172.65, Y:91.55, Z:0.06 [[ 3.60627725e-01 -9.32709839e-01 0.00000000e+00 1.72652578e+02] [ 9.32709839e-01 3.60627725e-01 0.00000000e+00 9.15454961e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06307717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92037174299998 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:172.66, Y:91.57, Z:0.06 [[ 3.60104964e-01 -9.32911794e-01 0.00000000e+00 1.72663877e+02] [ 9.32911794e-01 3.60104964e-01 0.00000000e+00 9.15724542e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07593147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95037174299998 meters Centerline goodness : 0.991285 Centerline is valid? [True, True] Translation: X:172.67, Y:91.60, Z:0.06 [[ 3.61605845e-01 -9.32331064e-01 0.00000000e+00 1.72673144e+02] [ 9.32331064e-01 3.61605845e-01 0.00000000e+00 9.15953092e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35907421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98037174299998 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:172.68, Y:91.62, Z:0.06 [[ 3.58786138e-01 -9.33419792e-01 0.00000000e+00 1.72683753e+02] [ 9.33419792e-01 3.58786138e-01 0.00000000e+00 9.16233008e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11408854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01037174299998 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:172.69, Y:91.65, Z:0.06 [[ 3.58438626e-01 -9.33553293e-01 0.00000000e+00 1.72694017e+02] [ 9.33553293e-01 3.58438626e-01 0.00000000e+00 9.16483997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03488365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04037174299998 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:172.70, Y:91.67, Z:0.06 [[ 3.58666447e-01 -9.33465789e-01 0.00000000e+00 1.72704319e+02] [ 9.33465789e-01 3.58666447e-01 0.00000000e+00 9.16716384e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96975937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07037174299998 meters Centerline goodness : 0.990434 Centerline is valid? [True, True] Translation: X:172.71, Y:91.70, Z:0.06 [[ 3.58901803e-01 -9.33375324e-01 0.00000000e+00 1.72714482e+02] [ 9.33375324e-01 3.58901803e-01 0.00000000e+00 9.16965526e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16112034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10037174299998 meters Centerline goodness : 0.990768 Centerline is valid? [True, True] Translation: X:172.73, Y:91.72, Z:0.06 [[ 3.59067531e-01 -9.33311581e-01 0.00000000e+00 1.72726070e+02] [ 9.33311581e-01 3.59067531e-01 0.00000000e+00 9.17238284e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76452353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13037174299998 meters Centerline goodness : 0.990378 Centerline is valid? [True, True] Translation: X:172.74, Y:91.75, Z:0.06 [[ 3.59468945e-01 -9.33157049e-01 0.00000000e+00 1.72736799e+02] [ 9.33157049e-01 3.59468945e-01 0.00000000e+00 9.17488160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94471843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16037174299998 meters Centerline goodness : 0.989898 Centerline is valid? [True, True] Translation: X:172.75, Y:91.78, Z:0.06 [[ 3.59777580e-01 -9.33038098e-01 0.00000000e+00 1.72748452e+02] [ 9.33038098e-01 3.59777580e-01 0.00000000e+00 9.17764982e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92804084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.190371743 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:172.76, Y:91.80, Z:0.06 [[ 3.58685930e-01 -9.33458303e-01 0.00000000e+00 1.72760628e+02] [ 9.33458303e-01 3.58685930e-01 0.00000000e+00 9.18045099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91458023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.220371743 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:172.77, Y:91.83, Z:0.06 [[ 3.59493108e-01 -9.33147740e-01 0.00000000e+00 1.72774245e+02] [ 9.33147740e-01 3.59493108e-01 0.00000000e+00 9.18348960e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88826895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.250371743 meters Centerline goodness : 0.989321 Centerline is valid? [True, True] Translation: X:172.78, Y:91.86, Z:0.06 [[ 3.61172114e-01 -9.32499171e-01 0.00000000e+00 1.72783191e+02] [ 9.32499171e-01 3.61172114e-01 0.00000000e+00 9.18575559e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28799705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.280371743 meters Centerline goodness : 0.990264 Centerline is valid? [True, True] Translation: X:172.79, Y:91.88, Z:0.06 [[ 3.60262619e-01 -9.32850923e-01 0.00000000e+00 1.72794851e+02] [ 9.32850923e-01 3.60262619e-01 0.00000000e+00 9.18832767e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82131224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.310371743 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:172.81, Y:91.91, Z:0.06 [[ 3.55026422e-01 -9.34856267e-01 0.00000000e+00 1.72807043e+02] [ 9.34856267e-01 3.55026422e-01 0.00000000e+00 9.19127131e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84712194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.340371743 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:172.82, Y:91.94, Z:0.06 [[ 3.52158471e-01 -9.35940389e-01 0.00000000e+00 1.72818197e+02] [ 9.35940389e-01 3.52158471e-01 0.00000000e+00 9.19386583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91892188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.370371743 meters Centerline goodness : 0.991042 Centerline is valid? [True, True] Translation: X:172.83, Y:91.96, Z:0.06 [[ 3.46845112e-01 -9.37922421e-01 0.00000000e+00 1.72828439e+02] [ 9.37922421e-01 3.46845112e-01 0.00000000e+00 9.19622956e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12643887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.400371743 meters Centerline goodness : 0.990030 Centerline is valid? [True, True] Translation: X:172.84, Y:91.99, Z:0.06 [[ 3.46685051e-01 -9.37981597e-01 0.00000000e+00 1.72839255e+02] [ 9.37981597e-01 3.46685051e-01 0.00000000e+00 9.19855811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05750214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.430371743 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:172.85, Y:92.01, Z:0.06 [[ 3.42548980e-01 -9.39499971e-01 0.00000000e+00 1.72849653e+02] [ 9.39499971e-01 3.42548980e-01 0.00000000e+00 9.20125454e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22666481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46037174299997 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:172.86, Y:92.04, Z:0.06 [[ 3.41940445e-01 -9.39721625e-01 0.00000000e+00 1.72860084e+02] [ 9.39721625e-01 3.41940445e-01 0.00000000e+00 9.20387754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22666481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49037174299997 meters Centerline goodness : 0.988375 Centerline is valid? [True, True] Translation: X:172.87, Y:92.06, Z:0.07 [[ 3.43783266e-01 -9.39049022e-01 0.00000000e+00 1.72869869e+02] [ 9.39049022e-01 3.43783266e-01 0.00000000e+00 9.20590625e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58768491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52037174299997 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:172.88, Y:92.09, Z:0.06 [[ 3.37105638e-01 -9.41466828e-01 0.00000000e+00 1.72882454e+02] [ 9.41466828e-01 3.37105638e-01 0.00000000e+00 9.20899065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33033342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55037174299997 meters Centerline goodness : 0.989472 Centerline is valid? [True, True] Translation: X:172.89, Y:92.11, Z:0.06 [[ 3.38169385e-01 -9.41085260e-01 0.00000000e+00 1.72891017e+02] [ 9.41085260e-01 3.38169385e-01 0.00000000e+00 9.21115731e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23231879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58037174299997 meters Centerline goodness : 0.990600 Centerline is valid? [True, True] Translation: X:172.91, Y:92.14, Z:0.06 [[ 3.33035373e-01 -9.42914334e-01 0.00000000e+00 1.72906262e+02] [ 9.42914334e-01 3.33035373e-01 0.00000000e+00 9.21423520e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31524634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61037174299997 meters Centerline goodness : 0.989431 Centerline is valid? [True, True] Translation: X:172.92, Y:92.16, Z:0.07 [[ 3.35088933e-01 -9.42186503e-01 0.00000000e+00 1.72915109e+02] [ 9.42186503e-01 3.35088933e-01 0.00000000e+00 9.21641228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64765450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64037174299997 meters Centerline goodness : 0.990691 Centerline is valid? [True, True] Translation: X:172.93, Y:92.19, Z:0.06 [[ 3.30901346e-01 -9.43665353e-01 0.00000000e+00 1.72928316e+02] [ 9.43665353e-01 3.30901346e-01 0.00000000e+00 9.21947168e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26383497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67037174299998 meters Centerline goodness : 0.990003 Centerline is valid? [True, True] Translation: X:172.94, Y:92.22, Z:0.07 [[ 3.31489554e-01 -9.43458889e-01 0.00000000e+00 1.72937239e+02] [ 9.43458889e-01 3.31489554e-01 0.00000000e+00 9.22174080e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.78560600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70037174299998 meters Centerline goodness : 0.991480 Centerline is valid? [True, True] Translation: X:172.95, Y:92.25, Z:0.06 [[ 3.29210930e-01 -9.44256408e-01 0.00000000e+00 1.72951768e+02] [ 9.44256408e-01 3.29210930e-01 0.00000000e+00 9.22480828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24463763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73037174299998 meters Centerline goodness : 0.990225 Centerline is valid? [True, True] Translation: X:172.96, Y:92.27, Z:0.06 [[ 3.27126068e-01 -9.44980707e-01 0.00000000e+00 1.72961931e+02] [ 9.44980707e-01 3.27126068e-01 0.00000000e+00 9.22733882e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29685192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76037174299998 meters Centerline goodness : 0.989506 Centerline is valid? [True, True] Translation: X:172.97, Y:92.29, Z:0.07 [[ 3.29616381e-01 -9.44114951e-01 0.00000000e+00 1.72968704e+02] [ 9.44114951e-01 3.29616381e-01 0.00000000e+00 9.22920340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70679035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79037174299998 meters Centerline goodness : 0.989732 Centerline is valid? [True, True] Translation: X:172.98, Y:92.32, Z:0.07 [[ 3.28693796e-01 -9.44436545e-01 0.00000000e+00 1.72979285e+02] [ 9.44436545e-01 3.28693796e-01 0.00000000e+00 9.23164954e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70052334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82037174299998 meters Centerline goodness : 0.990262 Centerline is valid? [True, True] Translation: X:172.99, Y:92.34, Z:0.07 [[ 3.26153309e-01 -9.45316888e-01 0.00000000e+00 1.72990263e+02] [ 9.45316888e-01 3.26153309e-01 0.00000000e+00 9.23438146e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71084219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85037174299998 meters Centerline goodness : 0.988819 Centerline is valid? [True, True] Translation: X:173.00, Y:92.37, Z:0.07 [[ 3.25191466e-01 -9.45648196e-01 0.00000000e+00 1.72999980e+02] [ 9.45648196e-01 3.25191466e-01 0.00000000e+00 9.23680867e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68241339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88037174299998 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:173.01, Y:92.40, Z:0.06 [[ 3.20392455e-01 -9.47284896e-01 0.00000000e+00 1.73013970e+02] [ 9.47284896e-01 3.20392455e-01 0.00000000e+00 9.24012822e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21494658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91037174299998 meters Centerline goodness : 0.990981 Centerline is valid? [True, True] Translation: X:173.02, Y:92.43, Z:0.06 [[ 3.19462366e-01 -9.47598964e-01 0.00000000e+00 1.73021705e+02] [ 9.47598964e-01 3.19462366e-01 0.00000000e+00 9.24254065e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31208089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.940371743 meters Centerline goodness : 0.991148 Centerline is valid? [True, True] Translation: X:173.03, Y:92.45, Z:0.06 [[ 3.18901259e-01 -9.47787944e-01 0.00000000e+00 1.73032475e+02] [ 9.47787944e-01 3.18901259e-01 0.00000000e+00 9.24523315e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22012300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.970371743 meters Centerline goodness : 0.989698 Centerline is valid? [True, True] Translation: X:173.04, Y:92.47, Z:0.07 [[ 3.20165070e-01 -9.47361772e-01 0.00000000e+00 1.73040323e+02] [ 9.47361772e-01 3.20165070e-01 0.00000000e+00 9.24745099e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77542869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.000371743 meters Centerline goodness : 0.990641 Centerline is valid? [True, True] Translation: X:173.05, Y:92.51, Z:0.06 [[ 3.16163567e-01 -9.48704695e-01 0.00000000e+00 1.73052632e+02] [ 9.48704695e-01 3.16163567e-01 0.00000000e+00 9.25063009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40455498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.030371743 meters Centerline goodness : 0.989776 Centerline is valid? [True, True] Translation: X:173.06, Y:92.53, Z:0.07 [[ 3.19733040e-01 -9.47507669e-01 0.00000000e+00 1.73060114e+02] [ 9.47507669e-01 3.19733040e-01 0.00000000e+00 9.25265787e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93072812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.060371743 meters Centerline goodness : 0.990831 Centerline is valid? [True, True] Translation: X:173.07, Y:92.56, Z:0.06 [[ 3.15747286e-01 -9.48843323e-01 0.00000000e+00 1.73071883e+02] [ 9.48843323e-01 3.15747286e-01 0.00000000e+00 9.25577310e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39774332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.090371743 meters Centerline goodness : 0.991236 Centerline is valid? [True, True] Translation: X:173.08, Y:92.59, Z:0.06 [[ 3.14992201e-01 -9.49094259e-01 0.00000000e+00 1.73081998e+02] [ 9.49094259e-01 3.14992201e-01 0.00000000e+00 9.25852143e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41536251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.120371743 meters Centerline goodness : 0.990415 Centerline is valid? [True, True] Translation: X:173.09, Y:92.61, Z:0.06 [[ 3.14596030e-01 -9.49225652e-01 0.00000000e+00 1.73091302e+02] [ 9.49225652e-01 3.14596030e-01 0.00000000e+00 9.26104422e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42591157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.150371743 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:173.10, Y:92.64, Z:0.06 [[ 3.13798537e-01 -9.49489588e-01 0.00000000e+00 1.73101340e+02] [ 9.49489588e-01 3.13798537e-01 0.00000000e+00 9.26370414e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45760673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.180371743 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:173.11, Y:92.66, Z:0.06 [[ 3.12645625e-01 -9.49869840e-01 0.00000000e+00 1.73111837e+02] [ 9.49869840e-01 3.12645625e-01 0.00000000e+00 9.26639138e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45377774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21037174299997 meters Centerline goodness : 0.990748 Centerline is valid? [True, True] Translation: X:173.12, Y:92.69, Z:0.06 [[ 3.11800142e-01 -9.50147710e-01 0.00000000e+00 1.73121828e+02] [ 9.50147710e-01 3.11800142e-01 0.00000000e+00 9.26900236e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46590035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24037174299997 meters Centerline goodness : 0.992393 Centerline is valid? [True, True] Translation: X:173.13, Y:92.72, Z:0.06 [[ 3.10716483e-01 -9.50502639e-01 0.00000000e+00 1.73132889e+02] [ 9.50502639e-01 3.10716483e-01 0.00000000e+00 9.27181030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45600755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27037174299997 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:173.14, Y:92.74, Z:0.06 [[ 3.09900481e-01 -9.50769000e-01 0.00000000e+00 1.73141817e+02] [ 9.50769000e-01 3.09900481e-01 0.00000000e+00 9.27438084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41885008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30037174299997 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:173.15, Y:92.77, Z:0.06 [[ 3.11146408e-01 -9.50361990e-01 0.00000000e+00 1.73151121e+02] [ 9.50361990e-01 3.11146408e-01 0.00000000e+00 9.27682298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39551825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33037174299997 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:173.15, Y:92.79, Z:0.07 [[ 3.05047330e-01 -9.52337192e-01 0.00000000e+00 1.73145925e+02] [ 9.52337192e-01 3.05047330e-01 0.00000000e+00 9.27872175e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03335049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36037174299997 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:173.18, Y:92.83, Z:0.06 [[ 3.16839513e-01 -9.48479163e-01 0.00000000e+00 1.73175538e+02] [ 9.48479163e-01 3.16839513e-01 0.00000000e+00 9.28255980e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36054060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39037174299997 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:173.18, Y:92.85, Z:0.06 [[ 3.15020394e-01 -9.49084902e-01 0.00000000e+00 1.73180701e+02] [ 9.49084902e-01 3.15020394e-01 0.00000000e+00 9.28479072e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49812473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42037174299998 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:173.19, Y:92.88, Z:0.06 [[ 3.15440149e-01 -9.48945474e-01 0.00000000e+00 1.73191440e+02] [ 9.48945474e-01 3.15440149e-01 0.00000000e+00 9.28750484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48006415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45037174299998 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:173.20, Y:92.90, Z:0.06 [[ 3.14985005e-01 -9.49096648e-01 0.00000000e+00 1.73200918e+02] [ 9.49096648e-01 3.14985005e-01 0.00000000e+00 9.29011671e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47251708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48037174299998 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:173.21, Y:92.93, Z:0.07 [[ 3.13908620e-01 -9.49453200e-01 0.00000000e+00 1.73210049e+02] [ 9.49453200e-01 3.13908620e-01 0.00000000e+00 9.29281828e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57299388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51037174299998 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:173.22, Y:92.95, Z:0.07 [[ 3.13885361e-01 -9.49460889e-01 0.00000000e+00 1.73218260e+02] [ 9.49460889e-01 3.13885361e-01 0.00000000e+00 9.29532288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55898625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54037174299998 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:173.23, Y:92.98, Z:0.07 [[ 3.12731669e-01 -9.49841515e-01 0.00000000e+00 1.73227636e+02] [ 9.49841515e-01 3.12731669e-01 0.00000000e+00 9.29795467e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61125173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57037174299998 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:173.24, Y:93.01, Z:0.07 [[ 3.12030789e-01 -9.50071990e-01 0.00000000e+00 1.73237886e+02] [ 9.50071990e-01 3.12030789e-01 0.00000000e+00 9.30070658e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56594280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60037174299998 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:173.25, Y:93.03, Z:0.07 [[ 3.10463401e-01 -9.50585334e-01 0.00000000e+00 1.73246468e+02] [ 9.50585334e-01 3.10463401e-01 0.00000000e+00 9.30329377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58379867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63037174299998 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:173.25, Y:93.06, Z:0.07 [[ 3.09844543e-01 -9.50787231e-01 0.00000000e+00 1.73254663e+02] [ 9.50787231e-01 3.09844543e-01 0.00000000e+00 9.30574408e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55494058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66037174299998 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:173.26, Y:93.08, Z:0.07 [[ 3.07454194e-01 -9.51562882e-01 0.00000000e+00 1.73262108e+02] [ 9.51562882e-01 3.07454194e-01 0.00000000e+00 9.30836117e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71933272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.690371743 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:173.27, Y:93.11, Z:0.07 [[ 3.07652198e-01 -9.51498883e-01 0.00000000e+00 1.73272752e+02] [ 9.51498883e-01 3.07652198e-01 0.00000000e+00 9.31112561e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70311986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.720371743 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:173.28, Y:93.14, Z:0.07 [[ 3.08676953e-01 -9.51166935e-01 0.00000000e+00 1.73284298e+02] [ 9.51166935e-01 3.08676953e-01 0.00000000e+00 9.31404635e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55668731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.750371743 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:173.29, Y:93.16, Z:0.07 [[ 3.06762784e-01 -9.51786002e-01 0.00000000e+00 1.73290043e+02] [ 9.51786002e-01 3.06762784e-01 0.00000000e+00 9.31643100e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64957735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.780371743 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:173.30, Y:93.19, Z:0.07 [[ 3.05936464e-01 -9.52051931e-01 0.00000000e+00 1.73299192e+02] [ 9.52051931e-01 3.05936464e-01 0.00000000e+00 9.31911316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66393007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.810371743 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:173.31, Y:93.22, Z:0.07 [[ 3.05063739e-01 -9.52331935e-01 0.00000000e+00 1.73309652e+02] [ 9.52331935e-01 3.05063739e-01 0.00000000e+00 9.32195965e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69274793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.840371743 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:173.32, Y:93.24, Z:0.07 [[ 3.04096833e-01 -9.52641127e-01 0.00000000e+00 1.73317613e+02] [ 9.52641127e-01 3.04096833e-01 0.00000000e+00 9.32448030e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73983947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.870371743 meters Centerline goodness : 0.994752 Centerline is valid? [True, True] Translation: X:173.33, Y:93.27, Z:0.07 [[ 3.01991648e-01 -9.53310571e-01 0.00000000e+00 1.73327123e+02] [ 9.53310571e-01 3.01991648e-01 0.00000000e+00 9.32720291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79114798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.900371743 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:173.32, Y:93.29, Z:0.07 [[ 2.93369049e-01 -9.55999268e-01 0.00000000e+00 1.73322056e+02] [ 9.55999268e-01 2.93369049e-01 0.00000000e+00 9.32904252e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.25799566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.930371743 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:173.35, Y:93.32, Z:0.07 [[ 3.00481558e-01 -9.53787625e-01 0.00000000e+00 1.73345995e+02] [ 9.53787625e-01 3.00481558e-01 0.00000000e+00 9.33240517e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74860656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96037174299997 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:173.34, Y:93.34, Z:0.07 [[ 2.92587394e-01 -9.56238786e-01 0.00000000e+00 1.73340838e+02] [ 9.56238786e-01 2.92587394e-01 0.00000000e+00 9.33425673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20083514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99037174299997 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:173.35, Y:93.37, Z:0.07 [[ 2.92165150e-01 -9.56367882e-01 0.00000000e+00 1.73349979e+02] [ 9.56367882e-01 2.92165150e-01 0.00000000e+00 9.33675499e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.17409367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02037174299997 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:173.37, Y:93.40, Z:0.07 [[ 2.99635880e-01 -9.54053635e-01 0.00000000e+00 1.73374009e+02] [ 9.54053635e-01 2.99635880e-01 0.00000000e+00 9.34015355e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60621229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05037174299997 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:173.38, Y:93.43, Z:0.07 [[ 2.99393591e-01 -9.54129696e-01 0.00000000e+00 1.73382353e+02] [ 9.54129696e-01 2.99393591e-01 0.00000000e+00 9.34264451e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58745734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08037174299997 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:173.39, Y:93.45, Z:0.07 [[ 2.99319608e-01 -9.54152908e-01 0.00000000e+00 1.73391526e+02] [ 9.54152908e-01 2.99319608e-01 0.00000000e+00 9.34527298e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66535394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11037174299997 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:173.40, Y:93.48, Z:0.07 [[ 2.99895708e-01 -9.53971993e-01 0.00000000e+00 1.73400546e+02] [ 9.53971993e-01 2.99895708e-01 0.00000000e+00 9.34793423e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70482397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14037174299997 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:173.41, Y:93.51, Z:0.07 [[ 3.02689019e-01 -9.53089376e-01 0.00000000e+00 1.73409266e+02] [ 9.53089376e-01 3.02689019e-01 0.00000000e+00 9.35068435e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77239224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17037174299998 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:173.42, Y:93.53, Z:0.07 [[ 3.04425064e-01 -9.52536288e-01 0.00000000e+00 1.73417459e+02] [ 9.52536288e-01 3.04425064e-01 0.00000000e+00 9.35317985e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77947368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20037174299998 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:173.43, Y:93.56, Z:0.07 [[ 3.07997773e-01 -9.51387078e-01 0.00000000e+00 1.73425759e+02] [ 9.51387078e-01 3.07997773e-01 0.00000000e+00 9.35561527e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.37843557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23037174299998 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:173.44, Y:93.59, Z:0.07 [[ 3.06467668e-01 -9.51881068e-01 0.00000000e+00 1.73435886e+02] [ 9.51881068e-01 3.06467668e-01 0.00000000e+00 9.35860156e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76533749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26037174299998 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:173.45, Y:93.61, Z:0.07 [[ 3.09500776e-01 -9.50899190e-01 0.00000000e+00 1.73445004e+02] [ 9.50899190e-01 3.09500776e-01 0.00000000e+00 9.36116790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68657033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29037174299998 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:173.46, Y:93.64, Z:0.07 [[ 3.11678440e-01 -9.50187639e-01 0.00000000e+00 1.73455422e+02] [ 9.50187639e-01 3.11678440e-01 0.00000000e+00 9.36401730e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59410071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32037174299998 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:173.46, Y:93.66, Z:0.07 [[ 3.11419125e-01 -9.50272660e-01 0.00000000e+00 1.73463867e+02] [ 9.50272660e-01 3.11419125e-01 0.00000000e+00 9.36646765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62339464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35037174299998 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:173.47, Y:93.69, Z:0.07 [[ 3.12758376e-01 -9.49832721e-01 0.00000000e+00 1.73473696e+02] [ 9.49832721e-01 3.12758376e-01 0.00000000e+00 9.36897498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50460253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38037174299998 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:173.48, Y:93.72, Z:0.07 [[ 3.12238465e-01 -9.50003758e-01 0.00000000e+00 1.73483117e+02] [ 9.50003758e-01 3.12238465e-01 0.00000000e+00 9.37162266e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50460253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41037174299998 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:173.49, Y:93.74, Z:0.07 [[ 3.10078102e-01 -9.50711087e-01 0.00000000e+00 1.73491448e+02] [ 9.50711087e-01 3.10078102e-01 0.00000000e+00 9.37424931e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59152192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.440371743 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:173.50, Y:93.77, Z:0.06 [[ 3.10983924e-01 -9.50415172e-01 0.00000000e+00 1.73501920e+02] [ 9.50415172e-01 3.10983924e-01 0.00000000e+00 9.37686007e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48847285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.470371743 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:173.51, Y:93.80, Z:0.07 [[ 3.09224313e-01 -9.50989129e-01 0.00000000e+00 1.73512129e+02] [ 9.50989129e-01 3.09224313e-01 0.00000000e+00 9.37977745e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51855708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.500371743 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:173.52, Y:93.82, Z:0.06 [[ 3.08370322e-01 -9.51266390e-01 0.00000000e+00 1.73522116e+02] [ 9.51266390e-01 3.08370322e-01 0.00000000e+00 9.38235841e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47769494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.530371743 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:173.53, Y:93.85, Z:0.07 [[ 3.06730431e-01 -9.51796429e-01 0.00000000e+00 1.73530594e+02] [ 9.51796429e-01 3.06730431e-01 0.00000000e+00 9.38500443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73135643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.560371743 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:173.54, Y:93.88, Z:0.06 [[ 3.06296629e-01 -9.51936119e-01 0.00000000e+00 1.73544752e+02] [ 9.51936119e-01 3.06296629e-01 0.00000000e+00 9.38797388e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36088175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.590371743 meters Centerline goodness : 0.993033 Centerline is valid? [True, True] Translation: X:173.55, Y:93.90, Z:0.06 [[ 3.07446229e-01 -9.51565456e-01 0.00000000e+00 1.73554931e+02] [ 9.51565456e-01 3.07446229e-01 0.00000000e+00 9.39017765e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25147207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.620371743 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:173.57, Y:93.93, Z:0.06 [[ 3.03357132e-01 -9.52876934e-01 0.00000000e+00 1.73565925e+02] [ 9.52876934e-01 3.03357132e-01 0.00000000e+00 9.39312568e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31820932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.650371743 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:173.56, Y:93.95, Z:0.07 [[ 2.94729551e-01 -9.55580709e-01 0.00000000e+00 1.73561197e+02] [ 9.55580709e-01 2.94729551e-01 0.00000000e+00 9.39503229e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97512116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.680371743 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:173.59, Y:93.99, Z:0.06 [[ 3.02556852e-01 -9.53131340e-01 0.00000000e+00 1.73588674e+02] [ 9.53131340e-01 3.02556852e-01 0.00000000e+00 9.39852994e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29528742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71037174299997 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:173.58, Y:94.00, Z:0.07 [[ 2.93239427e-01 -9.56039036e-01 0.00000000e+00 1.73583125e+02] [ 9.56039036e-01 2.93239427e-01 0.00000000e+00 9.40026014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86445246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74037174299997 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:173.59, Y:94.03, Z:0.07 [[ 2.92561249e-01 -9.56246786e-01 0.00000000e+00 1.73594352e+02] [ 9.56246786e-01 2.92561249e-01 0.00000000e+00 9.40280547e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82833620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77037174299997 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:173.62, Y:94.06, Z:0.06 [[ 3.00241275e-01 -9.53863290e-01 0.00000000e+00 1.73619777e+02] [ 9.53863290e-01 3.00241275e-01 0.00000000e+00 9.40625607e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28111863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80037174299997 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:173.63, Y:94.09, Z:0.06 [[ 2.98162322e-01 -9.54515181e-01 0.00000000e+00 1.73630207e+02] [ 9.54515181e-01 2.98162322e-01 0.00000000e+00 9.40894588e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47890126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83037174299997 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:173.64, Y:94.11, Z:0.07 [[ 2.97389506e-01 -9.54756242e-01 0.00000000e+00 1.73635743e+02] [ 9.54756242e-01 2.97389506e-01 0.00000000e+00 9.41101354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96961432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86037174299997 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:173.65, Y:94.14, Z:0.07 [[ 2.94393264e-01 -9.55684365e-01 0.00000000e+00 1.73649063e+02] [ 9.55684365e-01 2.94393264e-01 0.00000000e+00 9.41412938e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53843817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89037174299997 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:173.66, Y:94.16, Z:0.07 [[ 2.93948576e-01 -9.55821236e-01 0.00000000e+00 1.73656906e+02] [ 9.55821236e-01 2.93948576e-01 0.00000000e+00 9.41636641e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.73861832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92037174299998 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:173.67, Y:94.19, Z:0.07 [[ 2.87957256e-01 -9.57643263e-01 0.00000000e+00 1.73666256e+02] [ 9.57643263e-01 2.87957256e-01 0.00000000e+00 9.41907445e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67585729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95037174299998 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:173.68, Y:94.22, Z:0.06 [[ 2.87032135e-01 -9.57920954e-01 0.00000000e+00 1.73678813e+02] [ 9.57920954e-01 2.87032135e-01 0.00000000e+00 9.42178904e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31290062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98037174299998 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:173.69, Y:94.24, Z:0.06 [[ 2.83918815e-01 -9.58848323e-01 0.00000000e+00 1.73688014e+02] [ 9.58848323e-01 2.83918815e-01 0.00000000e+00 9.42430161e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34451790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01037174299998 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:173.70, Y:94.27, Z:0.06 [[ 2.81893753e-01 -9.59445627e-01 0.00000000e+00 1.73697446e+02] [ 9.59445627e-01 2.81893753e-01 0.00000000e+00 9.42690332e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42665422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04037174299998 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:173.70, Y:94.29, Z:0.07 [[ 2.75684146e-01 -9.61248278e-01 0.00000000e+00 1.73696123e+02] [ 9.61248278e-01 2.75684146e-01 0.00000000e+00 9.42892249e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79707064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07037174299998 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:173.72, Y:94.32, Z:0.07 [[ 2.80149117e-01 -9.59956495e-01 0.00000000e+00 1.73716210e+02] [ 9.59956495e-01 2.80149117e-01 0.00000000e+00 9.43211583e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64889695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10037174299998 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:173.73, Y:94.35, Z:0.07 [[ 2.80839692e-01 -9.59754691e-01 0.00000000e+00 1.73725745e+02] [ 9.59754691e-01 2.80839692e-01 0.00000000e+00 9.43475564e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66094232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13037174299998 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:173.73, Y:94.37, Z:0.07 [[ 2.79295881e-01 -9.60205088e-01 0.00000000e+00 1.73734423e+02] [ 9.60205088e-01 2.79295881e-01 0.00000000e+00 9.43744067e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76059522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16037174299998 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:173.74, Y:94.40, Z:0.07 [[ 2.78497129e-01 -9.60437062e-01 0.00000000e+00 1.73742879e+02] [ 9.60437062e-01 2.78497129e-01 0.00000000e+00 9.44005459e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82280194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.190371743 meters Centerline goodness : 0.993470 Centerline is valid? [True, True] Translation: X:173.75, Y:94.43, Z:0.07 [[ 2.80951753e-01 -9.59721893e-01 0.00000000e+00 1.73752552e+02] [ 9.59721893e-01 2.80951753e-01 0.00000000e+00 9.44253047e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94625198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.220371743 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:173.76, Y:94.45, Z:0.07 [[ 2.80826843e-01 -9.59758451e-01 0.00000000e+00 1.73761645e+02] [ 9.59758451e-01 2.80826843e-01 0.00000000e+00 9.44500789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66931547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.250371743 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:173.77, Y:94.48, Z:0.06 [[ 2.77167862e-01 -9.60821511e-01 0.00000000e+00 1.73772201e+02] [ 9.60821511e-01 2.77167862e-01 0.00000000e+00 9.44802404e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49572494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.280371743 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:173.78, Y:94.50, Z:0.06 [[ 2.79466339e-01 -9.60155490e-01 0.00000000e+00 1.73779722e+02] [ 9.60155490e-01 2.79466339e-01 0.00000000e+00 9.45029486e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33585384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.310371743 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:173.79, Y:94.53, Z:0.06 [[ 2.75217325e-01 -9.61382038e-01 0.00000000e+00 1.73790437e+02] [ 9.61382038e-01 2.75217325e-01 0.00000000e+00 9.45324024e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43836843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.340371743 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:173.80, Y:94.56, Z:0.06 [[ 2.74181112e-01 -9.61678074e-01 0.00000000e+00 1.73800692e+02] [ 9.61678074e-01 2.74181112e-01 0.00000000e+00 9.45605160e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40096289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.370371743 meters Centerline goodness : 0.992715 Centerline is valid? [True, True] Translation: X:173.81, Y:94.58, Z:0.07 [[ 2.75194517e-01 -9.61388567e-01 0.00000000e+00 1.73806984e+02] [ 9.61388567e-01 2.75194517e-01 0.00000000e+00 9.45826290e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64701908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.400371743 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:173.82, Y:94.61, Z:0.07 [[ 2.73817689e-01 -9.61781614e-01 0.00000000e+00 1.73818883e+02] [ 9.61781614e-01 2.73817689e-01 0.00000000e+00 9.46143150e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50469632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43037174299997 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:173.83, Y:94.64, Z:0.07 [[ 2.73288669e-01 -9.61932068e-01 0.00000000e+00 1.73826031e+02] [ 9.61932068e-01 2.73288669e-01 0.00000000e+00 9.46391744e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.63984467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46037174299997 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:173.83, Y:94.66, Z:0.07 [[ 2.75204317e-01 -9.61385762e-01 0.00000000e+00 1.73834106e+02] [ 9.61385762e-01 2.75204317e-01 0.00000000e+00 9.46628622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70014582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49037174299997 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:173.85, Y:94.69, Z:0.07 [[ 2.73517439e-01 -9.61867044e-01 0.00000000e+00 1.73845263e+02] [ 9.61867044e-01 2.73517439e-01 0.00000000e+00 9.46938038e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.68604611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52037174299997 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:173.85, Y:94.72, Z:0.07 [[ 2.72309034e-01 -9.62209847e-01 0.00000000e+00 1.73853235e+02] [ 9.62209847e-01 2.72309034e-01 0.00000000e+00 9.47196512e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.60426065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55037174299997 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:173.86, Y:94.75, Z:0.07 [[ 2.71839794e-01 -9.62342520e-01 0.00000000e+00 1.73862283e+02] [ 9.62342520e-01 2.71839794e-01 0.00000000e+00 9.47458256e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55117855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58037174299997 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:173.87, Y:94.77, Z:0.07 [[ 2.71410738e-01 -9.62463616e-01 0.00000000e+00 1.73872495e+02] [ 9.62463616e-01 2.71410738e-01 0.00000000e+00 9.47727963e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50997561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61037174299997 meters Centerline goodness : 0.993179 Centerline is valid? [True, True] Translation: X:173.88, Y:94.80, Z:0.07 [[ 2.71439851e-01 -9.62455405e-01 0.00000000e+00 1.73883420e+02] [ 9.62455405e-01 2.71439851e-01 0.00000000e+00 9.48004811e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58987097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64037174299997 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:173.89, Y:94.83, Z:0.07 [[ 2.69198562e-01 -9.63084697e-01 0.00000000e+00 1.73892180e+02] [ 9.63084697e-01 2.69198562e-01 0.00000000e+00 9.48252536e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50453464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67037174299998 meters Centerline goodness : 0.993376 Centerline is valid? [True, True] Translation: X:173.90, Y:94.85, Z:0.07 [[ 2.69566070e-01 -9.62981897e-01 0.00000000e+00 1.73901517e+02] [ 9.62981897e-01 2.69566070e-01 0.00000000e+00 9.48497997e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51834005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70037174299998 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:173.91, Y:94.88, Z:0.07 [[ 2.68298686e-01 -9.63335775e-01 0.00000000e+00 1.73911664e+02] [ 9.63335775e-01 2.68298686e-01 0.00000000e+00 9.48777860e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.55834291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73037174299998 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:173.92, Y:94.91, Z:0.07 [[ 2.67207931e-01 -9.63638896e-01 0.00000000e+00 1.73923702e+02] [ 9.63638896e-01 2.67207931e-01 0.00000000e+00 9.49056488e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53141902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76037174299998 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:173.93, Y:94.93, Z:0.06 [[ 2.66546643e-01 -9.63822021e-01 0.00000000e+00 1.73932978e+02] [ 9.63822021e-01 2.66546643e-01 0.00000000e+00 9.49313393e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49281864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79037174299998 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:173.94, Y:94.96, Z:0.06 [[ 2.67845751e-01 -9.63461807e-01 0.00000000e+00 1.73942755e+02] [ 9.63461807e-01 2.67845751e-01 0.00000000e+00 9.49568245e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24809832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82037174299998 meters Centerline goodness : 0.993287 Centerline is valid? [True, True] Translation: X:173.95, Y:94.98, Z:0.06 [[ 2.66592013e-01 -9.63809472e-01 0.00000000e+00 1.73951145e+02] [ 9.63809472e-01 2.66592013e-01 0.00000000e+00 9.49827489e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41443820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85037174299998 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:173.96, Y:95.01, Z:0.06 [[ 2.67901207e-01 -9.63446388e-01 0.00000000e+00 1.73960343e+02] [ 9.63446388e-01 2.67901207e-01 0.00000000e+00 9.50087186e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42149935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88037174299998 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:173.96, Y:95.03, Z:0.06 [[ 2.64655190e-01 -9.64343108e-01 0.00000000e+00 1.73957109e+02] [ 9.64343108e-01 2.64655190e-01 0.00000000e+00 9.50277263e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19097555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91037174299998 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:173.98, Y:95.06, Z:0.06 [[ 2.71168073e-01 -9.62532013e-01 0.00000000e+00 1.73979263e+02] [ 9.62532013e-01 2.71168073e-01 0.00000000e+00 9.50628461e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13615786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.940371743 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:173.99, Y:95.09, Z:0.06 [[ 2.74761016e-01 -9.61512550e-01 0.00000000e+00 1.73987785e+02] [ 9.61512550e-01 2.74761016e-01 0.00000000e+00 9.50872212e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06489395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.970371743 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:174.01, Y:95.13, Z:0.06 [[ 2.79636790e-01 -9.60105862e-01 0.00000000e+00 1.74007644e+02] [ 9.60105862e-01 2.79636790e-01 0.00000000e+00 9.51270341e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69384045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.000371743 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:173.99, Y:95.14, Z:0.06 [[ 2.66857222e-01 -9.63736075e-01 0.00000000e+00 1.73993399e+02] [ 9.63736075e-01 2.66857222e-01 0.00000000e+00 9.51362114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38574118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.030371743 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:174.02, Y:95.18, Z:0.06 [[ 2.79276810e-01 -9.60210635e-01 0.00000000e+00 1.74023495e+02] [ 9.60210635e-01 2.79276810e-01 0.00000000e+00 9.51796201e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73988147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.060371743 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:174.03, Y:95.20, Z:0.06 [[ 2.79736902e-01 -9.60076698e-01 0.00000000e+00 1.74029341e+02] [ 9.60076698e-01 2.79736902e-01 0.00000000e+00 9.52019805e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75623814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.090371743 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:174.03, Y:95.23, Z:0.06 [[ 2.75601840e-01 -9.61271879e-01 0.00000000e+00 1.74034296e+02] [ 9.61271879e-01 2.75601840e-01 0.00000000e+00 9.52263288e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01069517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.120371743 meters Centerline goodness : 0.993292 Centerline is valid? [True, True] Translation: X:174.04, Y:95.25, Z:0.06 [[ 2.78573768e-01 -9.60414835e-01 0.00000000e+00 1.74044239e+02] [ 9.60414835e-01 2.78573768e-01 0.00000000e+00 9.52520572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99194072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.150371743 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:174.05, Y:95.28, Z:0.06 [[ 2.79168067e-01 -9.60242256e-01 0.00000000e+00 1.74054752e+02] [ 9.60242256e-01 2.79168067e-01 0.00000000e+00 9.52800673e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94870283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18037174299997 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:174.06, Y:95.31, Z:0.06 [[ 2.78252233e-01 -9.60508040e-01 0.00000000e+00 1.74063078e+02] [ 9.60508040e-01 2.78252233e-01 0.00000000e+00 9.53063010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00119899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21037174299997 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:174.08, Y:95.34, Z:0.06 [[ 2.77104467e-01 -9.60839797e-01 0.00000000e+00 1.74075482e+02] [ 9.60839797e-01 2.77104467e-01 0.00000000e+00 9.53350215e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88263225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24037174299997 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:174.09, Y:95.36, Z:0.06 [[ 2.75435095e-01 -9.61319670e-01 0.00000000e+00 1.74085346e+02] [ 9.61319670e-01 2.75435095e-01 0.00000000e+00 9.53624935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85397272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27037174299997 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:174.09, Y:95.39, Z:0.06 [[ 2.74644534e-01 -9.61545828e-01 0.00000000e+00 1.74093681e+02] [ 9.61545828e-01 2.74644534e-01 0.00000000e+00 9.53892506e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85397272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30037174299997 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:174.11, Y:95.42, Z:0.06 [[ 2.74159965e-01 -9.61684103e-01 0.00000000e+00 1.74105572e+02] [ 9.61684103e-01 2.74159965e-01 0.00000000e+00 9.54184163e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69142137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33037174299997 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:174.11, Y:95.44, Z:0.06 [[ 2.69253913e-01 -9.63069224e-01 0.00000000e+00 1.74112370e+02] [ 9.63069224e-01 2.69253913e-01 0.00000000e+00 9.54443971e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75136600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36037174299997 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:174.12, Y:95.47, Z:0.06 [[ 2.66908597e-01 -9.63721848e-01 0.00000000e+00 1.74120528e+02] [ 9.63721848e-01 2.66908597e-01 0.00000000e+00 9.54695883e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70558332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39037174299997 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:174.11, Y:95.48, Z:0.06 [[ 2.54157085e-01 -9.67162952e-01 0.00000000e+00 1.74110883e+02] [ 9.67162952e-01 2.54157085e-01 0.00000000e+00 9.54846285e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28568556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42037174299998 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:174.12, Y:95.51, Z:0.06 [[ 2.52680070e-01 -9.67549886e-01 0.00000000e+00 1.74119006e+02] [ 9.67549886e-01 2.52680070e-01 0.00000000e+00 9.55097578e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27100694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45037174299998 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:174.13, Y:95.54, Z:0.06 [[ 2.50964651e-01 -9.67996252e-01 0.00000000e+00 1.74127897e+02] [ 9.67996252e-01 2.50964651e-01 0.00000000e+00 9.55366273e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43025753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48037174299998 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:174.14, Y:95.56, Z:0.06 [[ 2.50147239e-01 -9.68207808e-01 0.00000000e+00 1.74136184e+02] [ 9.68207808e-01 2.50147239e-01 0.00000000e+00 9.55634079e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42276735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51037174299998 meters Centerline goodness : 0.993360 Centerline is valid? [True, True] Translation: X:174.17, Y:95.60, Z:0.06 [[ 2.61828882e-01 -9.65114313e-01 0.00000000e+00 1.74165543e+02] [ 9.65114313e-01 2.61828882e-01 0.00000000e+00 9.56040755e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79577055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54037174299998 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:174.17, Y:95.63, Z:0.06 [[ 2.59517756e-01 -9.65738336e-01 0.00000000e+00 1.74171017e+02] [ 9.65738336e-01 2.59517756e-01 0.00000000e+00 9.56290878e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73937380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57037174299998 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:174.18, Y:95.66, Z:0.06 [[ 2.56243641e-01 -9.66612227e-01 0.00000000e+00 1.74177814e+02] [ 9.66612227e-01 2.56243641e-01 0.00000000e+00 9.56565136e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86377272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60037174299998 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:174.19, Y:95.68, Z:0.06 [[ 2.54747423e-01 -9.67007627e-01 0.00000000e+00 1.74187151e+02] [ 9.67007627e-01 2.54747423e-01 0.00000000e+00 9.56849166e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67987539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63037174299998 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:174.19, Y:95.71, Z:0.06 [[ 2.54646729e-01 -9.67034148e-01 0.00000000e+00 1.74194754e+02] [ 9.67034148e-01 2.54646729e-01 0.00000000e+00 9.57102066e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65782442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66037174299998 meters Centerline goodness : 0.992196 Centerline is valid? [True, True] Translation: X:174.20, Y:95.73, Z:0.06 [[ 2.56169124e-01 -9.66631977e-01 0.00000000e+00 1.74201465e+02] [ 9.66631977e-01 2.56169124e-01 0.00000000e+00 9.57334795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48054843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.690371743 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:174.21, Y:95.76, Z:0.06 [[ 2.52426248e-01 -9.67616137e-01 0.00000000e+00 1.74210706e+02] [ 9.67616137e-01 2.52426248e-01 0.00000000e+00 9.57645316e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65598619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.720371743 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:174.21, Y:95.79, Z:0.06 [[ 2.51137688e-01 -9.67951374e-01 0.00000000e+00 1.74214900e+02] [ 9.67951374e-01 2.51137688e-01 0.00000000e+00 9.57908958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72999912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.750371743 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:174.22, Y:95.82, Z:0.06 [[ 2.51008743e-01 -9.67984820e-01 0.00000000e+00 1.74224166e+02] [ 9.67984820e-01 2.51008743e-01 0.00000000e+00 9.58203813e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67169163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.780371743 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:174.23, Y:95.85, Z:0.06 [[ 2.51560780e-01 -9.67841502e-01 0.00000000e+00 1.74230304e+02] [ 9.67841502e-01 2.51560780e-01 0.00000000e+00 9.58460009e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68601317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.810371743 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:174.24, Y:95.87, Z:0.06 [[ 2.51568627e-01 -9.67839463e-01 0.00000000e+00 1.74236728e+02] [ 9.67839463e-01 2.51568627e-01 0.00000000e+00 9.58739862e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67870425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.840371743 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:174.25, Y:95.90, Z:0.06 [[ 2.52223789e-01 -9.67668931e-01 0.00000000e+00 1.74245744e+02] [ 9.67668931e-01 2.52223789e-01 0.00000000e+00 9.59019991e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58801940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.870371743 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:174.25, Y:95.92, Z:0.06 [[ 2.54889444e-01 -9.66970202e-01 0.00000000e+00 1.74249908e+02] [ 9.66970202e-01 2.54889444e-01 0.00000000e+00 9.59239654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18385604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.900371743 meters Centerline goodness : 0.992475 Centerline is valid? [True, True] Translation: X:174.26, Y:95.95, Z:0.06 [[ 2.53440192e-01 -9.67351058e-01 0.00000000e+00 1.74257183e+02] [ 9.67351058e-01 2.53440192e-01 0.00000000e+00 9.59523242e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35236455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93037174299997 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:174.27, Y:95.98, Z:0.06 [[ 2.51889537e-01 -9.67755993e-01 0.00000000e+00 1.74265288e+02] [ 9.67755993e-01 2.51889537e-01 0.00000000e+00 9.59829522e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65553345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96037174299997 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:174.27, Y:96.01, Z:0.06 [[ 2.51620615e-01 -9.67825948e-01 0.00000000e+00 1.74271791e+02] [ 9.67825948e-01 2.51620615e-01 0.00000000e+00 9.60090967e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66047108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99037174299997 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:174.28, Y:96.04, Z:0.06 [[ 2.50406269e-01 -9.68140847e-01 0.00000000e+00 1.74278682e+02] [ 9.68140847e-01 2.50406269e-01 0.00000000e+00 9.60357732e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68006297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02037174299997 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:174.29, Y:96.06, Z:0.06 [[ 2.50252789e-01 -9.68180532e-01 0.00000000e+00 1.74287600e+02] [ 9.68180532e-01 2.50252789e-01 0.00000000e+00 9.60638135e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53038945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05037174299997 meters Centerline goodness : 0.992845 Centerline is valid? [True, True] Translation: X:174.29, Y:96.09, Z:0.06 [[ 2.52378300e-01 -9.67628644e-01 0.00000000e+00 1.74292655e+02] [ 9.67628644e-01 2.52378300e-01 0.00000000e+00 9.60866269e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89589905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08037174299997 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:174.30, Y:96.12, Z:0.05 [[ 2.50541470e-01 -9.68105868e-01 0.00000000e+00 1.74301318e+02] [ 9.68105868e-01 2.50541470e-01 0.00000000e+00 9.61182413e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47214072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11037174299997 meters Centerline goodness : 0.993039 Centerline is valid? [True, True] Translation: X:174.31, Y:96.15, Z:0.05 [[ 2.51855346e-01 -9.67764891e-01 0.00000000e+00 1.74306808e+02] [ 9.67764891e-01 2.51855346e-01 0.00000000e+00 9.61462110e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44853183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14037174299997 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:174.31, Y:96.17, Z:0.05 [[ 2.50841221e-01 -9.68028244e-01 0.00000000e+00 1.74312917e+02] [ 9.68028244e-01 2.50841221e-01 0.00000000e+00 9.61731153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47890157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17037174299998 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:174.32, Y:96.20, Z:0.05 [[ 2.51110862e-01 -9.67958333e-01 0.00000000e+00 1.74321231e+02] [ 9.67958333e-01 2.51110862e-01 0.00000000e+00 9.62018191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47307925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20037174299998 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:174.33, Y:96.22, Z:0.06 [[ 2.54327732e-01 -9.67118092e-01 0.00000000e+00 1.74326163e+02] [ 9.67118092e-01 2.54327732e-01 0.00000000e+00 9.62241126e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76279271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23037174299998 meters Centerline goodness : 0.993437 Centerline is valid? [True, True] Translation: X:174.33, Y:96.26, Z:0.06 [[ 2.52567267e-01 -9.67579338e-01 0.00000000e+00 1.74331175e+02] [ 9.67579338e-01 2.52567267e-01 0.00000000e+00 9.62553497e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61435472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26037174299998 meters Centerline goodness : 0.992927 Centerline is valid? [True, True] Translation: X:174.34, Y:96.28, Z:0.06 [[ 2.53909508e-01 -9.67227978e-01 0.00000000e+00 1.74337740e+02] [ 9.67227978e-01 2.53909508e-01 0.00000000e+00 9.62824514e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54513423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29037174299998 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:174.34, Y:96.31, Z:0.05 [[ 2.56247132e-01 -9.66611301e-01 0.00000000e+00 1.74343283e+02] [ 9.66611301e-01 2.56247132e-01 0.00000000e+00 9.63101594e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48094669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32037174299998 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:174.34, Y:96.33, Z:0.06 [[ 2.56521350e-01 -9.66538565e-01 0.00000000e+00 1.74344745e+02] [ 9.66538565e-01 2.56521350e-01 0.00000000e+00 9.63317740e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85196221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35037174299998 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:174.35, Y:96.36, Z:0.06 [[ 2.57344528e-01 -9.66319716e-01 0.00000000e+00 1.74350991e+02] [ 9.66319716e-01 2.57344528e-01 0.00000000e+00 9.63586776e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83739772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38037174299998 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:174.35, Y:96.38, Z:0.06 [[ 2.51346342e-01 -9.67897214e-01 0.00000000e+00 1.74347705e+02] [ 9.67897214e-01 2.51346342e-01 0.00000000e+00 9.63841622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00184664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41037174299998 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:174.35, Y:96.41, Z:0.06 [[ 2.51225369e-01 -9.67928620e-01 0.00000000e+00 1.74354840e+02] [ 9.67928620e-01 2.51225369e-01 0.00000000e+00 9.64114654e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.97424934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.440371743 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:174.38, Y:96.45, Z:0.05 [[ 2.57844864e-01 -9.66186331e-01 0.00000000e+00 1.74375970e+02] [ 9.66186331e-01 2.57844864e-01 0.00000000e+00 9.64470218e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44173055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.470371743 meters Centerline goodness : 0.992516 Centerline is valid? [True, True] Translation: X:174.37, Y:96.47, Z:0.06 [[ 2.48700835e-01 -9.68580350e-01 0.00000000e+00 1.74369953e+02] [ 9.68580350e-01 2.48700835e-01 0.00000000e+00 9.64656829e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85864064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.500371743 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:174.39, Y:96.50, Z:0.05 [[ 2.55161432e-01 -9.66898466e-01 0.00000000e+00 1.74392935e+02] [ 9.66898466e-01 2.55161432e-01 0.00000000e+00 9.65016779e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31100769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.530371743 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:174.40, Y:96.53, Z:0.05 [[ 2.52746377e-01 -9.67532567e-01 0.00000000e+00 1.74400456e+02] [ 9.67532567e-01 2.52746377e-01 0.00000000e+00 9.65282340e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35014204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.560371743 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:174.41, Y:96.55, Z:0.05 [[ 2.49729362e-01 -9.68315675e-01 0.00000000e+00 1.74407690e+02] [ 9.68315675e-01 2.49729362e-01 0.00000000e+00 9.65542010e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43730684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.590371743 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:174.42, Y:96.58, Z:0.05 [[ 2.47026701e-01 -9.69008673e-01 0.00000000e+00 1.74417195e+02] [ 9.69008673e-01 2.47026701e-01 0.00000000e+00 9.65833798e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48746123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.620371743 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:174.43, Y:96.61, Z:0.06 [[ 2.49214063e-01 -9.68448424e-01 0.00000000e+00 1.74426775e+02] [ 9.68448424e-01 2.49214063e-01 0.00000000e+00 9.66086377e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59161668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.650371743 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:174.43, Y:96.64, Z:0.06 [[ 2.42842895e-01 -9.70065631e-01 0.00000000e+00 1.74434709e+02] [ 9.70065631e-01 2.42842895e-01 0.00000000e+00 9.66381892e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51698292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68037174299997 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:174.44, Y:96.66, Z:0.06 [[ 2.39383692e-01 -9.70925048e-01 0.00000000e+00 1.74441894e+02] [ 9.70925048e-01 2.39383692e-01 0.00000000e+00 9.66642389e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61901068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71037174299997 meters Centerline goodness : 0.993796 Centerline is valid? [True, True] Translation: X:174.45, Y:96.69, Z:0.06 [[ 2.35442810e-01 -9.71888205e-01 0.00000000e+00 1.74450375e+02] [ 9.71888205e-01 2.35442810e-01 0.00000000e+00 9.66907921e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60387008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74037174299997 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:174.46, Y:96.72, Z:0.06 [[ 2.33404767e-01 -9.72379666e-01 0.00000000e+00 1.74458938e+02] [ 9.72379666e-01 2.33404767e-01 0.00000000e+00 9.67184347e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54930051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77037174299997 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:174.46, Y:96.74, Z:0.05 [[ 2.33280955e-01 -9.72409377e-01 0.00000000e+00 1.74464814e+02] [ 9.72409377e-01 2.33280955e-01 0.00000000e+00 9.67406534e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48132116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80037174299997 meters Centerline goodness : 0.994034 Centerline is valid? [True, True] Translation: X:174.47, Y:96.77, Z:0.05 [[ 2.28569196e-01 -9.73527669e-01 0.00000000e+00 1.74474153e+02] [ 9.73527669e-01 2.28569196e-01 0.00000000e+00 9.67716262e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46350405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83037174299997 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:174.48, Y:96.80, Z:0.05 [[ 2.23766730e-01 -9.74642730e-01 0.00000000e+00 1.74482969e+02] [ 9.74642730e-01 2.23766730e-01 0.00000000e+00 9.67983655e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41239438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86037174299997 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:174.49, Y:96.83, Z:0.05 [[ 2.22827034e-01 -9.74857996e-01 0.00000000e+00 1.74491287e+02] [ 9.74857996e-01 2.22827034e-01 0.00000000e+00 9.68254090e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29986538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89037174299997 meters Centerline goodness : 0.993924 Centerline is valid? [True, True] Translation: X:174.50, Y:96.85, Z:0.05 [[ 2.20304279e-01 -9.75431199e-01 0.00000000e+00 1.74498933e+02] [ 9.75431199e-01 2.20304279e-01 0.00000000e+00 9.68528281e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35419189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92037174299998 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:174.51, Y:96.88, Z:0.05 [[ 2.19170611e-01 -9.75686550e-01 0.00000000e+00 1.74505581e+02] [ 9.75686550e-01 2.19170611e-01 0.00000000e+00 9.68777062e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38498446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95037174299998 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:174.51, Y:96.90, Z:0.05 [[ 2.18671363e-01 -9.75798563e-01 0.00000000e+00 1.74512207e+02] [ 9.75798563e-01 2.18671363e-01 0.00000000e+00 9.69043206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43096685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98037174299998 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:174.52, Y:96.93, Z:0.05 [[ 2.20565338e-01 -9.75372202e-01 0.00000000e+00 1.74519899e+02] [ 9.75372202e-01 2.20565338e-01 0.00000000e+00 9.69324258e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46199955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01037174299998 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:174.53, Y:96.96, Z:0.05 [[ 2.21912200e-01 -9.75066652e-01 0.00000000e+00 1.74525773e+02] [ 9.75066652e-01 2.21912200e-01 0.00000000e+00 9.69585555e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49147031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04037174299998 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:174.53, Y:96.99, Z:0.06 [[ 2.22760000e-01 -9.74873316e-01 0.00000000e+00 1.74533211e+02] [ 9.74873316e-01 2.22760000e-01 0.00000000e+00 9.69866305e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57107794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07037174299998 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:174.54, Y:97.01, Z:0.06 [[ 2.26661397e-01 -9.73973619e-01 0.00000000e+00 1.74539520e+02] [ 9.73973619e-01 2.26661397e-01 0.00000000e+00 9.70125291e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62830839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10037174299998 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:174.55, Y:97.04, Z:0.06 [[ 2.29241790e-01 -9.73369509e-01 0.00000000e+00 1.74548748e+02] [ 9.73369509e-01 2.29241790e-01 0.00000000e+00 9.70427910e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59224462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13037174299998 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:174.55, Y:97.07, Z:0.06 [[ 2.29852640e-01 -9.73225443e-01 0.00000000e+00 1.74553592e+02] [ 9.73225443e-01 2.29852640e-01 0.00000000e+00 9.70684856e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66622381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16037174299998 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:174.56, Y:97.10, Z:0.06 [[ 2.35613622e-01 -9.71846810e-01 0.00000000e+00 1.74562828e+02] [ 9.71846810e-01 2.35613622e-01 0.00000000e+00 9.70974441e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50542623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.190371743 meters Centerline goodness : 0.994548 Centerline is valid? [True, True] Translation: X:174.57, Y:97.12, Z:0.06 [[ 2.34963501e-01 -9.72004194e-01 0.00000000e+00 1.74570100e+02] [ 9.72004194e-01 2.34963501e-01 0.00000000e+00 9.71245470e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50542623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.220371743 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:174.58, Y:97.15, Z:0.05 [[ 2.35837131e-01 -9.71792595e-01 0.00000000e+00 1.74576419e+02] [ 9.71792595e-01 2.35837131e-01 0.00000000e+00 9.71509498e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42966119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.250371743 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:174.58, Y:97.18, Z:0.05 [[ 2.39911135e-01 -9.70794853e-01 0.00000000e+00 1.74584699e+02] [ 9.70794853e-01 2.39911135e-01 0.00000000e+00 9.71788570e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25226670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.280371743 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:174.59, Y:97.21, Z:0.05 [[ 2.41915547e-01 -9.70297309e-01 0.00000000e+00 1.74591488e+02] [ 9.70297309e-01 2.41915547e-01 0.00000000e+00 9.72053484e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16348736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.310371743 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:174.60, Y:97.23, Z:0.05 [[ 2.41841307e-01 -9.70315816e-01 0.00000000e+00 1.74598103e+02] [ 9.70315816e-01 2.41841307e-01 0.00000000e+00 9.72324086e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26217969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.340371743 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:174.59, Y:97.25, Z:0.06 [[ 2.35070962e-01 -9.71978211e-01 0.00000000e+00 1.74589718e+02] [ 9.71978211e-01 2.35070962e-01 0.00000000e+00 9.72495795e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92838109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.370371743 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:174.61, Y:97.29, Z:0.05 [[ 2.49090106e-01 -9.68480314e-01 0.00000000e+00 1.74611525e+02] [ 9.68480314e-01 2.49090106e-01 0.00000000e+00 9.72858152e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44474194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.400371743 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:174.62, Y:97.32, Z:0.05 [[ 2.52539230e-01 -9.67586656e-01 0.00000000e+00 1.74620575e+02] [ 9.67586656e-01 2.52539230e-01 0.00000000e+00 9.73151233e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45962614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43037174299997 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:174.61, Y:97.33, Z:0.06 [[ 2.46983520e-01 -9.69019680e-01 0.00000000e+00 1.74612564e+02] [ 9.69019680e-01 2.46983520e-01 0.00000000e+00 9.73318354e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24519308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46037174299997 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:174.64, Y:97.37, Z:0.06 [[ 2.57571180e-01 -9.66259327e-01 0.00000000e+00 1.74637889e+02] [ 9.66259327e-01 2.57571180e-01 0.00000000e+00 9.73685742e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65029939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49037174299997 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:174.65, Y:97.39, Z:0.06 [[ 2.55722963e-01 -9.66750105e-01 0.00000000e+00 1.74645228e+02] [ 9.66750105e-01 2.55722963e-01 0.00000000e+00 9.73949350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74478330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52037174299997 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:174.65, Y:97.42, Z:0.06 [[ 2.54277229e-01 -9.67131372e-01 0.00000000e+00 1.74653108e+02] [ 9.67131372e-01 2.54277229e-01 0.00000000e+00 9.74192572e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74459221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55037174299997 meters Centerline goodness : 0.994011 Centerline is valid? [True, True] Translation: X:174.66, Y:97.45, Z:0.06 [[ 2.53102890e-01 -9.67439366e-01 0.00000000e+00 1.74660476e+02] [ 9.67439366e-01 2.53102890e-01 0.00000000e+00 9.74457726e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68959836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58037174299997 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:174.67, Y:97.47, Z:0.06 [[ 2.49025606e-01 -9.68496901e-01 0.00000000e+00 1.74671382e+02] [ 9.68496901e-01 2.49025606e-01 0.00000000e+00 9.74719747e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58598194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61037174299997 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:174.68, Y:97.50, Z:0.05 [[ 2.46384496e-01 -9.69172162e-01 0.00000000e+00 1.74679125e+02] [ 9.69172162e-01 2.46384496e-01 0.00000000e+00 9.74973475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49428705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64037174299997 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:174.69, Y:97.52, Z:0.05 [[ 2.43250339e-01 -9.69963542e-01 0.00000000e+00 1.74687219e+02] [ 9.69963542e-01 2.43250339e-01 0.00000000e+00 9.75225306e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47355566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67037174299998 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:174.70, Y:97.55, Z:0.06 [[ 2.39973903e-01 -9.70779340e-01 0.00000000e+00 1.74696604e+02] [ 9.70779340e-01 2.39973903e-01 0.00000000e+00 9.75488870e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53027021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70037174299998 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:174.71, Y:97.58, Z:0.06 [[ 2.34014846e-01 -9.72233023e-01 0.00000000e+00 1.74707784e+02] [ 9.72233023e-01 2.34014846e-01 0.00000000e+00 9.75768369e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71833091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73037174299998 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:174.72, Y:97.60, Z:0.06 [[ 2.30452760e-01 -9.73083514e-01 0.00000000e+00 1.74715515e+02] [ 9.73083514e-01 2.30452760e-01 0.00000000e+00 9.76009659e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02430137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76037174299998 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:174.73, Y:97.63, Z:0.06 [[ 2.27124691e-01 -9.73865686e-01 0.00000000e+00 1.74729342e+02] [ 9.73865686e-01 2.27124691e-01 0.00000000e+00 9.76285533e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83946005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79037174299998 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:174.74, Y:97.65, Z:0.06 [[ 2.24470061e-01 -9.74480986e-01 0.00000000e+00 1.74737818e+02] [ 9.74480986e-01 2.24470061e-01 0.00000000e+00 9.76545543e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06394137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82037174299998 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:174.75, Y:97.68, Z:0.06 [[ 2.21755034e-01 -9.75102407e-01 0.00000000e+00 1.74746023e+02] [ 9.75102407e-01 2.21755034e-01 0.00000000e+00 9.76810682e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16567118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85037174299998 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:174.76, Y:97.71, Z:0.06 [[ 2.20202158e-01 -9.75454258e-01 0.00000000e+00 1.74759853e+02] [ 9.75454258e-01 2.20202158e-01 0.00000000e+00 9.77092329e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82792366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88037174299998 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:174.77, Y:97.73, Z:0.06 [[ 2.17242266e-01 -9.76117717e-01 0.00000000e+00 1.74766605e+02] [ 9.76117717e-01 2.17242266e-01 0.00000000e+00 9.77331590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02178086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91037174299998 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:174.78, Y:97.76, Z:0.06 [[ 2.15512115e-01 -9.76501167e-01 0.00000000e+00 1.74777475e+02] [ 9.76501167e-01 2.15512115e-01 0.00000000e+00 9.77619409e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85781038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.940371743 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:174.79, Y:97.79, Z:0.06 [[ 2.13725080e-01 -9.76893848e-01 0.00000000e+00 1.74785246e+02] [ 9.76893848e-01 2.13725080e-01 0.00000000e+00 9.77867339e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83547234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.970371743 meters Centerline goodness : 0.993307 Centerline is valid? [True, True] Translation: X:174.80, Y:97.81, Z:0.06 [[ 2.09879220e-01 -9.77727320e-01 0.00000000e+00 1.74798163e+02] [ 9.77727320e-01 2.09879220e-01 0.00000000e+00 9.78145601e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66500423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.000371743 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:174.81, Y:97.84, Z:0.05 [[ 2.08729947e-01 -9.77973317e-01 0.00000000e+00 1.74807534e+02] [ 9.77973317e-01 2.08729947e-01 0.00000000e+00 9.78409924e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49416698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.030371743 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:174.82, Y:97.87, Z:0.05 [[ 2.06301412e-01 -9.78488491e-01 0.00000000e+00 1.74820043e+02] [ 9.78488491e-01 2.06301412e-01 0.00000000e+00 9.78696551e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29419736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.060371743 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:174.83, Y:97.89, Z:0.05 [[ 2.05515806e-01 -9.78653797e-01 0.00000000e+00 1.74827289e+02] [ 9.78653797e-01 2.05515806e-01 0.00000000e+00 9.78948854e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25237853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.090371743 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:174.82, Y:97.91, Z:0.06 [[ 1.97561367e-01 -9.80290521e-01 0.00000000e+00 1.74820511e+02] [ 9.80290521e-01 1.97561367e-01 0.00000000e+00 9.79112048e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73749537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.120371743 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:174.83, Y:97.94, Z:0.06 [[ 1.96566800e-01 -9.80490435e-01 0.00000000e+00 1.74829359e+02] [ 9.80490435e-01 1.96566800e-01 0.00000000e+00 9.79378602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88420348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.150371743 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:174.85, Y:97.98, Z:0.05 [[ 2.06451808e-01 -9.78456770e-01 0.00000000e+00 1.74854244e+02] [ 9.78456770e-01 2.06451808e-01 0.00000000e+00 9.79783240e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41479966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18037174299997 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:174.86, Y:98.00, Z:0.05 [[ 2.06831286e-01 -9.78376624e-01 0.00000000e+00 1.74862195e+02] [ 9.78376624e-01 2.06831286e-01 0.00000000e+00 9.80043661e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42973362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21037174299997 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:174.87, Y:98.03, Z:0.05 [[ 2.05199475e-01 -9.78720172e-01 0.00000000e+00 1.74871249e+02] [ 9.78720172e-01 2.05199475e-01 0.00000000e+00 9.80325789e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44608047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24037174299997 meters Centerline goodness : 0.993811 Centerline is valid? [True, True] Translation: X:174.88, Y:98.06, Z:0.05 [[ 2.03944669e-01 -9.78982417e-01 0.00000000e+00 1.74878338e+02] [ 9.78982417e-01 2.03944669e-01 0.00000000e+00 9.80600350e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47385133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27037174299997 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:174.89, Y:98.09, Z:0.05 [[ 2.03187099e-01 -9.79139930e-01 0.00000000e+00 1.74885736e+02] [ 9.79139930e-01 2.03187099e-01 0.00000000e+00 9.80871352e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44297026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30037174299997 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:174.89, Y:98.12, Z:0.05 [[ 2.02509913e-01 -9.79280213e-01 0.00000000e+00 1.74894749e+02] [ 9.79280213e-01 2.02509913e-01 0.00000000e+00 9.81157153e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34811724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33037174299997 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:174.90, Y:98.14, Z:0.05 [[ 2.01904215e-01 -9.79405273e-01 0.00000000e+00 1.74903061e+02] [ 9.79405273e-01 2.01904215e-01 0.00000000e+00 9.81441626e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25826989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36037174299997 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:174.91, Y:98.17, Z:0.05 [[ 2.01696783e-01 -9.79448012e-01 0.00000000e+00 1.74909514e+02] [ 9.79448012e-01 2.01696783e-01 0.00000000e+00 9.81693234e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16337485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39037174299997 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:174.92, Y:98.20, Z:0.05 [[ 1.99839004e-01 -9.79828747e-01 0.00000000e+00 1.74916214e+02] [ 9.79828747e-01 1.99839004e-01 0.00000000e+00 9.81962167e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12852570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42037174299998 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:174.93, Y:98.22, Z:0.05 [[ 2.03337977e-01 -9.79108608e-01 0.00000000e+00 1.74925960e+02] [ 9.79108608e-01 2.03337977e-01 0.00000000e+00 9.82247521e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08309994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45037174299998 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:174.93, Y:98.25, Z:0.05 [[ 2.03215634e-01 -9.79134008e-01 0.00000000e+00 1.74932301e+02] [ 9.79134008e-01 2.03215634e-01 0.00000000e+00 9.82545254e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07333715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48037174299998 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:174.91, Y:98.26, Z:0.06 [[ 1.90030849e-01 -9.81778120e-01 0.00000000e+00 1.74914773e+02] [ 9.81778120e-01 1.90030849e-01 0.00000000e+00 9.82643919e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67792517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51037174299998 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:174.94, Y:98.31, Z:0.05 [[ 2.03611738e-01 -9.79051715e-01 0.00000000e+00 1.74941885e+02] [ 9.79051715e-01 2.03611738e-01 0.00000000e+00 9.83063647e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06917021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54037174299998 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:174.95, Y:98.33, Z:0.05 [[ 2.04421861e-01 -9.78882885e-01 0.00000000e+00 1.74946107e+02] [ 9.78882885e-01 2.04421861e-01 0.00000000e+00 9.83330622e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06913534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57037174299998 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:174.95, Y:98.36, Z:0.05 [[ 2.07134067e-01 -9.78312567e-01 0.00000000e+00 1.74948721e+02] [ 9.78312567e-01 2.07134067e-01 0.00000000e+00 9.83593885e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23712484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60037174299998 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:174.95, Y:98.39, Z:0.05 [[ 2.10004785e-01 -9.77700358e-01 0.00000000e+00 1.74953610e+02] [ 9.77700358e-01 2.10004785e-01 0.00000000e+00 9.83851843e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31668990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63037174299998 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:174.96, Y:98.41, Z:0.05 [[ 2.14119719e-01 -9.76807425e-01 0.00000000e+00 1.74957778e+02] [ 9.76807425e-01 2.14119719e-01 0.00000000e+00 9.84124638e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49699929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66037174299998 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:174.96, Y:98.44, Z:0.06 [[ 2.15431632e-01 -9.76518925e-01 0.00000000e+00 1.74963423e+02] [ 9.76518925e-01 2.15431632e-01 0.00000000e+00 9.84392415e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59788285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.690371743 meters Centerline goodness : 0.993337 Centerline is valid? [True, True] Translation: X:174.97, Y:98.47, Z:0.06 [[ 2.16434903e-01 -9.76297051e-01 0.00000000e+00 1.74970493e+02] [ 9.76297051e-01 2.16434903e-01 0.00000000e+00 9.84676962e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61031460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.720371743 meters Centerline goodness : 0.993059 Centerline is valid? [True, True] Translation: X:174.98, Y:98.50, Z:0.06 [[ 2.17358449e-01 -9.76091853e-01 0.00000000e+00 1.74978472e+02] [ 9.76091853e-01 2.17358449e-01 0.00000000e+00 9.84963014e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58974205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.750371743 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:174.98, Y:98.52, Z:0.06 [[ 2.16090772e-01 -9.76373278e-01 0.00000000e+00 1.74984265e+02] [ 9.76373278e-01 2.16090772e-01 0.00000000e+00 9.85224491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54978227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.780371743 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:174.99, Y:98.55, Z:0.05 [[ 2.15778922e-01 -9.76442245e-01 0.00000000e+00 1.74992165e+02] [ 9.76442245e-01 2.15778922e-01 0.00000000e+00 9.85513133e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41276118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.810371743 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:175.00, Y:98.58, Z:0.05 [[ 2.15214276e-01 -9.76566852e-01 0.00000000e+00 1.74999274e+02] [ 9.76566852e-01 2.15214276e-01 0.00000000e+00 9.85782707e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23155753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.840371743 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:175.01, Y:98.60, Z:0.05 [[ 2.13391374e-01 -9.76966796e-01 0.00000000e+00 1.75005826e+02] [ 9.76966796e-01 2.13391374e-01 0.00000000e+00 9.86036016e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99798957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.870371743 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:175.01, Y:98.63, Z:0.05 [[ 2.11965028e-01 -9.77277252e-01 0.00000000e+00 1.75012340e+02] [ 9.77277252e-01 2.11965028e-01 0.00000000e+00 9.86297781e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96986502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.900371743 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:175.02, Y:98.66, Z:0.05 [[ 2.08423311e-01 -9.78038713e-01 0.00000000e+00 1.75018075e+02] [ 9.78038713e-01 2.08423311e-01 0.00000000e+00 9.86561810e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19800782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93037174299997 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:175.02, Y:98.68, Z:0.05 [[ 2.07243055e-01 -9.78289485e-01 0.00000000e+00 1.75024858e+02] [ 9.78289485e-01 2.07243055e-01 0.00000000e+00 9.86829357e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24121536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96037174299997 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:175.03, Y:98.71, Z:0.05 [[ 2.05630805e-01 -9.78629640e-01 0.00000000e+00 1.75031558e+02] [ 9.78629640e-01 2.05630805e-01 0.00000000e+00 9.87107505e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30783919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99037174299997 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:175.04, Y:98.74, Z:0.05 [[ 2.03741474e-01 -9.79024725e-01 0.00000000e+00 1.75039649e+02] [ 9.79024725e-01 2.03741474e-01 0.00000000e+00 9.87388443e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28139631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02037174299997 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:175.05, Y:98.77, Z:0.05 [[ 2.02796561e-01 -9.79220892e-01 0.00000000e+00 1.75046305e+02] [ 9.79220892e-01 2.02796561e-01 0.00000000e+00 9.87664590e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.25976164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05037174299997 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:175.05, Y:98.80, Z:0.05 [[ 2.00737105e-01 -9.79645147e-01 0.00000000e+00 1.75054279e+02] [ 9.79645147e-01 2.00737105e-01 0.00000000e+00 9.87960935e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22420285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08037174299997 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:175.06, Y:98.82, Z:0.05 [[ 1.99936689e-01 -9.79808818e-01 0.00000000e+00 1.75060364e+02] [ 9.79808818e-01 1.99936689e-01 0.00000000e+00 9.88234753e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22420285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11037174299997 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:175.07, Y:98.85, Z:0.05 [[ 1.97499909e-01 -9.80302905e-01 0.00000000e+00 1.75066069e+02] [ 9.80302905e-01 1.97499909e-01 0.00000000e+00 9.88511606e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32997199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14037174299997 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:175.07, Y:98.88, Z:0.05 [[ 1.95881716e-01 -9.80627530e-01 0.00000000e+00 1.75071149e+02] [ 9.80627530e-01 1.95881716e-01 0.00000000e+00 9.88761426e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45235572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17037174299998 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:175.08, Y:98.90, Z:0.06 [[ 1.93879391e-01 -9.81025373e-01 0.00000000e+00 1.75077178e+02] [ 9.81025373e-01 1.93879391e-01 0.00000000e+00 9.89024199e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57392015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20037174299998 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:175.08, Y:98.93, Z:0.06 [[ 1.90196519e-01 -9.81746039e-01 0.00000000e+00 1.75082713e+02] [ 9.81746039e-01 1.90196519e-01 0.00000000e+00 9.89289491e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61272142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23037174299998 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:175.09, Y:98.95, Z:0.06 [[ 1.85325105e-01 -9.82677264e-01 0.00000000e+00 1.75088069e+02] [ 9.82677264e-01 1.85325105e-01 0.00000000e+00 9.89549932e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57755678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26037174299998 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:175.09, Y:98.98, Z:0.05 [[ 1.82266963e-01 -9.83249080e-01 0.00000000e+00 1.75093832e+02] [ 9.83249080e-01 1.82266963e-01 0.00000000e+00 9.89817909e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49232786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29037174299998 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:175.10, Y:99.01, Z:0.06 [[ 1.79487896e-01 -9.83760182e-01 0.00000000e+00 1.75100314e+02] [ 9.83760182e-01 1.79487896e-01 0.00000000e+00 9.90094777e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53007972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32037174299998 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:175.11, Y:99.04, Z:0.05 [[ 1.77792026e-01 -9.84068085e-01 0.00000000e+00 1.75106173e+02] [ 9.84068085e-01 1.77792026e-01 0.00000000e+00 9.90357336e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40466761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35037174299998 meters Centerline goodness : 0.992067 Centerline is valid? [True, True] Translation: X:175.11, Y:99.06, Z:0.05 [[ 1.72245831e-01 -9.85053995e-01 0.00000000e+00 1.75112716e+02] [ 9.85053995e-01 1.72245831e-01 0.00000000e+00 9.90642106e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45095475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38037174299998 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:175.12, Y:99.09, Z:0.05 [[ 1.70052953e-01 -9.85434926e-01 0.00000000e+00 1.75118436e+02] [ 9.85434926e-01 1.70052953e-01 0.00000000e+00 9.90917095e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48465070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41037174299998 meters Centerline goodness : 0.993174 Centerline is valid? [True, True] Translation: X:175.12, Y:99.12, Z:0.05 [[ 1.68787519e-01 -9.85652461e-01 0.00000000e+00 1.75124985e+02] [ 9.85652461e-01 1.68787519e-01 0.00000000e+00 9.91204155e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39449785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.440371743 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:175.13, Y:99.15, Z:0.05 [[ 1.66750806e-01 -9.85999071e-01 0.00000000e+00 1.75129852e+02] [ 9.85999071e-01 1.66750806e-01 0.00000000e+00 9.91489554e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43454771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.470371743 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:175.13, Y:99.17, Z:0.06 [[ 1.60126792e-01 -9.87096454e-01 0.00000000e+00 1.75125084e+02] [ 9.87096454e-01 1.60126792e-01 0.00000000e+00 9.91683031e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52878511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.500371743 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:175.14, Y:99.20, Z:0.06 [[ 1.65206053e-01 -9.86259073e-01 0.00000000e+00 1.75140274e+02] [ 9.86259073e-01 1.65206053e-01 0.00000000e+00 9.92040206e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50654052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.530371743 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:175.15, Y:99.24, Z:0.05 [[ 1.67421623e-01 -9.85885389e-01 0.00000000e+00 1.75150175e+02] [ 9.85885389e-01 1.67421623e-01 0.00000000e+00 9.92364022e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29609062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.560371743 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:175.15, Y:99.26, Z:0.05 [[ 1.66054676e-01 -9.86116547e-01 0.00000000e+00 1.75153241e+02] [ 9.86116547e-01 1.66054676e-01 0.00000000e+00 9.92619942e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32514313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.590371743 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:175.16, Y:99.29, Z:0.05 [[ 1.63863240e-01 -9.86483066e-01 0.00000000e+00 1.75156888e+02] [ 9.86483066e-01 1.63863240e-01 0.00000000e+00 9.92881949e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41081810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.620371743 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:175.16, Y:99.32, Z:0.05 [[ 1.63221150e-01 -9.86589507e-01 0.00000000e+00 1.75160656e+02] [ 9.86589507e-01 1.63221150e-01 0.00000000e+00 9.93151248e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37060085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.650371743 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:175.15, Y:99.34, Z:0.06 [[ 1.56495502e-01 -9.87678671e-01 0.00000000e+00 1.75154219e+02] [ 9.87678671e-01 1.56495502e-01 0.00000000e+00 9.93351958e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70609899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68037174299997 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:175.16, Y:99.36, Z:0.06 [[ 1.56315860e-01 -9.87707118e-01 0.00000000e+00 1.75159496e+02] [ 9.87707118e-01 1.56315860e-01 0.00000000e+00 9.93626990e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59459842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71037174299997 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:175.18, Y:99.40, Z:0.05 [[ 1.64030631e-01 -9.86455246e-01 0.00000000e+00 1.75176567e+02] [ 9.86455246e-01 1.64030631e-01 0.00000000e+00 9.93998475e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02038212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74037174299997 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:175.18, Y:99.43, Z:0.05 [[ 1.62534737e-01 -9.86702822e-01 0.00000000e+00 1.75180134e+02] [ 9.86702822e-01 1.62534737e-01 0.00000000e+00 9.94268418e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16582691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77037174299997 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:175.18, Y:99.45, Z:0.05 [[ 1.63248573e-01 -9.86584970e-01 0.00000000e+00 1.75184504e+02] [ 9.86584970e-01 1.63248573e-01 0.00000000e+00 9.94536191e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14352482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80037174299997 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:175.19, Y:99.48, Z:0.05 [[ 1.62978664e-01 -9.86629594e-01 0.00000000e+00 1.75187516e+02] [ 9.86629594e-01 1.62978664e-01 0.00000000e+00 9.94819754e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30827650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83037174299997 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:175.19, Y:99.51, Z:0.05 [[ 1.63419565e-01 -9.86556661e-01 0.00000000e+00 1.75192732e+02] [ 9.86556661e-01 1.63419565e-01 0.00000000e+00 9.95111112e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24695862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86037174299997 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:175.20, Y:99.54, Z:0.05 [[ 1.64704216e-01 -9.86343004e-01 0.00000000e+00 1.75195802e+02] [ 9.86343004e-01 1.64704216e-01 0.00000000e+00 9.95382495e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28986242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89037174299997 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:175.20, Y:99.57, Z:0.05 [[ 1.64872489e-01 -9.86314890e-01 0.00000000e+00 1.75200073e+02] [ 9.86314890e-01 1.64872489e-01 0.00000000e+00 9.95663790e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35631369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92037174299998 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:175.20, Y:99.59, Z:0.05 [[ 1.65984464e-01 -9.86128368e-01 0.00000000e+00 1.75203573e+02] [ 9.86128368e-01 1.65984464e-01 0.00000000e+00 9.95921628e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43782978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95037174299998 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:175.21, Y:99.62, Z:0.05 [[ 1.68723176e-01 -9.85663477e-01 0.00000000e+00 1.75206974e+02] [ 9.85663477e-01 1.68723176e-01 0.00000000e+00 9.96219382e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49817260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98037174299998 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:175.21, Y:99.65, Z:0.05 [[ 1.70401523e-01 -9.85374711e-01 0.00000000e+00 1.75213070e+02] [ 9.85374711e-01 1.70401523e-01 0.00000000e+00 9.96524197e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41481458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01037174299998 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:175.20, Y:99.67, Z:0.06 [[ 1.62288904e-01 -9.86743286e-01 0.00000000e+00 1.75202663e+02] [ 9.86743286e-01 1.62288904e-01 0.00000000e+00 9.96682797e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94510562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04037174299998 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:175.22, Y:99.71, Z:0.05 [[ 1.73082153e-01 -9.84907391e-01 0.00000000e+00 1.75221547e+02] [ 9.84907391e-01 1.73082153e-01 0.00000000e+00 9.97087465e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29168424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07037174299998 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:175.23, Y:99.74, Z:0.05 [[ 1.73901955e-01 -9.84762971e-01 0.00000000e+00 1.75226558e+02] [ 9.84762971e-01 1.73901955e-01 0.00000000e+00 9.97363602e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22674448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10037174299998 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:175.23, Y:99.77, Z:0.05 [[ 1.73027051e-01 -9.84917073e-01 0.00000000e+00 1.75231115e+02] [ 9.84917073e-01 1.73027051e-01 0.00000000e+00 9.97656525e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16376825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13037174299998 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:175.22, Y:99.78, Z:0.06 [[ 1.62563500e-01 -9.86698084e-01 0.00000000e+00 1.75219161e+02] [ 9.86698084e-01 1.62563500e-01 0.00000000e+00 9.97796365e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83912487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16037174299998 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:175.22, Y:99.81, Z:0.06 [[ 1.61798857e-01 -9.86823758e-01 0.00000000e+00 1.75224069e+02] [ 9.86823758e-01 1.61798857e-01 0.00000000e+00 9.98075553e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79308711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.190371743 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:175.23, Y:99.84, Z:0.06 [[ 1.61514280e-01 -9.86870375e-01 0.00000000e+00 1.75228662e+02] [ 9.86870375e-01 1.61514280e-01 0.00000000e+00 9.98350207e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75393967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.220371743 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:175.23, Y:99.86, Z:0.06 [[ 1.61246875e-01 -9.86914102e-01 0.00000000e+00 1.75232859e+02] [ 9.86914102e-01 1.61246875e-01 0.00000000e+00 9.98625228e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79564520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.250371743 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:175.24, Y:99.89, Z:0.06 [[ 1.60562094e-01 -9.87025741e-01 0.00000000e+00 1.75237270e+02] [ 9.87025741e-01 1.60562094e-01 0.00000000e+00 9.98887289e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73377919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.280371743 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:175.26, Y:99.93, Z:0.05 [[ 1.66815982e-01 -9.85988047e-01 0.00000000e+00 1.75255001e+02] [ 9.85988047e-01 1.66815982e-01 0.00000000e+00 9.99261114e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32290466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.310371743 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:175.26, Y:99.95, Z:0.06 [[ 1.62667560e-01 -9.86680934e-01 0.00000000e+00 1.75258992e+02] [ 9.86680934e-01 1.62667560e-01 0.00000000e+00 9.99529450e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50896277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.340371743 meters Centerline goodness : 0.994618 Centerline is valid? [True, True] Translation: X:175.26, Y:99.98, Z:0.05 [[ 1.61739629e-01 -9.86833467e-01 0.00000000e+00 1.75264396e+02] [ 9.86833467e-01 1.61739629e-01 0.00000000e+00 9.99796084e+01] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49198301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.370371743 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:175.27, Y:100.01, Z:0.06 [[ 1.56525490e-01 -9.87673919e-01 0.00000000e+00 1.75269163e+02] [ 9.87673919e-01 1.56525490e-01 0.00000000e+00 1.00007816e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59662994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.400371743 meters Centerline goodness : 0.993075 Centerline is valid? [True, True] Translation: X:175.27, Y:100.03, Z:0.06 [[ 1.55091783e-01 -9.87900065e-01 0.00000000e+00 1.75274614e+02] [ 9.87900065e-01 1.55091783e-01 0.00000000e+00 1.00034567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50933709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43037174299997 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:175.28, Y:100.06, Z:0.06 [[ 1.51900723e-01 -9.88395756e-01 0.00000000e+00 1.75278926e+02] [ 9.88395756e-01 1.51900723e-01 0.00000000e+00 1.00061365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61048669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46037174299997 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:175.28, Y:100.09, Z:0.06 [[ 1.49042485e-01 -9.88830793e-01 0.00000000e+00 1.75283034e+02] [ 9.88830793e-01 1.49042485e-01 0.00000000e+00 1.00087720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69209962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49037174299997 meters Centerline goodness : 0.993914 Centerline is valid? [True, True] Translation: X:175.29, Y:100.11, Z:0.06 [[ 1.47025515e-01 -9.89132700e-01 0.00000000e+00 1.75287693e+02] [ 9.89132700e-01 1.47025515e-01 0.00000000e+00 1.00114669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72477444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52037174299997 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:175.29, Y:100.14, Z:0.06 [[ 1.45763309e-01 -9.89319492e-01 0.00000000e+00 1.75294450e+02] [ 9.89319492e-01 1.45763309e-01 0.00000000e+00 1.00143857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57397106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55037174299997 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:175.30, Y:100.17, Z:0.06 [[ 1.44113896e-01 -9.89561107e-01 0.00000000e+00 1.75299320e+02] [ 9.89561107e-01 1.44113896e-01 0.00000000e+00 1.00170434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58064710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58037174299997 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:175.31, Y:100.20, Z:0.06 [[ 1.43981974e-01 -9.89580311e-01 0.00000000e+00 1.75305511e+02] [ 9.89580311e-01 1.43981974e-01 0.00000000e+00 1.00199640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58268397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61037174299997 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:175.31, Y:100.23, Z:0.06 [[ 1.44610978e-01 -9.89488588e-01 0.00000000e+00 1.75311394e+02] [ 9.89488588e-01 1.44610978e-01 0.00000000e+00 1.00228818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63837773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64037174299997 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:175.32, Y:100.26, Z:0.06 [[ 1.45243463e-01 -9.89395945e-01 0.00000000e+00 1.75315766e+02] [ 9.89395945e-01 1.45243463e-01 0.00000000e+00 1.00255282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58743636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67037174299998 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:175.32, Y:100.28, Z:0.06 [[ 1.43825105e-01 -9.89603122e-01 0.00000000e+00 1.75319996e+02] [ 9.89603122e-01 1.43825105e-01 0.00000000e+00 1.00282977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62376360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70037174299998 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:175.32, Y:100.31, Z:0.06 [[ 1.45927027e-01 -9.89295357e-01 0.00000000e+00 1.75323404e+02] [ 9.89295357e-01 1.45927027e-01 0.00000000e+00 1.00309312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51985037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73037174299998 meters Centerline goodness : 0.993655 Centerline is valid? [True, True] Translation: X:175.33, Y:100.34, Z:0.06 [[ 1.46319671e-01 -9.89237360e-01 0.00000000e+00 1.75327653e+02] [ 9.89237360e-01 1.46319671e-01 0.00000000e+00 1.00336593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53784783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76037174299998 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:175.33, Y:100.37, Z:0.05 [[ 1.47949408e-01 -9.88994931e-01 0.00000000e+00 1.75332743e+02] [ 9.88994931e-01 1.47949408e-01 0.00000000e+00 1.00365249e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47168999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79037174299998 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:175.34, Y:100.39, Z:0.05 [[ 1.49011134e-01 -9.88835518e-01 0.00000000e+00 1.75337434e+02] [ 9.88835518e-01 1.49011134e-01 0.00000000e+00 1.00393466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42342390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82037174299998 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:175.34, Y:100.42, Z:0.05 [[ 1.53910690e-01 -9.88084763e-01 0.00000000e+00 1.75340644e+02] [ 9.88084763e-01 1.53910690e-01 0.00000000e+00 1.00419862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42614333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85037174299998 meters Centerline goodness : 0.994138 Centerline is valid? [True, True] Translation: X:175.35, Y:100.45, Z:0.06 [[ 1.54935979e-01 -9.87924512e-01 0.00000000e+00 1.75345739e+02] [ 9.87924512e-01 1.54935979e-01 0.00000000e+00 1.00448674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56724914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88037174299998 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:175.33, Y:100.46, Z:0.06 [[ 1.49569949e-01 -9.88751147e-01 0.00000000e+00 1.75333540e+02] [ 9.88751147e-01 1.49569949e-01 0.00000000e+00 1.00464957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20662437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91037174299998 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:175.35, Y:100.50, Z:0.06 [[ 1.60938642e-01 -9.86964413e-01 0.00000000e+00 1.75354057e+02] [ 9.86964413e-01 1.60938642e-01 0.00000000e+00 1.00504451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67380068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.940371743 meters Centerline goodness : 0.993741 Centerline is valid? [True, True] Translation: X:175.36, Y:100.53, Z:0.06 [[ 1.62208150e-01 -9.86756564e-01 0.00000000e+00 1.75357873e+02] [ 9.86756564e-01 1.62208150e-01 0.00000000e+00 1.00530627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69118908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.970371743 meters Centerline goodness : 0.993331 Centerline is valid? [True, True] Translation: X:175.36, Y:100.56, Z:0.06 [[ 1.63349565e-01 -9.86568254e-01 0.00000000e+00 1.75362561e+02] [ 9.86568254e-01 1.63349565e-01 0.00000000e+00 1.00558979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74506614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.000371743 meters Centerline goodness : 0.993331 Centerline is valid? [True, True] Translation: X:175.37, Y:100.59, Z:0.06 [[ 1.62637381e-01 -9.86685909e-01 0.00000000e+00 1.75367534e+02] [ 9.86685909e-01 1.62637381e-01 0.00000000e+00 1.00586584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74506614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.030371743 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:175.37, Y:100.61, Z:0.06 [[ 1.61583215e-01 -9.86859091e-01 0.00000000e+00 1.75371250e+02] [ 9.86859091e-01 1.61583215e-01 0.00000000e+00 1.00613012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81751311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.060371743 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:175.36, Y:100.63, Z:0.06 [[ 1.52688729e-01 -9.88274330e-01 0.00000000e+00 1.75362841e+02] [ 9.88274330e-01 1.52688729e-01 0.00000000e+00 1.00631031e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13903726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.090371743 meters Centerline goodness : 0.993512 Centerline is valid? [True, True] Translation: X:175.38, Y:100.67, Z:0.06 [[ 1.58842619e-01 -9.87303916e-01 0.00000000e+00 1.75381600e+02] [ 9.87303916e-01 1.58842619e-01 0.00000000e+00 1.00669047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81620605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.120371743 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:175.39, Y:100.70, Z:0.06 [[ 1.55001228e-01 -9.87914277e-01 0.00000000e+00 1.75387072e+02] [ 9.87914277e-01 1.55001228e-01 0.00000000e+00 1.00696238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91728199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.150371743 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:175.39, Y:100.72, Z:0.06 [[ 1.52588559e-01 -9.88289801e-01 0.00000000e+00 1.75393572e+02] [ 9.88289801e-01 1.52588559e-01 0.00000000e+00 1.00724973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87635330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18037174299997 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:175.39, Y:100.74, Z:0.06 [[ 1.41279443e-01 -9.89969757e-01 0.00000000e+00 1.75386834e+02] [ 9.89969757e-01 1.41279443e-01 0.00000000e+00 1.00742912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15704708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21037174299997 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:175.41, Y:100.78, Z:0.06 [[ 1.47654673e-01 -9.89038977e-01 0.00000000e+00 1.75406593e+02] [ 9.89038977e-01 1.47654673e-01 0.00000000e+00 1.00781500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53781852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24037174299997 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:175.40, Y:100.80, Z:0.06 [[ 1.37791833e-01 -9.90461211e-01 0.00000000e+00 1.75398096e+02] [ 9.90461211e-01 1.37791833e-01 0.00000000e+00 1.00799557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11930221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27037174299997 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:175.42, Y:100.84, Z:0.06 [[ 1.42200917e-01 -9.89837815e-01 0.00000000e+00 1.75417253e+02] [ 9.89837815e-01 1.42200917e-01 0.00000000e+00 1.00836610e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57431684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30037174299997 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:175.41, Y:100.86, Z:0.06 [[ 1.32923590e-01 -9.91126288e-01 0.00000000e+00 1.75409758e+02] [ 9.91126288e-01 1.32923590e-01 0.00000000e+00 1.00855599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06273347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33037174299997 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:175.42, Y:100.88, Z:0.06 [[ 1.30575269e-01 -9.91438399e-01 0.00000000e+00 1.75416243e+02] [ 9.91438399e-01 1.30575269e-01 0.00000000e+00 1.00882261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09313700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36037174299997 meters Centerline goodness : 0.993565 Centerline is valid? [True, True] Translation: X:175.44, Y:100.92, Z:0.06 [[ 1.36529852e-01 -9.90635957e-01 0.00000000e+00 1.75435253e+02] [ 9.90635957e-01 1.36529852e-01 0.00000000e+00 1.00919740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64941225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39037174299997 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:175.44, Y:100.95, Z:0.06 [[ 1.35952422e-01 -9.90715367e-01 0.00000000e+00 1.75440652e+02] [ 9.90715367e-01 1.35952422e-01 0.00000000e+00 1.00946527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62847519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42037174299998 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:175.45, Y:100.98, Z:0.06 [[ 1.34351295e-01 -9.90933766e-01 0.00000000e+00 1.75447342e+02] [ 9.90933766e-01 1.34351295e-01 0.00000000e+00 1.00975714e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67507886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45037174299998 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:175.45, Y:101.01, Z:0.06 [[ 1.34463205e-01 -9.90918587e-01 0.00000000e+00 1.75454735e+02] [ 9.90918587e-01 1.34463205e-01 0.00000000e+00 1.01007718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58057712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48037174299998 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:175.44, Y:101.02, Z:0.06 [[ 1.22796383e-01 -9.92431886e-01 0.00000000e+00 1.75444081e+02] [ 9.92431886e-01 1.22796383e-01 0.00000000e+00 1.01020795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09183404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51037174299998 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:175.46, Y:101.06, Z:0.06 [[ 1.30923667e-01 -9.91392452e-01 0.00000000e+00 1.75464878e+02] [ 9.91392452e-01 1.30923667e-01 0.00000000e+00 1.01060480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58415665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54037174299998 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:175.47, Y:101.09, Z:0.06 [[ 1.29364861e-01 -9.91597062e-01 0.00000000e+00 1.75470560e+02] [ 9.91597062e-01 1.29364861e-01 0.00000000e+00 1.01089371e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56978737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57037174299998 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:175.47, Y:101.11, Z:0.05 [[ 1.29880842e-01 -9.91529610e-01 0.00000000e+00 1.75474554e+02] [ 9.91529610e-01 1.29880842e-01 0.00000000e+00 1.01113329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43723767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60037174299998 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:175.48, Y:101.14, Z:0.06 [[ 1.27837172e-01 -9.91795169e-01 0.00000000e+00 1.75479365e+02] [ 9.91795169e-01 1.27837172e-01 0.00000000e+00 1.01142850e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60685123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63037174299998 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:175.48, Y:101.17, Z:0.06 [[ 1.28141467e-01 -9.91755900e-01 0.00000000e+00 1.75483592e+02] [ 9.91755900e-01 1.28141467e-01 0.00000000e+00 1.01171270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75071256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66037174299998 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:175.49, Y:101.20, Z:0.06 [[ 1.27769837e-01 -9.91803846e-01 0.00000000e+00 1.75487305e+02] [ 9.91803846e-01 1.27769837e-01 0.00000000e+00 1.01198733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85051068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.690371743 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:175.49, Y:101.23, Z:0.06 [[ 1.27537823e-01 -9.91833708e-01 0.00000000e+00 1.75492139e+02] [ 9.91833708e-01 1.27537823e-01 0.00000000e+00 1.01226850e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85614865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.720371743 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:175.48, Y:101.24, Z:0.06 [[ 1.19023668e-01 -9.92891417e-01 0.00000000e+00 1.75482108e+02] [ 9.92891417e-01 1.19023668e-01 0.00000000e+00 1.01242879e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28518069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.750371743 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:175.49, Y:101.27, Z:0.06 [[ 1.19449351e-01 -9.92840296e-01 0.00000000e+00 1.75486875e+02] [ 9.92840296e-01 1.19449351e-01 0.00000000e+00 1.01270634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.25197078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.780371743 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:175.51, Y:101.31, Z:0.05 [[ 1.30342148e-01 -9.91469074e-01 0.00000000e+00 1.75508429e+02] [ 9.91469074e-01 1.30342148e-01 0.00000000e+00 1.01312220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43865175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.810371743 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:175.51, Y:101.34, Z:0.06 [[ 1.27730622e-01 -9.91808897e-01 0.00000000e+00 1.75511815e+02] [ 9.91808897e-01 1.27730622e-01 0.00000000e+00 1.01339611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52845799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.840371743 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:175.50, Y:101.35, Z:0.06 [[ 1.17465132e-01 -9.93077008e-01 0.00000000e+00 1.75501471e+02] [ 9.93077008e-01 1.17465132e-01 0.00000000e+00 1.01354857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16282597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.870371743 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:175.51, Y:101.38, Z:0.06 [[ 1.17649203e-01 -9.93055218e-01 0.00000000e+00 1.75506455e+02] [ 9.93055218e-01 1.17649203e-01 0.00000000e+00 1.01382186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19020498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.900371743 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:175.53, Y:101.42, Z:0.06 [[ 1.27914373e-01 -9.91785215e-01 0.00000000e+00 1.75525900e+02] [ 9.91785215e-01 1.27914373e-01 0.00000000e+00 1.01421461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64144672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93037174299997 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:175.53, Y:101.45, Z:0.06 [[ 1.29388690e-01 -9.91593953e-01 0.00000000e+00 1.75530566e+02] [ 9.91593953e-01 1.29388690e-01 0.00000000e+00 1.01448244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59152946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96037174299997 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:175.54, Y:101.48, Z:0.06 [[ 1.28898418e-01 -9.91657803e-01 0.00000000e+00 1.75535655e+02] [ 9.91657803e-01 1.28898418e-01 0.00000000e+00 1.01477736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64098271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99037174299997 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:175.54, Y:101.51, Z:0.06 [[ 1.33100343e-01 -9.91102567e-01 0.00000000e+00 1.75543242e+02] [ 9.91102567e-01 1.33100343e-01 0.00000000e+00 1.01507467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57839836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02037174299997 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:175.55, Y:101.53, Z:0.06 [[ 1.31044714e-01 -9.91376459e-01 0.00000000e+00 1.75545866e+02] [ 9.91376459e-01 1.31044714e-01 0.00000000e+00 1.01534112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70961614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05037174299997 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:175.55, Y:101.56, Z:0.06 [[ 1.31170954e-01 -9.91359764e-01 0.00000000e+00 1.75551802e+02] [ 9.91359764e-01 1.31170954e-01 0.00000000e+00 1.01560671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76069489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08037174299997 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:175.54, Y:101.58, Z:0.06 [[ 1.20840480e-01 -9.92671939e-01 0.00000000e+00 1.75541820e+02] [ 9.92671939e-01 1.20840480e-01 0.00000000e+00 1.01575130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29843757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11037174299997 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:175.56, Y:101.62, Z:0.06 [[ 1.31403475e-01 -9.91328970e-01 0.00000000e+00 1.75564740e+02] [ 9.91328970e-01 1.31403475e-01 0.00000000e+00 1.01618034e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66918486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14037174299997 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:175.55, Y:101.63, Z:0.06 [[ 1.19385465e-01 -9.92847980e-01 0.00000000e+00 1.75553922e+02] [ 9.92847980e-01 1.19385465e-01 0.00000000e+00 1.01629836e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20457261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17037174299998 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:175.57, Y:101.67, Z:0.06 [[ 1.27680149e-01 -9.91815396e-01 0.00000000e+00 1.75574251e+02] [ 9.91815396e-01 1.27680149e-01 0.00000000e+00 1.01669824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73009897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20037174299998 meters Centerline goodness : 0.993693 Centerline is valid? [True, True] Translation: X:175.56, Y:101.68, Z:0.06 [[ 1.18084663e-01 -9.93003531e-01 0.00000000e+00 1.75564835e+02] [ 9.93003531e-01 1.18084663e-01 0.00000000e+00 1.01684478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27712289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23037174299998 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:175.57, Y:101.71, Z:0.06 [[ 1.18005463e-01 -9.93012946e-01 0.00000000e+00 1.75571793e+02] [ 9.93012946e-01 1.18005463e-01 0.00000000e+00 1.01710885e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15241473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26037174299998 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:175.59, Y:101.75, Z:0.06 [[ 1.26448456e-01 -9.91973179e-01 0.00000000e+00 1.75590895e+02] [ 9.91973179e-01 1.26448456e-01 0.00000000e+00 1.01750320e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58290508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29037174299998 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:175.60, Y:101.78, Z:0.05 [[ 1.26190843e-01 -9.92005983e-01 0.00000000e+00 1.75596560e+02] [ 9.92005983e-01 1.26190843e-01 0.00000000e+00 1.01776296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32436540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32037174299998 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:175.60, Y:101.80, Z:0.05 [[ 1.24472201e-01 -9.92223095e-01 0.00000000e+00 1.75601682e+02] [ 9.92223095e-01 1.24472201e-01 0.00000000e+00 1.01804502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34748768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35037174299998 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:175.61, Y:101.83, Z:0.05 [[ 1.22575032e-01 -9.92459249e-01 0.00000000e+00 1.75605621e+02] [ 9.92459249e-01 1.22575032e-01 0.00000000e+00 1.01831424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43425734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38037174299998 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:175.61, Y:101.86, Z:0.05 [[ 1.21998903e-01 -9.92530235e-01 0.00000000e+00 1.75610838e+02] [ 9.92530235e-01 1.21998903e-01 0.00000000e+00 1.01858867e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49069547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41037174299998 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:175.62, Y:101.88, Z:0.06 [[ 1.23571664e-01 -9.92335651e-01 0.00000000e+00 1.75617024e+02] [ 9.92335651e-01 1.23571664e-01 0.00000000e+00 1.01884933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60157313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.440371743 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:175.62, Y:101.91, Z:0.06 [[ 1.25087150e-01 -9.92145758e-01 0.00000000e+00 1.75621902e+02] [ 9.92145758e-01 1.25087150e-01 0.00000000e+00 1.01910965e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72655473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.470371743 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:175.63, Y:101.94, Z:0.06 [[ 1.25066055e-01 -9.92148417e-01 0.00000000e+00 1.75626597e+02] [ 9.92148417e-01 1.25066055e-01 0.00000000e+00 1.01939139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75861319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.500371743 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:175.63, Y:101.97, Z:0.06 [[ 1.27393120e-01 -9.91852304e-01 0.00000000e+00 1.75631833e+02] [ 9.91852304e-01 1.27393120e-01 0.00000000e+00 1.01965944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66260688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.530371743 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:175.64, Y:101.99, Z:0.06 [[ 1.27727637e-01 -9.91809281e-01 0.00000000e+00 1.75637108e+02] [ 9.91809281e-01 1.27727637e-01 0.00000000e+00 1.01994710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64738043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.560371743 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:175.64, Y:102.02, Z:0.05 [[ 1.32248368e-01 -9.91216611e-01 0.00000000e+00 1.75643008e+02] [ 9.91216611e-01 1.32248368e-01 0.00000000e+00 1.02021834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48589915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.590371743 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:175.65, Y:102.05, Z:0.05 [[ 1.33351242e-01 -9.91068840e-01 0.00000000e+00 1.75647267e+02] [ 9.91068840e-01 1.33351242e-01 0.00000000e+00 1.02048407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47815930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.620371743 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:175.65, Y:102.08, Z:0.05 [[ 1.38187020e-01 -9.90406153e-01 0.00000000e+00 1.75654977e+02] [ 9.90406153e-01 1.38187020e-01 0.00000000e+00 1.02079265e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45621836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.650371743 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:175.65, Y:102.10, Z:0.06 [[ 1.30204374e-01 -9.91487176e-01 0.00000000e+00 1.75645161e+02] [ 9.91487176e-01 1.30204374e-01 0.00000000e+00 1.02096024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12107105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68037174299997 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:175.66, Y:102.13, Z:0.06 [[ 1.39670605e-01 -9.90198022e-01 0.00000000e+00 1.75661872e+02] [ 9.90198022e-01 1.39670605e-01 0.00000000e+00 1.02133852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65622802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71037174299997 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:175.65, Y:102.15, Z:0.06 [[ 1.33315061e-01 -9.91073708e-01 0.00000000e+00 1.75654764e+02] [ 9.91073708e-01 1.33315061e-01 0.00000000e+00 1.02151362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20033925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74037174299997 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:175.67, Y:102.19, Z:0.06 [[ 1.41911030e-01 -9.89879417e-01 0.00000000e+00 1.75672047e+02] [ 9.89879417e-01 1.41911030e-01 0.00000000e+00 1.02188360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77096474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77037174299997 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:175.68, Y:102.22, Z:0.06 [[ 1.45003149e-01 -9.89431194e-01 0.00000000e+00 1.75679899e+02] [ 9.89431194e-01 1.45003149e-01 0.00000000e+00 1.02215044e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71377918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80037174299997 meters Centerline goodness : 0.993746 Centerline is valid? [True, True] Translation: X:175.69, Y:102.24, Z:0.06 [[ 1.41743390e-01 -9.89903435e-01 0.00000000e+00 1.75685050e+02] [ 9.89903435e-01 1.41743390e-01 0.00000000e+00 1.02243986e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62328186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83037174299997 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:175.68, Y:102.26, Z:0.06 [[ 1.32213985e-01 -9.91221197e-01 0.00000000e+00 1.75677552e+02] [ 9.91221197e-01 1.32213985e-01 0.00000000e+00 1.02261725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02755586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86037174299997 meters Centerline goodness : 0.993335 Centerline is valid? [True, True] Translation: X:175.70, Y:102.30, Z:0.05 [[ 1.38642822e-01 -9.90342450e-01 0.00000000e+00 1.75697177e+02] [ 9.90342450e-01 1.38642822e-01 0.00000000e+00 1.02299932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45064210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89037174299997 meters Centerline goodness : 0.993335 Centerline is valid? [True, True] Translation: X:175.70, Y:102.33, Z:0.05 [[ 1.38052815e-01 -9.90424869e-01 0.00000000e+00 1.75701042e+02] [ 9.90424869e-01 1.38052815e-01 0.00000000e+00 1.02327796e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45064210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92037174299998 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:175.71, Y:102.36, Z:0.06 [[ 1.34551393e-01 -9.90906616e-01 0.00000000e+00 1.75705644e+02] [ 9.90906616e-01 1.34551393e-01 0.00000000e+00 1.02355184e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50907969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95037174299998 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:175.70, Y:102.37, Z:0.06 [[ 1.21533236e-01 -9.92587363e-01 0.00000000e+00 1.75701201e+02] [ 9.92587363e-01 1.21533236e-01 0.00000000e+00 1.02372524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90944842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98037174299998 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:175.72, Y:102.41, Z:0.05 [[ 1.28309288e-01 -9.91734202e-01 0.00000000e+00 1.75720928e+02] [ 9.91734202e-01 1.28309288e-01 0.00000000e+00 1.02411303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34119395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01037174299998 meters Centerline goodness : 0.992769 Centerline is valid? [True, True] Translation: X:175.73, Y:102.44, Z:0.05 [[ 1.23001039e-01 -9.92406542e-01 0.00000000e+00 1.75729171e+02] [ 9.92406542e-01 1.23001039e-01 0.00000000e+00 1.02438628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39105076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04037174299998 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:175.73, Y:102.47, Z:0.05 [[ 1.21131078e-01 -9.92636521e-01 0.00000000e+00 1.75734773e+02] [ 9.92636521e-01 1.21131078e-01 0.00000000e+00 1.02465149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35816218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07037174299998 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:175.74, Y:102.49, Z:0.05 [[ 1.17643660e-01 -9.93055874e-01 0.00000000e+00 1.75738928e+02] [ 9.93055874e-01 1.17643660e-01 0.00000000e+00 1.02492085e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40763051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10037174299998 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:175.75, Y:102.52, Z:0.05 [[ 1.14098080e-01 -9.93469490e-01 0.00000000e+00 1.75747377e+02] [ 9.93469490e-01 1.14098080e-01 0.00000000e+00 1.02522767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26564854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13037174299998 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:175.75, Y:102.55, Z:0.05 [[ 1.13495169e-01 -9.93538548e-01 0.00000000e+00 1.75752236e+02] [ 9.93538548e-01 1.13495169e-01 0.00000000e+00 1.02548706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.26861971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16037174299998 meters Centerline goodness : 0.992723 Centerline is valid? [True, True] Translation: X:175.74, Y:102.56, Z:0.06 [[ 1.02387815e-01 -9.94744558e-01 0.00000000e+00 1.75741840e+02] [ 9.94744558e-01 1.02387815e-01 0.00000000e+00 1.02562337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77227810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.190371743 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:175.75, Y:102.59, Z:0.06 [[ 9.94575654e-02 -9.95041804e-01 0.00000000e+00 1.75747771e+02] [ 9.95041804e-01 9.94575654e-02 0.00000000e+00 1.02588723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69040747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.220371743 meters Centerline goodness : 0.992182 Centerline is valid? [True, True] Translation: X:175.77, Y:102.63, Z:0.05 [[ 1.06222289e-01 -9.94342408e-01 0.00000000e+00 1.75765490e+02] [ 9.94342408e-01 1.06222289e-01 0.00000000e+00 1.02628321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27644865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.250371743 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:175.77, Y:102.65, Z:0.05 [[ 1.02442885e-01 -9.94738888e-01 0.00000000e+00 1.75770608e+02] [ 9.94738888e-01 1.02442885e-01 0.00000000e+00 1.02654934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22342384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.280371743 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:175.78, Y:102.68, Z:0.05 [[ 9.94676097e-02 -9.95040800e-01 0.00000000e+00 1.75775024e+02] [ 9.95040800e-01 9.94676097e-02 0.00000000e+00 1.02682672e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18012945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.310371743 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:175.77, Y:102.70, Z:0.06 [[ 8.79876572e-02 -9.96121565e-01 0.00000000e+00 1.75765556e+02] [ 9.96121565e-01 8.79876572e-02 0.00000000e+00 1.02697377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52485906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.340371743 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:175.78, Y:102.73, Z:0.05 [[ 9.29738548e-02 -9.95668550e-01 0.00000000e+00 1.75781122e+02] [ 9.95668550e-01 9.29738548e-02 0.00000000e+00 1.02734829e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20650304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.370371743 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:175.78, Y:102.76, Z:0.05 [[ 8.84400130e-02 -9.96081505e-01 0.00000000e+00 1.75784074e+02] [ 9.96081505e-01 8.84400130e-02 0.00000000e+00 1.02760779e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19257953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.400371743 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:175.79, Y:102.79, Z:0.05 [[ 8.78195898e-02 -9.96136396e-01 0.00000000e+00 1.75788957e+02] [ 9.96136396e-01 8.78195898e-02 0.00000000e+00 1.02789226e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10502373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43037174299997 meters Centerline goodness : 0.991731 Centerline is valid? [True, True] Translation: X:175.79, Y:102.81, Z:0.05 [[ 8.13153435e-02 -9.96688424e-01 0.00000000e+00 1.75788624e+02] [ 9.96688424e-01 8.13153435e-02 0.00000000e+00 1.02814962e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42505726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46037174299997 meters Centerline goodness : 0.991873 Centerline is valid? [True, True] Translation: X:175.79, Y:102.84, Z:0.05 [[ 8.06118331e-02 -9.96745571e-01 0.00000000e+00 1.75792159e+02] [ 9.96745571e-01 8.06118331e-02 0.00000000e+00 1.02843527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37618608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49037174299997 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:175.79, Y:102.87, Z:0.05 [[ 8.00613556e-02 -9.96789937e-01 0.00000000e+00 1.75794266e+02] [ 9.96789937e-01 8.00613556e-02 0.00000000e+00 1.02869741e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34966575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52037174299997 meters Centerline goodness : 0.991819 Centerline is valid? [True, True] Translation: X:175.80, Y:102.90, Z:0.05 [[ 7.85893815e-02 -9.96907071e-01 0.00000000e+00 1.75795110e+02] [ 9.96907071e-01 7.85893815e-02 0.00000000e+00 1.02897869e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28761543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55037174299997 meters Centerline goodness : 0.992252 Centerline is valid? [True, True] Translation: X:175.80, Y:102.93, Z:0.05 [[ 7.77297181e-02 -9.96974469e-01 0.00000000e+00 1.75797938e+02] [ 9.96974469e-01 7.77297181e-02 0.00000000e+00 1.02927412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24526791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58037174299997 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:175.80, Y:102.96, Z:0.05 [[ 7.79979216e-02 -9.96953522e-01 0.00000000e+00 1.75800848e+02] [ 9.96953522e-01 7.79979216e-02 0.00000000e+00 1.02955007e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14533816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61037174299997 meters Centerline goodness : 0.992403 Centerline is valid? [True, True] Translation: X:175.80, Y:102.98, Z:0.05 [[ 7.52851683e-02 -9.97162045e-01 0.00000000e+00 1.75800037e+02] [ 9.97162045e-01 7.52851683e-02 0.00000000e+00 1.02981815e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32493031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64037174299997 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:175.80, Y:103.01, Z:0.05 [[ 7.45849344e-02 -9.97214665e-01 0.00000000e+00 1.75802596e+02] [ 9.97214665e-01 7.45849344e-02 0.00000000e+00 1.03011068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31893364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67037174299998 meters Centerline goodness : 0.992370 Centerline is valid? [True, True] Translation: X:175.80, Y:103.04, Z:0.05 [[ 7.41345878e-02 -9.97248245e-01 0.00000000e+00 1.75801954e+02] [ 9.97248245e-01 7.41345878e-02 0.00000000e+00 1.03038936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45381627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70037174299998 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:175.80, Y:103.07, Z:0.05 [[ 7.48931060e-02 -9.97191568e-01 0.00000000e+00 1.75803936e+02] [ 9.97191568e-01 7.48931060e-02 0.00000000e+00 1.03066058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38917415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73037174299998 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:175.80, Y:103.09, Z:0.05 [[ 7.62288264e-02 -9.97090350e-01 0.00000000e+00 1.75803485e+02] [ 9.97090350e-01 7.62288264e-02 0.00000000e+00 1.03094121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31744736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76037174299998 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:175.80, Y:103.12, Z:0.05 [[ 7.56515273e-02 -9.97134317e-01 0.00000000e+00 1.75804612e+02] [ 9.97134317e-01 7.56515273e-02 0.00000000e+00 1.03122208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42620499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79037174299998 meters Centerline goodness : 0.992745 Centerline is valid? [True, True] Translation: X:175.80, Y:103.15, Z:0.05 [[ 7.70437610e-02 -9.97027712e-01 0.00000000e+00 1.75803696e+02] [ 9.97027712e-01 7.70437610e-02 0.00000000e+00 1.03150341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46908409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82037174299998 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:175.81, Y:103.18, Z:0.05 [[ 8.01844384e-02 -9.96780044e-01 0.00000000e+00 1.75808633e+02] [ 9.96780044e-01 8.01844384e-02 0.00000000e+00 1.03183513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37817854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85037174299998 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:175.81, Y:103.21, Z:0.05 [[ 8.01791327e-02 -9.96780471e-01 0.00000000e+00 1.75809494e+02] [ 9.96780471e-01 8.01791327e-02 0.00000000e+00 1.03210762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42155510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88037174299998 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:175.81, Y:103.24, Z:0.06 [[ 8.01020100e-02 -9.96786671e-01 0.00000000e+00 1.75808603e+02] [ 9.96786671e-01 8.01020100e-02 0.00000000e+00 1.03239468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57469026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91037174299998 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:175.81, Y:103.27, Z:0.06 [[ 7.66864367e-02 -9.97055259e-01 0.00000000e+00 1.75808534e+02] [ 9.97055259e-01 7.66864367e-02 0.00000000e+00 1.03266570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71273339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.940371743 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:175.81, Y:103.29, Z:0.06 [[ 7.53672927e-02 -9.97155841e-01 0.00000000e+00 1.75809232e+02] [ 9.97155841e-01 7.53672927e-02 0.00000000e+00 1.03294080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60643011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.970371743 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:175.81, Y:103.33, Z:0.05 [[ 7.59991572e-02 -9.97107882e-01 0.00000000e+00 1.75813193e+02] [ 9.97107882e-01 7.59991572e-02 0.00000000e+00 1.03325648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47160849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.000371743 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:175.81, Y:103.35, Z:0.06 [[ 7.35426517e-02 -9.97292073e-01 0.00000000e+00 1.75812784e+02] [ 9.97292073e-01 7.35426517e-02 0.00000000e+00 1.03349174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56388390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.030371743 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:175.81, Y:103.38, Z:0.06 [[ 7.22226155e-02 -9.97388537e-01 0.00000000e+00 1.75813435e+02] [ 9.97388537e-01 7.22226155e-02 0.00000000e+00 1.03376780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52580896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.060371743 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:175.82, Y:103.41, Z:0.06 [[ 7.13133572e-02 -9.97453961e-01 0.00000000e+00 1.75816094e+02] [ 9.97453961e-01 7.13133572e-02 0.00000000e+00 1.03406095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54905574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.090371743 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:175.82, Y:103.43, Z:0.06 [[ 7.09214934e-02 -9.97481900e-01 0.00000000e+00 1.75817027e+02] [ 9.97481900e-01 7.09214934e-02 0.00000000e+00 1.03432484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60344935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.120371743 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:175.82, Y:103.46, Z:0.06 [[ 7.04325904e-02 -9.97516541e-01 0.00000000e+00 1.75819441e+02] [ 9.97516541e-01 7.04325904e-02 0.00000000e+00 1.03459948e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60198098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.150371743 meters Centerline goodness : 0.993647 Centerline is valid? [True, True] Translation: X:175.82, Y:103.49, Z:0.06 [[ 6.92258319e-02 -9.97601015e-01 0.00000000e+00 1.75821860e+02] [ 9.97601015e-01 6.92258319e-02 0.00000000e+00 1.03488363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64153978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18037174299997 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:175.82, Y:103.52, Z:0.06 [[ 6.86206302e-02 -9.97642826e-01 0.00000000e+00 1.75823574e+02] [ 9.97642826e-01 6.86206302e-02 0.00000000e+00 1.03515673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69145468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21037174299997 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:175.83, Y:103.55, Z:0.06 [[ 6.74406883e-02 -9.97723285e-01 0.00000000e+00 1.75826823e+02] [ 9.97723285e-01 6.74406883e-02 0.00000000e+00 1.03545467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65789805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24037174299997 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:175.82, Y:103.56, Z:0.06 [[ 5.88987061e-02 -9.98263964e-01 0.00000000e+00 1.75820137e+02] [ 9.98263964e-01 5.88987061e-02 0.00000000e+00 1.03564793e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76071624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27037174299997 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:175.82, Y:103.59, Z:0.06 [[ 5.75668099e-02 -9.98341656e-01 0.00000000e+00 1.75823018e+02] [ 9.98341656e-01 5.75668099e-02 0.00000000e+00 1.03591396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55294373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30037174299997 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:175.83, Y:103.62, Z:0.05 [[ 5.58183878e-02 -9.98440938e-01 0.00000000e+00 1.75825984e+02] [ 9.98440938e-01 5.58183878e-02 0.00000000e+00 1.03619130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47198641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33037174299997 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:175.83, Y:103.65, Z:0.05 [[ 5.35644798e-02 -9.98564393e-01 0.00000000e+00 1.75827886e+02] [ 9.98564393e-01 5.35644798e-02 0.00000000e+00 1.03646456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23799071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36037174299997 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:175.84, Y:103.68, Z:0.05 [[ 5.79560039e-02 -9.98319138e-01 0.00000000e+00 1.75838239e+02] [ 9.98319138e-01 5.79560039e-02 0.00000000e+00 1.03682973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16121338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39037174299997 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:175.83, Y:103.70, Z:0.05 [[ 5.08433263e-02 -9.98706642e-01 0.00000000e+00 1.75829773e+02] [ 9.98706642e-01 5.08433263e-02 0.00000000e+00 1.03702614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30267367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42037174299998 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:175.84, Y:103.74, Z:0.05 [[ 5.51269697e-02 -9.98479352e-01 0.00000000e+00 1.75840171e+02] [ 9.98479352e-01 5.51269697e-02 0.00000000e+00 1.03738376e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41066929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45037174299998 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:175.84, Y:103.77, Z:0.05 [[ 5.53078913e-02 -9.98469347e-01 0.00000000e+00 1.75842491e+02] [ 9.98469347e-01 5.53078913e-02 0.00000000e+00 1.03765042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33840522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48037174299998 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:175.84, Y:103.79, Z:0.05 [[ 5.45849528e-02 -9.98509130e-01 0.00000000e+00 1.75841972e+02] [ 9.98509130e-01 5.45849528e-02 0.00000000e+00 1.03792042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46743287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51037174299998 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:175.84, Y:103.82, Z:0.06 [[ 5.46963681e-02 -9.98503033e-01 0.00000000e+00 1.75843482e+02] [ 9.98503033e-01 5.46963681e-02 0.00000000e+00 1.03819818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.51132804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54037174299998 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:175.84, Y:103.85, Z:0.05 [[ 5.54255546e-02 -9.98462822e-01 0.00000000e+00 1.75844261e+02] [ 9.98462822e-01 5.54255546e-02 0.00000000e+00 1.03849637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42975591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57037174299998 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:175.85, Y:103.88, Z:0.05 [[ 5.62864670e-02 -9.98414660e-01 0.00000000e+00 1.75846271e+02] [ 9.98414660e-01 5.62864670e-02 0.00000000e+00 1.03876647e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35744814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60037174299998 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:175.85, Y:103.90, Z:0.05 [[ 5.51317225e-02 -9.98479090e-01 0.00000000e+00 1.75847540e+02] [ 9.98479090e-01 5.51317225e-02 0.00000000e+00 1.03904062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45582486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63037174299998 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:175.85, Y:103.93, Z:0.05 [[ 5.54752406e-02 -9.98460063e-01 0.00000000e+00 1.75848872e+02] [ 9.98460063e-01 5.54752406e-02 0.00000000e+00 1.03933024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36893754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66037174299998 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:175.85, Y:103.96, Z:0.05 [[ 5.71933261e-02 -9.98363122e-01 0.00000000e+00 1.75849672e+02] [ 9.98363122e-01 5.71933261e-02 0.00000000e+00 1.03962849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21265450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.690371743 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:175.85, Y:103.99, Z:0.05 [[ 5.75838186e-02 -9.98340675e-01 0.00000000e+00 1.75850282e+02] [ 9.98340675e-01 5.75838186e-02 0.00000000e+00 1.03990071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23792470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.720371743 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:175.85, Y:104.02, Z:0.05 [[ 5.78368946e-02 -9.98326046e-01 0.00000000e+00 1.75851115e+02] [ 9.98326046e-01 5.78368946e-02 0.00000000e+00 1.04015938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44157567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.750371743 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:175.85, Y:104.05, Z:0.05 [[ 5.99256205e-02 -9.98202845e-01 0.00000000e+00 1.75854819e+02] [ 9.98202845e-01 5.99256205e-02 0.00000000e+00 1.04046926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06646622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.780371743 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:175.86, Y:104.07, Z:0.05 [[ 6.22371212e-02 -9.98061391e-01 0.00000000e+00 1.75855539e+02] [ 9.98061391e-01 6.22371212e-02 0.00000000e+00 1.04074840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12161114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.810371743 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:175.86, Y:104.10, Z:0.05 [[ 6.16366918e-02 -9.98098652e-01 0.00000000e+00 1.75858492e+02] [ 9.98098652e-01 6.16366918e-02 0.00000000e+00 1.04102431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12161114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.840371743 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:175.86, Y:104.13, Z:0.05 [[ 6.12902466e-02 -9.98119986e-01 0.00000000e+00 1.75860161e+02] [ 9.98119986e-01 6.12902466e-02 0.00000000e+00 1.04131128e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22255574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.870371743 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:175.86, Y:104.16, Z:0.05 [[ 6.48191430e-02 -9.97897028e-01 0.00000000e+00 1.75861314e+02] [ 9.97897028e-01 6.48191430e-02 0.00000000e+00 1.04158586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22626675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.900371743 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:175.85, Y:104.18, Z:0.06 [[ 5.77557049e-02 -9.98330746e-01 0.00000000e+00 1.75850197e+02] [ 9.98330746e-01 5.77557049e-02 0.00000000e+00 1.04175310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66787474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93037174299997 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:175.87, Y:104.22, Z:0.05 [[ 6.80057257e-02 -9.97684931e-01 0.00000000e+00 1.75867859e+02] [ 9.97684931e-01 6.80057257e-02 0.00000000e+00 1.04218879e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11453060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96037174299997 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:175.87, Y:104.25, Z:0.05 [[ 6.45603574e-02 -9.97913804e-01 0.00000000e+00 1.75866943e+02] [ 9.97913804e-01 6.45603574e-02 0.00000000e+00 1.04246133e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13857937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99037174299997 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:175.87, Y:104.27, Z:0.05 [[ 6.40021772e-02 -9.97949759e-01 0.00000000e+00 1.75869443e+02] [ 9.97949759e-01 6.40021772e-02 0.00000000e+00 1.04274822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02277667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02037174299997 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:175.87, Y:104.30, Z:0.05 [[ 6.28792403e-02 -9.98021143e-01 0.00000000e+00 1.75871260e+02] [ 9.98021143e-01 6.28792403e-02 0.00000000e+00 1.04301656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87464742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05037174299997 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:175.87, Y:104.33, Z:0.05 [[ 6.06290138e-02 -9.98160369e-01 0.00000000e+00 1.75872422e+02] [ 9.98160369e-01 6.06290138e-02 0.00000000e+00 1.04327802e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90250803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08037174299997 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:175.87, Y:104.36, Z:0.05 [[ 5.72984472e-02 -9.98357094e-01 0.00000000e+00 1.75874535e+02] [ 9.98357094e-01 5.72984472e-02 0.00000000e+00 1.04355816e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97181593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11037174299997 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:175.88, Y:104.38, Z:0.05 [[ 5.39980108e-02 -9.98541043e-01 0.00000000e+00 1.75877199e+02] [ 9.98541043e-01 5.39980108e-02 0.00000000e+00 1.04382535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95083854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14037174299997 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:175.88, Y:104.41, Z:0.05 [[ 5.16626558e-02 -9.98664593e-01 0.00000000e+00 1.75880079e+02] [ 9.98664593e-01 5.16626558e-02 0.00000000e+00 1.04410105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96988671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17037174299998 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:175.88, Y:104.44, Z:0.05 [[ 4.80918991e-02 -9.98842915e-01 0.00000000e+00 1.75883052e+02] [ 9.98842915e-01 4.80918991e-02 0.00000000e+00 1.04438787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93704044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20037174299998 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:175.89, Y:104.47, Z:0.05 [[ 4.52690060e-02 -9.98974833e-01 0.00000000e+00 1.75885421e+02] [ 9.98974833e-01 4.52690060e-02 0.00000000e+00 1.04466993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95350567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23037174299998 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:175.89, Y:104.49, Z:0.05 [[ 4.46136019e-02 -9.99004318e-01 0.00000000e+00 1.75887624e+02] [ 9.99004318e-01 4.46136019e-02 0.00000000e+00 1.04493726e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87584396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26037174299998 meters Centerline goodness : 0.994551 Centerline is valid? [True, True] Translation: X:175.89, Y:104.52, Z:0.05 [[ 4.29452751e-02 -9.99077426e-01 0.00000000e+00 1.75890058e+02] [ 9.99077426e-01 4.29452751e-02 0.00000000e+00 1.04522688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.75693140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29037174299998 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:175.89, Y:104.55, Z:0.05 [[ 4.15528611e-02 -9.99136307e-01 0.00000000e+00 1.75892273e+02] [ 9.99136307e-01 4.15528611e-02 0.00000000e+00 1.04550552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74750022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32037174299998 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:175.89, Y:104.58, Z:0.05 [[ 4.08736257e-02 -9.99164324e-01 0.00000000e+00 1.75894038e+02] [ 9.99164324e-01 4.08736257e-02 0.00000000e+00 1.04578750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73041771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35037174299998 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:175.90, Y:104.61, Z:0.05 [[ 4.04802401e-02 -9.99180339e-01 0.00000000e+00 1.75895043e+02] [ 9.99180339e-01 4.04802401e-02 0.00000000e+00 1.04605176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83372384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38037174299998 meters Centerline goodness : 0.994983 Centerline is valid? [True, True] Translation: X:175.90, Y:104.63, Z:0.05 [[ 4.07618741e-02 -9.99168889e-01 0.00000000e+00 1.75895963e+02] [ 9.99168889e-01 4.07618741e-02 0.00000000e+00 1.04633768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95017560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41037174299998 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:175.90, Y:104.66, Z:0.05 [[ 4.08329940e-02 -9.99165986e-01 0.00000000e+00 1.75897048e+02] [ 9.99165986e-01 4.08329940e-02 0.00000000e+00 1.04660212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02572493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.440371743 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:175.90, Y:104.69, Z:0.05 [[ 4.04676650e-02 -9.99180849e-01 0.00000000e+00 1.75898260e+02] [ 9.99180849e-01 4.04676650e-02 0.00000000e+00 1.04688282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12988944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.470371743 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:175.90, Y:104.72, Z:0.05 [[ 4.09477525e-02 -9.99161289e-01 0.00000000e+00 1.75900053e+02] [ 9.99161289e-01 4.09477525e-02 0.00000000e+00 1.04716418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11476523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.500371743 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:175.90, Y:104.74, Z:0.05 [[ 4.01092840e-02 -9.99195299e-01 0.00000000e+00 1.75901882e+02] [ 9.99195299e-01 4.01092840e-02 0.00000000e+00 1.04743424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18770128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.530371743 meters Centerline goodness : 0.995072 Centerline is valid? [True, True] Translation: X:175.90, Y:104.77, Z:0.05 [[ 3.94107060e-02 -9.99223096e-01 0.00000000e+00 1.75904353e+02] [ 9.99223096e-01 3.94107060e-02 0.00000000e+00 1.04772257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22589028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.560371743 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:175.91, Y:104.80, Z:0.05 [[ 3.68883730e-02 -9.99319392e-01 0.00000000e+00 1.75906253e+02] [ 9.99319392e-01 3.68883730e-02 0.00000000e+00 1.04800355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18763327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.590371743 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:175.91, Y:104.83, Z:0.05 [[ 3.48927830e-02 -9.99391061e-01 0.00000000e+00 1.75908634e+02] [ 9.99391061e-01 3.48927830e-02 0.00000000e+00 1.04828167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07622368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.620371743 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:175.91, Y:104.86, Z:0.05 [[ 3.15272780e-02 -9.99502892e-01 0.00000000e+00 1.75910553e+02] [ 9.99502892e-01 3.15272780e-02 0.00000000e+00 1.04855189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.95217765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.650371743 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:175.91, Y:104.89, Z:0.05 [[ 2.91863371e-02 -9.99573988e-01 0.00000000e+00 1.75913860e+02] [ 9.99573988e-01 2.91863371e-02 0.00000000e+00 1.04885019e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82106821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68037174299997 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:175.92, Y:104.91, Z:0.05 [[ 2.70272544e-02 -9.99634697e-01 0.00000000e+00 1.75916053e+02] [ 9.99634697e-01 2.70272544e-02 0.00000000e+00 1.04911771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77700195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71037174299997 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:175.92, Y:104.94, Z:0.05 [[ 2.37417142e-02 -9.99718126e-01 0.00000000e+00 1.75917685e+02] [ 9.99718126e-01 2.37417142e-02 0.00000000e+00 1.04938707e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96736224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74037174299997 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:175.92, Y:104.97, Z:0.05 [[ 2.15104839e-02 -9.99768623e-01 0.00000000e+00 1.75919892e+02] [ 9.99768623e-01 2.15104839e-02 0.00000000e+00 1.04965944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97010714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77037174299997 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:175.92, Y:104.99, Z:0.05 [[ 1.88059550e-02 -9.99823152e-01 0.00000000e+00 1.75922414e+02] [ 9.99823152e-01 1.88059550e-02 0.00000000e+00 1.04994596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98548360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80037174299997 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:175.92, Y:105.02, Z:0.05 [[ 1.77585729e-02 -9.99842304e-01 0.00000000e+00 1.75924819e+02] [ 9.99842304e-01 1.77585729e-02 0.00000000e+00 1.05021251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99023322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83037174299997 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:175.93, Y:105.05, Z:0.05 [[ 1.72890813e-02 -9.99850533e-01 0.00000000e+00 1.75927485e+02] [ 9.99850533e-01 1.72890813e-02 0.00000000e+00 1.05049310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92630592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86037174299997 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:175.93, Y:105.08, Z:0.05 [[ 1.91239899e-02 -9.99817120e-01 0.00000000e+00 1.75931490e+02] [ 9.99817120e-01 1.91239899e-02 0.00000000e+00 1.05077210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82113506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89037174299997 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:175.93, Y:105.11, Z:0.05 [[ 2.04672211e-02 -9.99790524e-01 0.00000000e+00 1.75934583e+02] [ 9.99790524e-01 2.04672211e-02 0.00000000e+00 1.05105536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78838502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92037174299998 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:175.93, Y:105.13, Z:0.05 [[ 1.81776312e-02 -9.99834773e-01 0.00000000e+00 1.75927393e+02] [ 9.99834773e-01 1.81776312e-02 0.00000000e+00 1.05126385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23040286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95037174299998 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:175.93, Y:105.15, Z:0.05 [[ 1.87874164e-02 -9.99823501e-01 0.00000000e+00 1.75929875e+02] [ 9.99823501e-01 1.87874164e-02 0.00000000e+00 1.05154263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28686396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98037174299998 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:175.93, Y:105.18, Z:0.05 [[ 1.94715804e-02 -9.99810411e-01 0.00000000e+00 1.75933201e+02] [ 9.99810411e-01 1.94715804e-02 0.00000000e+00 1.05181759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33756166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01037174299998 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:175.94, Y:105.21, Z:0.05 [[ 2.06682658e-02 -9.99786389e-01 0.00000000e+00 1.75938031e+02] [ 9.99786389e-01 2.06682658e-02 0.00000000e+00 1.05209169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06791139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04037174299998 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:175.95, Y:105.24, Z:0.05 [[ 2.53336894e-02 -9.99679051e-01 0.00000000e+00 1.75949255e+02] [ 9.99679051e-01 2.53336894e-02 0.00000000e+00 1.05243623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96132529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07037174299998 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:175.95, Y:105.27, Z:0.05 [[ 2.52074743e-02 -9.99682241e-01 0.00000000e+00 1.75952634e+02] [ 9.99682241e-01 2.52074743e-02 0.00000000e+00 1.05270637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90603511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10037174299998 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:175.95, Y:105.29, Z:0.05 [[ 2.70291192e-02 -9.99634647e-01 0.00000000e+00 1.75954318e+02] [ 9.99634647e-01 2.70291192e-02 0.00000000e+00 1.05293208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86803695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13037174299998 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:175.96, Y:105.33, Z:0.05 [[ 2.53263845e-02 -9.99679236e-01 0.00000000e+00 1.75957787e+02] [ 9.99679236e-01 2.53263845e-02 0.00000000e+00 1.05325557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99411930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16037174299998 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:175.96, Y:105.35, Z:0.05 [[ 2.67544259e-02 -9.99642036e-01 0.00000000e+00 1.75960981e+02] [ 9.99642036e-01 2.67544259e-02 0.00000000e+00 1.05354025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98052251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.190371743 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:175.96, Y:105.38, Z:0.05 [[ 2.70478670e-02 -9.99634140e-01 0.00000000e+00 1.75963753e+02] [ 9.99634140e-01 2.70478670e-02 0.00000000e+00 1.05381906e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98760381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.220371743 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:175.97, Y:105.41, Z:0.05 [[ 2.72425127e-02 -9.99628854e-01 0.00000000e+00 1.75966939e+02] [ 9.99628854e-01 2.72425127e-02 0.00000000e+00 1.05410492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07773235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.250371743 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:175.97, Y:105.44, Z:0.05 [[ 2.66513778e-02 -9.99644789e-01 0.00000000e+00 1.75969101e+02] [ 9.99644789e-01 2.66513778e-02 0.00000000e+00 1.05437684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07973040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.280371743 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:175.97, Y:105.47, Z:0.05 [[ 2.69856483e-02 -9.99635821e-01 0.00000000e+00 1.75972206e+02] [ 9.99635821e-01 2.69856483e-02 0.00000000e+00 1.05465450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96789862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.310371743 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:175.98, Y:105.49, Z:0.05 [[ 2.53216765e-02 -9.99679355e-01 0.00000000e+00 1.75975410e+02] [ 9.99679355e-01 2.53216765e-02 0.00000000e+00 1.05493915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97357010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.340371743 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:175.98, Y:105.52, Z:0.05 [[ 2.50914276e-02 -9.99685161e-01 0.00000000e+00 1.75978518e+02] [ 9.99685161e-01 2.50914276e-02 0.00000000e+00 1.05521434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88094462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.370371743 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:175.98, Y:105.55, Z:0.05 [[ 2.30800787e-02 -9.99733620e-01 0.00000000e+00 1.75983522e+02] [ 9.99733620e-01 2.30800787e-02 0.00000000e+00 1.05550412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74047525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.400371743 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:175.99, Y:105.58, Z:0.05 [[ 2.11718060e-02 -9.99775852e-01 0.00000000e+00 1.75987255e+02] [ 9.99775852e-01 2.11718060e-02 0.00000000e+00 1.05579265e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68435097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43037174299997 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:175.99, Y:105.61, Z:0.05 [[ 1.86532049e-02 -9.99826014e-01 0.00000000e+00 1.75990429e+02] [ 9.99826014e-01 1.86532049e-02 0.00000000e+00 1.05606523e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59729978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46037174299997 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:175.99, Y:105.64, Z:0.05 [[ 1.60165752e-02 -9.99871726e-01 0.00000000e+00 1.75993536e+02] [ 9.99871726e-01 1.60165752e-02 0.00000000e+00 1.05635335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61505404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49037174299997 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:176.00, Y:105.66, Z:0.05 [[ 1.41459650e-02 -9.99899941e-01 0.00000000e+00 1.75995731e+02] [ 9.99899941e-01 1.41459650e-02 0.00000000e+00 1.05662124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61328863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52037174299997 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:175.99, Y:105.68, Z:0.05 [[ 5.28679397e-03 -9.99986025e-01 0.00000000e+00 1.75988590e+02] [ 9.99986025e-01 5.28679397e-03 0.00000000e+00 1.05680247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00268127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55037174299997 meters Centerline goodness : 0.995798 Centerline is valid? [True, True] Translation: X:176.00, Y:105.72, Z:0.04 [[ 1.11041407e-02 -9.99938347e-01 0.00000000e+00 1.76002614e+02] [ 9.99938347e-01 1.11041407e-02 0.00000000e+00 1.05718200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49119219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58037174299997 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:176.00, Y:105.75, Z:0.05 [[ 9.08149257e-03 -9.99958762e-01 0.00000000e+00 1.76004426e+02] [ 9.99958762e-01 9.08149257e-03 0.00000000e+00 1.05746693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57575052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61037174299997 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:176.01, Y:105.77, Z:0.05 [[ 9.24635506e-03 -9.99957252e-01 0.00000000e+00 1.76005852e+02] [ 9.99957252e-01 9.24635506e-03 0.00000000e+00 1.05773944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.57613496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64037174299997 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:176.01, Y:105.80, Z:0.05 [[ 9.75604155e-03 -9.99952409e-01 0.00000000e+00 1.76006941e+02] [ 9.99952409e-01 9.75604155e-03 0.00000000e+00 1.05801296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59136470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67037174299998 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:176.01, Y:105.83, Z:0.05 [[ 1.15135018e-02 -9.99933717e-01 0.00000000e+00 1.76008646e+02] [ 9.99933717e-01 1.15135018e-02 0.00000000e+00 1.05830569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62986840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70037174299998 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:176.01, Y:105.86, Z:0.05 [[ 1.09108634e-02 -9.99940475e-01 0.00000000e+00 1.76010683e+02] [ 9.99940475e-01 1.09108634e-02 0.00000000e+00 1.05858579e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62986840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73037174299998 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:176.01, Y:105.89, Z:0.05 [[ 1.24256498e-02 -9.99922799e-01 0.00000000e+00 1.76012018e+02] [ 9.99922799e-01 1.24256498e-02 0.00000000e+00 1.05885750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62806730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76037174299998 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:176.01, Y:105.91, Z:0.05 [[ 1.57264852e-02 -9.99876331e-01 0.00000000e+00 1.76012241e+02] [ 9.99876331e-01 1.57264852e-02 0.00000000e+00 1.05913684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69229899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79037174299998 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:176.01, Y:105.94, Z:0.05 [[ 1.72370113e-02 -9.99851432e-01 0.00000000e+00 1.76013124e+02] [ 9.99851432e-01 1.72370113e-02 0.00000000e+00 1.05941178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72688754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82037174299998 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:176.01, Y:105.97, Z:0.05 [[ 1.95752934e-02 -9.99808386e-01 0.00000000e+00 1.76014227e+02] [ 9.99808386e-01 1.95752934e-02 0.00000000e+00 1.05968062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72241465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85037174299998 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:176.01, Y:106.00, Z:0.05 [[ 2.43904358e-02 -9.99702509e-01 0.00000000e+00 1.76014255e+02] [ 9.99702509e-01 2.43904358e-02 0.00000000e+00 1.05995229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78788486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88037174299998 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:176.02, Y:106.02, Z:0.05 [[ 2.59869717e-02 -9.99662282e-01 0.00000000e+00 1.76015758e+02] [ 9.99662282e-01 2.59869717e-02 0.00000000e+00 1.06024300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84264124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91037174299998 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:176.02, Y:106.05, Z:0.05 [[ 2.88462573e-02 -9.99583860e-01 0.00000000e+00 1.76016518e+02] [ 9.99583860e-01 2.88462573e-02 0.00000000e+00 1.06052469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.88108357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.940371743 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:176.02, Y:106.08, Z:0.05 [[ 2.90082993e-02 -9.99579171e-01 0.00000000e+00 1.76017996e+02] [ 9.99579171e-01 2.90082993e-02 0.00000000e+00 1.06080351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87870006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.970371743 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:176.02, Y:106.11, Z:0.05 [[ 2.92932334e-02 -9.99570861e-01 0.00000000e+00 1.76019569e+02] [ 9.99570861e-01 2.92932334e-02 0.00000000e+00 1.06108103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77337441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.000371743 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:176.02, Y:106.14, Z:0.05 [[ 3.00084337e-02 -9.99549646e-01 0.00000000e+00 1.76021287e+02] [ 9.99549646e-01 3.00084337e-02 0.00000000e+00 1.06135055e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56693532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.030371743 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:176.02, Y:106.16, Z:0.04 [[ 2.95241306e-02 -9.99564068e-01 0.00000000e+00 1.76022675e+02] [ 9.99564068e-01 2.95241306e-02 0.00000000e+00 1.06162240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46730253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.060371743 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:176.02, Y:106.19, Z:0.04 [[ 2.84585535e-02 -9.99594973e-01 0.00000000e+00 1.76023666e+02] [ 9.99594973e-01 2.84585535e-02 0.00000000e+00 1.06187846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37903147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.090371743 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:176.01, Y:106.21, Z:0.05 [[ 2.13217147e-02 -9.99772666e-01 0.00000000e+00 1.76014592e+02] [ 9.99772666e-01 2.13217147e-02 0.00000000e+00 1.06207201e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82175914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.120371743 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:176.03, Y:106.24, Z:0.04 [[ 2.70645069e-02 -9.99633689e-01 0.00000000e+00 1.76027121e+02] [ 9.99633689e-01 2.70645069e-02 0.00000000e+00 1.06244406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42774994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.150371743 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:176.03, Y:106.27, Z:0.05 [[ 2.53374262e-02 -9.99678956e-01 0.00000000e+00 1.76028833e+02] [ 9.99678956e-01 2.53374262e-02 0.00000000e+00 1.06273602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63480513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18037174299997 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:176.03, Y:106.30, Z:0.05 [[ 2.48708273e-02 -9.99690673e-01 0.00000000e+00 1.76030725e+02] [ 9.99690673e-01 2.48708273e-02 0.00000000e+00 1.06300238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69603882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21037174299997 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:176.03, Y:106.33, Z:0.05 [[ 2.19169060e-02 -9.99759796e-01 0.00000000e+00 1.76032745e+02] [ 9.99759796e-01 2.19169060e-02 0.00000000e+00 1.06328183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82113159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24037174299997 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:176.03, Y:106.36, Z:0.05 [[ 1.93626818e-02 -9.99812526e-01 0.00000000e+00 1.76033375e+02] [ 9.99812526e-01 1.93626818e-02 0.00000000e+00 1.06356148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85793362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27037174299997 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:176.04, Y:106.39, Z:0.05 [[ 1.92687032e-02 -9.99814341e-01 0.00000000e+00 1.76038055e+02] [ 9.99814341e-01 1.92687032e-02 0.00000000e+00 1.06386817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70712269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30037174299997 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:176.04, Y:106.41, Z:0.05 [[ 1.49685324e-02 -9.99887965e-01 0.00000000e+00 1.76038676e+02] [ 9.99887965e-01 1.49685324e-02 0.00000000e+00 1.06413444e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68244547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33037174299997 meters Centerline goodness : 0.994716 Centerline is valid? [True, True] Translation: X:176.04, Y:106.44, Z:0.04 [[ 1.45275493e-02 -9.99894470e-01 0.00000000e+00 1.76042717e+02] [ 9.99894470e-01 1.45275493e-02 0.00000000e+00 1.06442707e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49286534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36037174299997 meters Centerline goodness : 0.995218 Centerline is valid? [True, True] Translation: X:176.04, Y:106.47, Z:0.04 [[ 1.30242308e-02 -9.99915181e-01 0.00000000e+00 1.76044767e+02] [ 9.99915181e-01 1.30242308e-02 0.00000000e+00 1.06469875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40680824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39037174299997 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:176.05, Y:106.50, Z:0.05 [[ 1.35042261e-02 -9.99908814e-01 0.00000000e+00 1.76046528e+02] [ 9.99908814e-01 1.35042261e-02 0.00000000e+00 1.06496768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53184517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42037174299998 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:176.05, Y:106.53, Z:0.04 [[ 1.06222755e-02 -9.99943582e-01 0.00000000e+00 1.76048263e+02] [ 9.99943582e-01 1.06222755e-02 0.00000000e+00 1.06525641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39700377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45037174299998 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:176.05, Y:106.55, Z:0.04 [[ 1.06118412e-02 -9.99943693e-01 0.00000000e+00 1.76049835e+02] [ 9.99943693e-01 1.06118412e-02 0.00000000e+00 1.06553636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35305211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48037174299998 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:176.05, Y:106.58, Z:0.04 [[ 1.09350738e-02 -9.99940210e-01 0.00000000e+00 1.76050559e+02] [ 9.99940210e-01 1.09350738e-02 0.00000000e+00 1.06580390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37960543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51037174299998 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:176.05, Y:106.61, Z:0.04 [[ 1.35820805e-02 -9.99907759e-01 0.00000000e+00 1.76051848e+02] [ 9.99907759e-01 1.35820805e-02 0.00000000e+00 1.06610308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34990685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54037174299998 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:176.05, Y:106.64, Z:0.04 [[ 1.46709378e-02 -9.99892376e-01 0.00000000e+00 1.76052816e+02] [ 9.99892376e-01 1.46709378e-02 0.00000000e+00 1.06638321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42197482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57037174299998 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:176.05, Y:106.67, Z:0.04 [[ 1.61293505e-02 -9.99869914e-01 0.00000000e+00 1.76054181e+02] [ 9.99869914e-01 1.61293505e-02 0.00000000e+00 1.06667216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42155678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60037174299998 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:176.06, Y:106.70, Z:0.04 [[ 1.96454748e-02 -9.99807009e-01 0.00000000e+00 1.76056197e+02] [ 9.99807009e-01 1.96454748e-02 0.00000000e+00 1.06698125e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45960659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63037174299998 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:176.06, Y:106.72, Z:0.04 [[ 2.20078551e-02 -9.99757798e-01 0.00000000e+00 1.76056763e+02] [ 9.99757798e-01 2.20078551e-02 0.00000000e+00 1.06724297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43685368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66037174299998 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:176.06, Y:106.75, Z:0.04 [[ 2.62989539e-02 -9.99654123e-01 0.00000000e+00 1.76057773e+02] [ 9.99654123e-01 2.62989539e-02 0.00000000e+00 1.06752619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36370057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.690371743 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:176.06, Y:106.78, Z:0.04 [[ 2.69909362e-02 -9.99635678e-01 0.00000000e+00 1.76059887e+02] [ 9.99635678e-01 2.69909362e-02 0.00000000e+00 1.06782594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36442395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.720371743 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:176.05, Y:106.80, Z:0.05 [[ 2.15331237e-02 -9.99768135e-01 0.00000000e+00 1.76049028e+02] [ 9.99768135e-01 2.15331237e-02 0.00000000e+00 1.06798179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73009613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.750371743 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:176.05, Y:106.83, Z:0.05 [[ 2.27811790e-02 -9.99740475e-01 0.00000000e+00 1.76050585e+02] [ 9.99740475e-01 2.27811790e-02 0.00000000e+00 1.06825857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74516089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.780371743 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:176.07, Y:106.87, Z:0.04 [[ 3.35044612e-02 -9.99438568e-01 0.00000000e+00 1.76065341e+02] [ 9.99438568e-01 3.35044612e-02 0.00000000e+00 1.06867155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07757271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.810371743 meters Centerline goodness : 0.994008 Centerline is valid? [True, True] Translation: X:176.07, Y:106.89, Z:0.04 [[ 3.44516320e-02 -9.99406366e-01 0.00000000e+00 1.76066066e+02] [ 9.99406366e-01 3.44516320e-02 0.00000000e+00 1.06893738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15679603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.840371743 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:176.07, Y:106.92, Z:0.04 [[ 3.43981610e-02 -9.99408208e-01 0.00000000e+00 1.76068452e+02] [ 9.99408208e-01 3.43981610e-02 0.00000000e+00 1.06923167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17498423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.870371743 meters Centerline goodness : 0.994087 Centerline is valid? [True, True] Translation: X:176.07, Y:106.95, Z:0.04 [[ 3.53126560e-02 -9.99376314e-01 0.00000000e+00 1.76071232e+02] [ 9.99376314e-01 3.53126560e-02 0.00000000e+00 1.06949659e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08116535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.900371743 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:176.07, Y:106.98, Z:0.04 [[ 3.54662679e-02 -9.99370874e-01 0.00000000e+00 1.76074396e+02] [ 9.99370874e-01 3.54662679e-02 0.00000000e+00 1.06979708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04442035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93037174299997 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:176.08, Y:107.01, Z:0.04 [[ 3.57973615e-02 -9.99359069e-01 0.00000000e+00 1.76075775e+02] [ 9.99359069e-01 3.57973615e-02 0.00000000e+00 1.07007260e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06234136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96037174299997 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:176.08, Y:107.04, Z:0.04 [[ 3.58304705e-02 -9.99357883e-01 0.00000000e+00 1.76079811e+02] [ 9.99357883e-01 3.58304705e-02 0.00000000e+00 1.07036927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05770623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99037174299997 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:176.08, Y:107.07, Z:0.04 [[ 3.58649100e-02 -9.99356647e-01 0.00000000e+00 1.76082708e+02] [ 9.99356647e-01 3.58649100e-02 0.00000000e+00 1.07065409e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02507558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02037174299997 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:176.07, Y:107.08, Z:0.05 [[ 2.44571221e-02 -9.99700880e-01 0.00000000e+00 1.76070501e+02] [ 9.99700880e-01 2.44571221e-02 0.00000000e+00 1.07077823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69536152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05037174299997 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:176.09, Y:107.12, Z:0.04 [[ 3.47214020e-02 -9.99397030e-01 0.00000000e+00 1.76088510e+02] [ 9.99397030e-01 3.47214020e-02 0.00000000e+00 1.07121694e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95163989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08037174299997 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:176.09, Y:107.14, Z:0.04 [[ 3.00844315e-02 -9.99547361e-01 0.00000000e+00 1.76085594e+02] [ 9.99547361e-01 3.00844315e-02 0.00000000e+00 1.07144442e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12069903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11037174299997 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:176.08, Y:107.16, Z:0.05 [[ 2.10332571e-02 -9.99778777e-01 0.00000000e+00 1.76079525e+02] [ 9.99778777e-01 2.10332571e-02 0.00000000e+00 1.07161373e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58988686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14037174299997 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:176.08, Y:107.19, Z:0.05 [[ 2.01182295e-02 -9.99797608e-01 0.00000000e+00 1.76082606e+02] [ 9.99797608e-01 2.01182295e-02 0.00000000e+00 1.07188815e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55473275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17037174299998 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:176.10, Y:107.23, Z:0.04 [[ 2.77396102e-02 -9.99615183e-01 0.00000000e+00 1.76099483e+02] [ 9.99615183e-01 2.77396102e-02 0.00000000e+00 1.07229994e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86611314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20037174299998 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:176.09, Y:107.24, Z:0.04 [[ 1.78588058e-02 -9.99840519e-01 0.00000000e+00 1.76089241e+02] [ 9.99840519e-01 1.78588058e-02 0.00000000e+00 1.07244671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49800005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23037174299998 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:176.10, Y:107.28, Z:0.04 [[ 2.51365344e-02 -9.99684027e-01 0.00000000e+00 1.76102600e+02] [ 9.99684027e-01 2.51365344e-02 0.00000000e+00 1.07282414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00818805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26037174299998 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:176.11, Y:107.31, Z:0.04 [[ 2.60964010e-02 -9.99659431e-01 0.00000000e+00 1.76105839e+02] [ 9.99659431e-01 2.60964010e-02 0.00000000e+00 1.07310186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04755827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29037174299998 meters Centerline goodness : 0.995894 Centerline is valid? [True, True] Translation: X:176.10, Y:107.33, Z:0.05 [[ 1.88961369e-02 -9.99821452e-01 0.00000000e+00 1.76097083e+02] [ 9.99821452e-01 1.88961369e-02 0.00000000e+00 1.07326845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56137207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32037174299998 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:176.11, Y:107.36, Z:0.04 [[ 2.48632694e-02 -9.99690861e-01 0.00000000e+00 1.76108413e+02] [ 9.99690861e-01 2.48632694e-02 0.00000000e+00 1.07361569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24321045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35037174299998 meters Centerline goodness : 0.995494 Centerline is valid? [True, True] Translation: X:176.11, Y:107.39, Z:0.04 [[ 2.53467579e-02 -9.99678719e-01 0.00000000e+00 1.76111848e+02] [ 9.99678719e-01 2.53467579e-02 0.00000000e+00 1.07391578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23116545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38037174299998 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:176.11, Y:107.42, Z:0.04 [[ 2.39067934e-02 -9.99714192e-01 0.00000000e+00 1.76112613e+02] [ 9.99714192e-01 2.39067934e-02 0.00000000e+00 1.07418623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31142431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41037174299998 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:176.12, Y:107.45, Z:0.04 [[ 2.38077129e-02 -9.99716556e-01 0.00000000e+00 1.76117256e+02] [ 9.99716556e-01 2.38077129e-02 0.00000000e+00 1.07448252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29987230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.440371743 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:176.12, Y:107.47, Z:0.04 [[ 2.17974922e-02 -9.99762406e-01 0.00000000e+00 1.76117634e+02] [ 9.99762406e-01 2.17974922e-02 0.00000000e+00 1.07473356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38650966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.470371743 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:176.12, Y:107.50, Z:0.04 [[ 2.19961872e-02 -9.99758055e-01 0.00000000e+00 1.76122678e+02] [ 9.99758055e-01 2.19961872e-02 0.00000000e+00 1.07502591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21441970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.500371743 meters Centerline goodness : 0.994990 Centerline is valid? [True, True] Translation: X:176.13, Y:107.53, Z:0.04 [[ 2.12374129e-02 -9.99774461e-01 0.00000000e+00 1.76125927e+02] [ 9.99774461e-01 2.12374129e-02 0.00000000e+00 1.07531194e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22617645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.530371743 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:176.13, Y:107.56, Z:0.04 [[ 1.98899446e-02 -9.99802175e-01 0.00000000e+00 1.76128167e+02] [ 9.99802175e-01 1.98899446e-02 0.00000000e+00 1.07558628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24590743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.560371743 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:176.12, Y:107.58, Z:0.05 [[ 1.47479180e-02 -9.99891244e-01 0.00000000e+00 1.76124504e+02] [ 9.99891244e-01 1.47479180e-02 0.00000000e+00 1.07578490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56211419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.590371743 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:176.14, Y:107.62, Z:0.04 [[ 2.16753784e-02 -9.99765061e-01 0.00000000e+00 1.76136904e+02] [ 9.99765061e-01 2.16753784e-02 0.00000000e+00 1.07615112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22205576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.620371743 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:176.14, Y:107.64, Z:0.04 [[ 2.11613715e-02 -9.99776073e-01 0.00000000e+00 1.76137870e+02] [ 9.99776073e-01 2.11613715e-02 0.00000000e+00 1.07642917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22205576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.650371743 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:176.14, Y:107.67, Z:0.04 [[ 2.44467560e-02 -9.99701133e-01 0.00000000e+00 1.76142766e+02] [ 9.99701133e-01 2.44467560e-02 0.00000000e+00 1.07671308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13243218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68037174299997 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:176.15, Y:107.70, Z:0.04 [[ 2.61604012e-02 -9.99657758e-01 0.00000000e+00 1.76145455e+02] [ 9.99657758e-01 2.61604012e-02 0.00000000e+00 1.07699725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07230388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71037174299997 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:176.15, Y:107.73, Z:0.04 [[ 2.68142292e-02 -9.99640434e-01 0.00000000e+00 1.76148125e+02] [ 9.99640434e-01 2.68142292e-02 0.00000000e+00 1.07728214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12153426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74037174299997 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:176.15, Y:107.76, Z:0.04 [[ 3.13257188e-02 -9.99509229e-01 0.00000000e+00 1.76152207e+02] [ 9.99509229e-01 3.13257188e-02 0.00000000e+00 1.07755345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13318361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77037174299997 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:176.16, Y:107.78, Z:0.04 [[ 3.40194958e-02 -9.99421169e-01 0.00000000e+00 1.76155149e+02] [ 9.99421169e-01 3.40194958e-02 0.00000000e+00 1.07781880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12721159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80037174299997 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:176.16, Y:107.81, Z:0.04 [[ 3.72564775e-02 -9.99305736e-01 0.00000000e+00 1.76161084e+02] [ 9.99305736e-01 3.72564775e-02 0.00000000e+00 1.07811637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18264572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83037174299997 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:176.15, Y:107.83, Z:0.05 [[ 2.94514464e-02 -9.99566212e-01 0.00000000e+00 1.76152386e+02] [ 9.99566212e-01 2.94514464e-02 0.00000000e+00 1.07826696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55435130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86037174299997 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:176.16, Y:107.85, Z:0.05 [[ 3.09736432e-02 -9.99520202e-01 0.00000000e+00 1.76155568e+02] [ 9.99520202e-01 3.09736432e-02 0.00000000e+00 1.07854174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60296449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89037174299997 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:176.16, Y:107.88, Z:0.05 [[ 3.27187769e-02 -9.99464597e-01 0.00000000e+00 1.76160962e+02] [ 9.99464597e-01 3.27187769e-02 0.00000000e+00 1.07881887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59395628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92037174299998 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:176.16, Y:107.91, Z:0.05 [[ 3.30036243e-02 -9.99455232e-01 0.00000000e+00 1.76164548e+02] [ 9.99455232e-01 3.30036243e-02 0.00000000e+00 1.07908951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54293990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95037174299998 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:176.17, Y:107.94, Z:0.04 [[ 3.23539191e-02 -9.99476475e-01 0.00000000e+00 1.76172154e+02] [ 9.99476475e-01 3.23539191e-02 0.00000000e+00 1.07937054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49747912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98037174299998 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:176.18, Y:107.97, Z:0.04 [[ 3.07395812e-02 -9.99527427e-01 0.00000000e+00 1.76176636e+02] [ 9.99527427e-01 3.07395812e-02 0.00000000e+00 1.07965017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48961390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01037174299998 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:176.19, Y:108.00, Z:0.04 [[ 3.27375855e-02 -9.99463982e-01 0.00000000e+00 1.76193348e+02] [ 9.99463982e-01 3.27375855e-02 0.00000000e+00 1.08002406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35281523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04037174299998 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:176.19, Y:108.02, Z:0.04 [[ 2.36945792e-02 -9.99719244e-01 0.00000000e+00 1.76189445e+02] [ 9.99719244e-01 2.36945792e-02 0.00000000e+00 1.08020787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42405740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07037174299998 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:176.20, Y:108.06, Z:0.04 [[ 2.54737586e-02 -9.99675491e-01 0.00000000e+00 1.76201762e+02] [ 9.99675491e-01 2.54737586e-02 0.00000000e+00 1.08055195e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36734050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10037174299998 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:176.21, Y:108.08, Z:0.04 [[ 1.91370435e-02 -9.99816870e-01 0.00000000e+00 1.76210901e+02] [ 9.99816870e-01 1.91370435e-02 0.00000000e+00 1.08083528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23052746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13037174299998 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:176.21, Y:108.10, Z:0.04 [[ 1.08636387e-02 -9.99940989e-01 0.00000000e+00 1.76207850e+02] [ 9.99940989e-01 1.08636387e-02 0.00000000e+00 1.08103296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21281415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16037174299998 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:176.22, Y:108.14, Z:0.04 [[ 1.04970515e-02 -9.99944904e-01 0.00000000e+00 1.76224106e+02] [ 9.99944904e-01 1.04970515e-02 0.00000000e+00 1.08139871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11927302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.190371743 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:176.23, Y:108.17, Z:0.04 [[ 8.14953179e-03 -9.99966792e-01 0.00000000e+00 1.76228620e+02] [ 9.99966792e-01 8.14953179e-03 0.00000000e+00 1.08168807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98886101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.220371743 meters Centerline goodness : 0.992636 Centerline is valid? [True, True] Translation: X:176.22, Y:108.19, Z:0.04 [[ 3.41852196e-05 -9.99999999e-01 0.00000000e+00 1.76224457e+02] [ 9.99999999e-01 3.41852196e-05 0.00000000e+00 1.08187185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02772873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.250371743 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:176.23, Y:108.21, Z:0.04 [[-2.12132403e-03 -9.99997750e-01 0.00000000e+00 1.76231406e+02] [ 9.99997750e-01 -2.12132403e-03 0.00000000e+00 1.08214077e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98953144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.280371743 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:176.24, Y:108.25, Z:0.04 [[ 1.42933527e-03 -9.99998978e-01 0.00000000e+00 1.76241848e+02] [ 9.99998978e-01 1.42933527e-03 0.00000000e+00 1.08249168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96453370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.310371743 meters Centerline goodness : 0.992849 Centerline is valid? [True, True] Translation: X:176.24, Y:108.27, Z:0.04 [[-4.06785844e-03 -9.99991726e-01 0.00000000e+00 1.76238560e+02] [ 9.99991726e-01 -4.06785844e-03 0.00000000e+00 1.08269809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97527058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.340371743 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:176.24, Y:108.30, Z:0.04 [[-5.18968066e-03 -9.99986534e-01 0.00000000e+00 1.76244795e+02] [ 9.99986534e-01 -5.18968066e-03 0.00000000e+00 1.08297833e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98913222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.370371743 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:176.25, Y:108.32, Z:0.04 [[-5.64130279e-03 -9.99984088e-01 0.00000000e+00 1.76248164e+02] [ 9.99984088e-01 -5.64130279e-03 0.00000000e+00 1.08324593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93747004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.400371743 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:176.25, Y:108.35, Z:0.04 [[-6.42672030e-03 -9.99979348e-01 0.00000000e+00 1.76254205e+02] [ 9.99979348e-01 -6.42672030e-03 0.00000000e+00 1.08351844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88044054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43037174299997 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:176.26, Y:108.38, Z:0.04 [[-6.32513044e-03 -9.99979996e-01 0.00000000e+00 1.76257342e+02] [ 9.99979996e-01 -6.32513044e-03 0.00000000e+00 1.08380093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83992777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46037174299997 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:176.26, Y:108.41, Z:0.04 [[-6.41068082e-03 -9.99979451e-01 0.00000000e+00 1.76259989e+02] [ 9.99979451e-01 -6.41068082e-03 0.00000000e+00 1.08408040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81299123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49037174299997 meters Centerline goodness : 0.992515 Centerline is valid? [True, True] Translation: X:176.27, Y:108.44, Z:0.04 [[ 4.90894755e-04 -9.99999880e-01 0.00000000e+00 1.76272665e+02] [ 9.99999880e-01 4.90894755e-04 0.00000000e+00 1.08444061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69113547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52037174299997 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:176.27, Y:108.47, Z:0.04 [[ 1.08137031e-03 -9.99999415e-01 0.00000000e+00 1.76274917e+02] [ 9.99999415e-01 1.08137031e-03 0.00000000e+00 1.08471626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68921329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55037174299997 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:176.28, Y:108.50, Z:0.04 [[ 4.62498111e-03 -9.99989305e-01 0.00000000e+00 1.76279087e+02] [ 9.99989305e-01 4.62498111e-03 0.00000000e+00 1.08500038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67639937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58037174299997 meters Centerline goodness : 0.992632 Centerline is valid? [True, True] Translation: X:176.27, Y:108.52, Z:0.04 [[ 9.14747067e-04 -9.99999582e-01 0.00000000e+00 1.76272596e+02] [ 9.99999582e-01 9.14747067e-04 0.00000000e+00 1.08519220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77702345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61037174299997 meters Centerline goodness : 0.991867 Centerline is valid? [True, True] Translation: X:176.28, Y:108.55, Z:0.04 [[ 6.81795870e-03 -9.99976757e-01 0.00000000e+00 1.76276123e+02] [ 9.99976757e-01 6.81795870e-03 0.00000000e+00 1.08545834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80973652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64037174299997 meters Centerline goodness : 0.991831 Centerline is valid? [True, True] Translation: X:176.28, Y:108.57, Z:0.04 [[ 9.24419352e-03 -9.99957272e-01 0.00000000e+00 1.76278313e+02] [ 9.99957272e-01 9.24419352e-03 0.00000000e+00 1.08573961e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90789806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67037174299998 meters Centerline goodness : 0.990776 Centerline is valid? [True, True] Translation: X:176.29, Y:108.61, Z:0.04 [[ 1.72268159e-02 -9.99851607e-01 0.00000000e+00 1.76289955e+02] [ 9.99851607e-01 1.72268159e-02 0.00000000e+00 1.08611466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84960657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70037174299998 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:176.28, Y:108.63, Z:0.04 [[ 1.41241857e-02 -9.99900249e-01 0.00000000e+00 1.76284209e+02] [ 9.99900249e-01 1.41241857e-02 0.00000000e+00 1.08630967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94490474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73037174299998 meters Centerline goodness : 0.992247 Centerline is valid? [True, True] Translation: X:176.29, Y:108.66, Z:0.04 [[ 1.49621198e-02 -9.99888061e-01 0.00000000e+00 1.76287003e+02] [ 9.99888061e-01 1.49621198e-02 0.00000000e+00 1.08658736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92127035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76037174299998 meters Centerline goodness : 0.991977 Centerline is valid? [True, True] Translation: X:176.29, Y:108.69, Z:0.04 [[ 1.58338014e-02 -9.99874638e-01 0.00000000e+00 1.76291898e+02] [ 9.99874638e-01 1.58338014e-02 0.00000000e+00 1.08685169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87617920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79037174299998 meters Centerline goodness : 0.991589 Centerline is valid? [True, True] Translation: X:176.29, Y:108.71, Z:0.04 [[ 1.50632904e-02 -9.99886542e-01 0.00000000e+00 1.76294607e+02] [ 9.99886542e-01 1.50632904e-02 0.00000000e+00 1.08713512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87033151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82037174299998 meters Centerline goodness : 0.990817 Centerline is valid? [True, True] Translation: X:176.30, Y:108.74, Z:0.04 [[ 1.37172457e-02 -9.99905914e-01 0.00000000e+00 1.76297339e+02] [ 9.99905914e-01 1.37172457e-02 0.00000000e+00 1.08740992e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83901522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85037174299998 meters Centerline goodness : 0.990414 Centerline is valid? [True, True] Translation: X:176.31, Y:108.78, Z:0.04 [[ 1.70444614e-02 -9.99854733e-01 0.00000000e+00 1.76313000e+02] [ 9.99854733e-01 1.70444614e-02 0.00000000e+00 1.08778875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67943698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88037174299998 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:176.31, Y:108.80, Z:0.04 [[ 6.29869965e-03 -9.99980163e-01 0.00000000e+00 1.76305222e+02] [ 9.99980163e-01 6.29869965e-03 0.00000000e+00 1.08796525e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74122318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91037174299998 meters Centerline goodness : 0.990980 Centerline is valid? [True, True] Translation: X:176.31, Y:108.82, Z:0.04 [[ 1.19445078e-03 -9.99999287e-01 0.00000000e+00 1.76311274e+02] [ 9.99999287e-01 1.19445078e-03 0.00000000e+00 1.08823632e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75118920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.940371743 meters Centerline goodness : 0.990854 Centerline is valid? [True, True] Translation: X:176.31, Y:108.85, Z:0.04 [[-1.77159437e-03 -9.99998431e-01 0.00000000e+00 1.76314693e+02] [ 9.99998431e-01 -1.77159437e-03 0.00000000e+00 1.08851883e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75354749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.970371743 meters Centerline goodness : 0.989437 Centerline is valid? [True, True] Translation: X:176.33, Y:108.89, Z:0.04 [[ 4.31294458e-03 -9.99990699e-01 0.00000000e+00 1.76330185e+02] [ 9.99990699e-01 4.31294458e-03 0.00000000e+00 1.08892964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59525024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.000371743 meters Centerline goodness : 0.989314 Centerline is valid? [True, True] Translation: X:176.33, Y:108.92, Z:0.04 [[ 1.47425864e-04 -9.99999989e-01 0.00000000e+00 1.76334628e+02] [ 9.99999989e-01 1.47425864e-04 0.00000000e+00 1.08918871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63703917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.030371743 meters Centerline goodness : 0.989824 Centerline is valid? [True, True] Translation: X:176.34, Y:108.95, Z:0.04 [[-3.75410324e-03 -9.99992953e-01 0.00000000e+00 1.76336638e+02] [ 9.99992953e-01 -3.75410324e-03 0.00000000e+00 1.08948532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64546025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.060371743 meters Centerline goodness : 0.988885 Centerline is valid? [True, True] Translation: X:176.34, Y:108.98, Z:0.04 [[-8.25085392e-03 -9.99965961e-01 0.00000000e+00 1.76340323e+02] [ 9.99965961e-01 -8.25085392e-03 0.00000000e+00 1.08975920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62465970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.090371743 meters Centerline goodness : 0.989204 Centerline is valid? [True, True] Translation: X:176.34, Y:109.00, Z:0.04 [[-1.10311293e-02 -9.99939155e-01 0.00000000e+00 1.76342453e+02] [ 9.99939155e-01 -1.10311293e-02 0.00000000e+00 1.09003564e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63279887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.120371743 meters Centerline goodness : 0.987992 Centerline is valid? [True, True] Translation: X:176.34, Y:109.03, Z:0.04 [[-1.37008258e-02 -9.99906139e-01 0.00000000e+00 1.76343563e+02] [ 9.99906139e-01 -1.37008258e-02 0.00000000e+00 1.09029504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70235114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.150371743 meters Centerline goodness : 0.988108 Centerline is valid? [True, True] Translation: X:176.35, Y:109.06, Z:0.04 [[-1.79320103e-02 -9.99839209e-01 0.00000000e+00 1.76347522e+02] [ 9.99839209e-01 -1.79320103e-02 0.00000000e+00 1.09058718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71430134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18037174299997 meters Centerline goodness : 0.988771 Centerline is valid? [True, True] Translation: X:176.34, Y:109.07, Z:0.04 [[-2.82867000e-02 -9.99599851e-01 0.00000000e+00 1.76338359e+02] [ 9.99599851e-01 -2.82867000e-02 0.00000000e+00 1.09074244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85211014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21037174299997 meters Centerline goodness : 0.988023 Centerline is valid? [True, True] Translation: X:176.34, Y:109.10, Z:0.04 [[-3.25108079e-02 -9.99471384e-01 0.00000000e+00 1.76341333e+02] [ 9.99471384e-01 -3.25108079e-02 0.00000000e+00 1.09101770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81284763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24037174299997 meters Centerline goodness : 0.987805 Centerline is valid? [True, True] Translation: X:176.35, Y:109.14, Z:0.04 [[-2.83306989e-02 -9.99598605e-01 0.00000000e+00 1.76352140e+02] [ 9.99598605e-01 -2.83306989e-02 0.00000000e+00 1.09139787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76962933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27037174299997 meters Centerline goodness : 0.988245 Centerline is valid? [True, True] Translation: X:176.34, Y:109.16, Z:0.04 [[-3.77117437e-02 -9.99288659e-01 0.00000000e+00 1.76343456e+02] [ 9.99288659e-01 -3.77117437e-02 0.00000000e+00 1.09156161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80710308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30037174299997 meters Centerline goodness : 0.988632 Centerline is valid? [True, True] Translation: X:176.34, Y:109.18, Z:0.04 [[-4.25765929e-02 -9.99093206e-01 0.00000000e+00 1.76344849e+02] [ 9.99093206e-01 -4.25765929e-02 0.00000000e+00 1.09183357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70396476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33037174299997 meters Centerline goodness : 0.986709 Centerline is valid? [True, True] Translation: X:176.35, Y:109.22, Z:0.04 [[-3.92201485e-02 -9.99230594e-01 0.00000000e+00 1.76354838e+02] [ 9.99230594e-01 -3.92201485e-02 0.00000000e+00 1.09221927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64652898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36037174299997 meters Centerline goodness : 0.988269 Centerline is valid? [True, True] Translation: X:176.36, Y:109.25, Z:0.03 [[-4.52614830e-02 -9.98975174e-01 0.00000000e+00 1.76355344e+02] [ 9.98975174e-01 -4.52614830e-02 0.00000000e+00 1.09251554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43819191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39037174299997 meters Centerline goodness : 0.989925 Centerline is valid? [True, True] Translation: X:176.35, Y:109.27, Z:0.04 [[-5.51590194e-02 -9.98477582e-01 0.00000000e+00 1.76345621e+02] [ 9.98477582e-01 -5.51590194e-02 0.00000000e+00 1.09268415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54705560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42037174299998 meters Centerline goodness : 0.989007 Centerline is valid? [True, True] Translation: X:176.35, Y:109.30, Z:0.04 [[-5.76459676e-02 -9.98337089e-01 0.00000000e+00 1.76345362e+02] [ 9.98337089e-01 -5.76459676e-02 0.00000000e+00 1.09295529e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51636923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45037174299998 meters Centerline goodness : 0.988836 Centerline is valid? [True, True] Translation: X:176.34, Y:109.32, Z:0.04 [[-6.19528458e-02 -9.98079077e-01 0.00000000e+00 1.76343520e+02] [ 9.98079077e-01 -6.19528458e-02 0.00000000e+00 1.09323267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55236356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48037174299998 meters Centerline goodness : 0.988631 Centerline is valid? [True, True] Translation: X:176.34, Y:109.35, Z:0.04 [[-6.40430530e-02 -9.97947137e-01 0.00000000e+00 1.76342426e+02] [ 9.97947137e-01 -6.40430530e-02 0.00000000e+00 1.09350803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57677796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51037174299998 meters Centerline goodness : 0.988631 Centerline is valid? [True, True] Translation: X:176.34, Y:109.38, Z:0.04 [[-6.43308731e-02 -9.97928624e-01 0.00000000e+00 1.76342776e+02] [ 9.97928624e-01 -6.43308731e-02 0.00000000e+00 1.09379222e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57677796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54037174299998 meters Centerline goodness : 0.987898 Centerline is valid? [True, True] Translation: X:176.34, Y:109.41, Z:0.04 [[-6.73345182e-02 -9.97730456e-01 0.00000000e+00 1.76341164e+02] [ 9.97730456e-01 -6.73345182e-02 0.00000000e+00 1.09410391e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56002399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57037174299998 meters Centerline goodness : 0.988655 Centerline is valid? [True, True] Translation: X:176.34, Y:109.43, Z:0.04 [[-6.89019583e-02 -9.97623436e-01 0.00000000e+00 1.76337561e+02] [ 9.97623436e-01 -6.89019583e-02 0.00000000e+00 1.09434272e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64736094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60037174299998 meters Centerline goodness : 0.988934 Centerline is valid? [True, True] Translation: X:176.34, Y:109.46, Z:0.04 [[-6.99289087e-02 -9.97551977e-01 0.00000000e+00 1.76335478e+02] [ 9.97551977e-01 -6.99289087e-02 0.00000000e+00 1.09462039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67621731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63037174299998 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:176.33, Y:109.49, Z:0.04 [[-7.08679707e-02 -9.97485705e-01 0.00000000e+00 1.76329989e+02] [ 9.97485705e-01 -7.08679707e-02 0.00000000e+00 1.09488831e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72588670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66037174299998 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:176.33, Y:109.52, Z:0.04 [[-6.66248997e-02 -9.97778093e-01 0.00000000e+00 1.76334196e+02] [ 9.97778093e-01 -6.66248997e-02 0.00000000e+00 1.09524369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77515980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.690371743 meters Centerline goodness : 0.990323 Centerline is valid? [True, True] Translation: X:176.32, Y:109.54, Z:0.04 [[-7.11990531e-02 -9.97462127e-01 0.00000000e+00 1.76323832e+02] [ 9.97462127e-01 -7.11990531e-02 0.00000000e+00 1.09544611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76976104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.720371743 meters Centerline goodness : 0.990067 Centerline is valid? [True, True] Translation: X:176.32, Y:109.58, Z:0.04 [[-6.72524991e-02 -9.97735988e-01 0.00000000e+00 1.76324775e+02] [ 9.97735988e-01 -6.72524991e-02 0.00000000e+00 1.09580351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83049789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.750371743 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:176.31, Y:109.60, Z:0.04 [[-7.21497279e-02 -9.97393812e-01 0.00000000e+00 1.76314300e+02] [ 9.97393812e-01 -7.21497279e-02 0.00000000e+00 1.09601299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79078648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.780371743 meters Centerline goodness : 0.991395 Centerline is valid? [True, True] Translation: X:176.31, Y:109.63, Z:0.04 [[-7.24808242e-02 -9.97369806e-01 0.00000000e+00 1.76310579e+02] [ 9.97369806e-01 -7.24808242e-02 0.00000000e+00 1.09633450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67397663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.810371743 meters Centerline goodness : 0.991549 Centerline is valid? [True, True] Translation: X:176.31, Y:109.66, Z:0.04 [[-7.19502321e-02 -9.97408223e-01 0.00000000e+00 1.76308936e+02] [ 9.97408223e-01 -7.19502321e-02 0.00000000e+00 1.09663707e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68461480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.840371743 meters Centerline goodness : 0.991607 Centerline is valid? [True, True] Translation: X:176.31, Y:109.69, Z:0.04 [[-7.29613234e-02 -9.97334771e-01 0.00000000e+00 1.76305153e+02] [ 9.97334771e-01 -7.29613234e-02 0.00000000e+00 1.09692009e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69215686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.870371743 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:176.29, Y:109.71, Z:0.04 [[-7.79228753e-02 -9.96959390e-01 0.00000000e+00 1.76290086e+02] [ 9.96959390e-01 -7.79228753e-02 0.00000000e+00 1.09711341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78156444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.900371743 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:176.29, Y:109.74, Z:0.04 [[-7.70852670e-02 -9.97024504e-01 0.00000000e+00 1.76286098e+02] [ 9.97024504e-01 -7.70852670e-02 0.00000000e+00 1.09737959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74101636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93037174299997 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:176.29, Y:109.78, Z:0.03 [[-6.67610264e-02 -9.97768994e-01 0.00000000e+00 1.76287338e+02] [ 9.97768994e-01 -6.67610264e-02 0.00000000e+00 1.09777884e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45375962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96037174299997 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:176.27, Y:109.79, Z:0.04 [[-7.23119456e-02 -9.97382064e-01 0.00000000e+00 1.76272808e+02] [ 9.97382064e-01 -7.23119456e-02 0.00000000e+00 1.09794339e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71234310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99037174299997 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:176.27, Y:109.82, Z:0.04 [[-7.01886384e-02 -9.97533736e-01 0.00000000e+00 1.76268251e+02] [ 9.97533736e-01 -7.01886384e-02 0.00000000e+00 1.09821756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74979679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02037174299997 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:176.27, Y:109.86, Z:0.04 [[-5.75899450e-02 -9.98340322e-01 0.00000000e+00 1.76270077e+02] [ 9.98340322e-01 -5.75899450e-02 0.00000000e+00 1.09862630e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71831074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05037174299997 meters Centerline goodness : 0.992921 Centerline is valid? [True, True] Translation: X:176.27, Y:109.89, Z:0.04 [[-5.62895939e-02 -9.98414484e-01 0.00000000e+00 1.76265420e+02] [ 9.98414484e-01 -5.62895939e-02 0.00000000e+00 1.09891693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79180088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08037174299997 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:176.26, Y:109.92, Z:0.04 [[-5.11382387e-02 -9.98691584e-01 0.00000000e+00 1.76259103e+02] [ 9.98691584e-01 -5.11382387e-02 0.00000000e+00 1.09922563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66671896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11037174299997 meters Centerline goodness : 0.992818 Centerline is valid? [True, True] Translation: X:176.24, Y:109.94, Z:0.04 [[-5.97768436e-02 -9.98211766e-01 0.00000000e+00 1.76242100e+02] [ 9.98211766e-01 -5.97768436e-02 0.00000000e+00 1.09936086e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93482141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14037174299997 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:176.24, Y:109.96, Z:0.04 [[-5.78810041e-02 -9.98323489e-01 0.00000000e+00 1.76238458e+02] [ 9.98323489e-01 -5.78810041e-02 0.00000000e+00 1.09964236e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92881778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17037174299998 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:176.24, Y:110.01, Z:0.04 [[-4.42173837e-02 -9.99021933e-01 0.00000000e+00 1.76244730e+02] [ 9.99021933e-01 -4.42173837e-02 0.00000000e+00 1.10006499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52684475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20037174299998 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:176.24, Y:110.04, Z:0.03 [[-4.19004235e-02 -9.99121792e-01 0.00000000e+00 1.76242567e+02] [ 9.99121792e-01 -4.19004235e-02 0.00000000e+00 1.10037153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44419098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23037174299998 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:176.22, Y:110.05, Z:0.04 [[-4.95933854e-02 -9.98769491e-01 0.00000000e+00 1.76221466e+02] [ 9.98769491e-01 -4.95933854e-02 0.00000000e+00 1.10048709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88842717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26037174299998 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:176.22, Y:110.08, Z:0.04 [[-4.82020285e-02 -9.98837607e-01 0.00000000e+00 1.76218351e+02] [ 9.98837607e-01 -4.82020285e-02 0.00000000e+00 1.10076918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92967885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29037174299998 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:176.22, Y:110.10, Z:0.04 [[-4.63784927e-02 -9.98923939e-01 0.00000000e+00 1.76215415e+02] [ 9.98923939e-01 -4.63784927e-02 0.00000000e+00 1.10103912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91204391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32037174299998 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:176.21, Y:110.13, Z:0.04 [[-4.38584053e-02 -9.99037757e-01 0.00000000e+00 1.76209563e+02] [ 9.99037757e-01 -4.38584053e-02 0.00000000e+00 1.10131544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86847171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35037174299998 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:176.20, Y:110.16, Z:0.04 [[-4.19215425e-02 -9.99120906e-01 0.00000000e+00 1.76204913e+02] [ 9.99120906e-01 -4.19215425e-02 0.00000000e+00 1.10159128e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85544275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38037174299998 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:176.20, Y:110.16, Z:0.04 [[-4.03884731e-02 -9.99184053e-01 0.00000000e+00 1.76202665e+02] [ 9.99184053e-01 -4.03884731e-02 0.00000000e+00 1.10163391e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85423062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41037174299998 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:176.20, Y:110.19, Z:0.04 [[-4.00136194e-02 -9.99199134e-01 0.00000000e+00 1.76200381e+02] [ 9.99199134e-01 -4.00136194e-02 0.00000000e+00 1.10191507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88584203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.440371743 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:176.20, Y:110.22, Z:0.04 [[-3.97134052e-02 -9.99211112e-01 0.00000000e+00 1.76198834e+02] [ 9.99211112e-01 -3.97134052e-02 0.00000000e+00 1.10219431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92533778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.470371743 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:176.20, Y:110.22, Z:0.04 [[-3.86325067e-02 -9.99253486e-01 0.00000000e+00 1.76195729e+02] [ 9.99253486e-01 -3.86325067e-02 0.00000000e+00 1.10221208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03775627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.500371743 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:176.19, Y:110.25, Z:0.04 [[-3.85531872e-02 -9.99256550e-01 0.00000000e+00 1.76193221e+02] [ 9.99256550e-01 -3.85531872e-02 0.00000000e+00 1.10249129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07128776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.530371743 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:176.21, Y:110.24, Z:0.04 [[-1.31710211e-02 -9.99913258e-01 0.00000000e+00 1.76205939e+02] [ 9.99913258e-01 -1.31710211e-02 0.00000000e+00 1.10240476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50922855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.560371743 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:176.19, Y:110.25, Z:0.04 [[-2.49841421e-02 -9.99687848e-01 0.00000000e+00 1.76188894e+02] [ 9.99687848e-01 -2.49841421e-02 0.00000000e+00 1.10249598e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96004696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.590371743 meters Centerline goodness : 0.995090 Centerline is valid? [True, True] Translation: X:176.19, Y:110.28, Z:0.04 [[-2.39508179e-02 -9.99713138e-01 0.00000000e+00 1.76188160e+02] [ 9.99713138e-01 -2.39508179e-02 0.00000000e+00 1.10277516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87818504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.620371743 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:176.20, Y:110.32, Z:0.03 [[-1.14690737e-02 -9.99934228e-01 0.00000000e+00 1.76204409e+02] [ 9.99934228e-01 -1.14690737e-02 0.00000000e+00 1.10321456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26653926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.650371743 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:176.19, Y:110.33, Z:0.04 [[-2.12433371e-02 -9.99774335e-01 0.00000000e+00 1.76187576e+02] [ 9.99774335e-01 -2.12433371e-02 0.00000000e+00 1.10332185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84640498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68037174299997 meters Centerline goodness : 0.995511 Centerline is valid? [True, True] Translation: X:176.19, Y:110.36, Z:0.04 [[-1.98782270e-02 -9.99802409e-01 0.00000000e+00 1.76188217e+02] [ 9.99802409e-01 -1.98782270e-02 0.00000000e+00 1.10358786e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81164442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71037174299997 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:176.19, Y:110.39, Z:0.04 [[-1.89571656e-02 -9.99820297e-01 0.00000000e+00 1.76188821e+02] [ 9.99820297e-01 -1.89571656e-02 0.00000000e+00 1.10386821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78454242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74037174299997 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:176.19, Y:110.41, Z:0.04 [[-1.71922052e-02 -9.99852203e-01 0.00000000e+00 1.76190058e+02] [ 9.99852203e-01 -1.71922052e-02 0.00000000e+00 1.10413378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71071561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77037174299997 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:176.21, Y:110.46, Z:0.03 [[-3.68830763e-03 -9.99993198e-01 0.00000000e+00 1.76207521e+02] [ 9.99993198e-01 -3.68830763e-03 0.00000000e+00 1.10458846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07793242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80037174299997 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:176.21, Y:110.49, Z:0.03 [[-3.70982227e-03 -9.99993119e-01 0.00000000e+00 1.76208952e+02] [ 9.99993119e-01 -3.70982227e-03 0.00000000e+00 1.10486902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03438665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83037174299997 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:176.19, Y:110.50, Z:0.04 [[-1.65182994e-02 -9.99863564e-01 0.00000000e+00 1.76193749e+02] [ 9.99863564e-01 -1.65182994e-02 0.00000000e+00 1.10496866e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59663571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86037174299997 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:176.21, Y:110.54, Z:0.03 [[-6.55959619e-03 -9.99978486e-01 0.00000000e+00 1.76210854e+02] [ 9.99978486e-01 -6.55959619e-03 0.00000000e+00 1.10541834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13486982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89037174299997 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:176.21, Y:110.57, Z:0.03 [[-8.53606533e-03 -9.99963567e-01 0.00000000e+00 1.76214938e+02] [ 9.99963567e-01 -8.53606533e-03 0.00000000e+00 1.10572508e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21621171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92037174299998 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:176.22, Y:110.60, Z:0.03 [[-1.17519385e-02 -9.99930944e-01 0.00000000e+00 1.76218125e+02] [ 9.99930944e-01 -1.17519385e-02 0.00000000e+00 1.10600100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29046071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95037174299998 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:176.22, Y:110.63, Z:0.03 [[-1.35419807e-02 -9.99908303e-01 0.00000000e+00 1.76219953e+02] [ 9.99908303e-01 -1.35419807e-02 0.00000000e+00 1.10626841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23508109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98037174299998 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:176.22, Y:110.66, Z:0.03 [[-1.63292384e-02 -9.99866669e-01 0.00000000e+00 1.76222109e+02] [ 9.99866669e-01 -1.63292384e-02 0.00000000e+00 1.10655199e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15184569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01037174299998 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:176.23, Y:110.68, Z:0.03 [[-2.46802462e-02 -9.99695396e-01 0.00000000e+00 1.76225584e+02] [ 9.99695396e-01 -2.46802462e-02 0.00000000e+00 1.10684440e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98749229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04037174299998 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:176.23, Y:110.71, Z:0.03 [[-2.91240241e-02 -9.99575806e-01 0.00000000e+00 1.76227060e+02] [ 9.99575806e-01 -2.91240241e-02 0.00000000e+00 1.10711042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94628409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07037174299998 meters Centerline goodness : 0.992973 Centerline is valid? [True, True] Translation: X:176.23, Y:110.74, Z:0.03 [[-3.99993853e-02 -9.99199704e-01 0.00000000e+00 1.76229953e+02] [ 9.99199704e-01 -3.99993853e-02 0.00000000e+00 1.10738312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88512008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10037174299998 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:176.22, Y:110.75, Z:0.03 [[-5.43806864e-02 -9.98520276e-01 0.00000000e+00 1.76218685e+02] [ 9.98520276e-01 -5.43806864e-02 0.00000000e+00 1.10751340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19129326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13037174299998 meters Centerline goodness : 0.993879 Centerline is valid? [True, True] Translation: X:176.23, Y:110.79, Z:0.03 [[-5.05183310e-02 -9.98723134e-01 0.00000000e+00 1.76231684e+02] [ 9.98723134e-01 -5.05183310e-02 0.00000000e+00 1.10791605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92667819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16037174299998 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:176.23, Y:110.80, Z:0.03 [[-5.88608759e-02 -9.98266196e-01 0.00000000e+00 1.76233361e+02] [ 9.98266196e-01 -5.88608759e-02 0.00000000e+00 1.10800155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95897782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.190371743 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:176.23, Y:110.80, Z:0.03 [[-6.14715624e-02 -9.98108835e-01 0.00000000e+00 1.76233976e+02] [ 9.98108835e-01 -6.14715624e-02 0.00000000e+00 1.10800709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95196059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.220371743 meters Centerline goodness : 0.992712 Centerline is valid? [True, True] Translation: X:176.24, Y:110.80, Z:0.03 [[-6.25023857e-02 -9.98044815e-01 0.00000000e+00 1.76235725e+02] [ 9.98044815e-01 -6.25023857e-02 0.00000000e+00 1.10799735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95544131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.250371743 meters Centerline goodness : 0.993140 Centerline is valid? [True, True] Translation: X:176.24, Y:110.83, Z:0.03 [[-6.41020132e-02 -9.97943351e-01 0.00000000e+00 1.76235269e+02] [ 9.97943351e-01 -6.41020132e-02 0.00000000e+00 1.10827074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01596066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.280371743 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:176.24, Y:110.82, Z:0.03 [[-5.87380509e-02 -9.98273430e-01 0.00000000e+00 1.76237121e+02] [ 9.98273430e-01 -5.87380509e-02 0.00000000e+00 1.10824800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02228695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.310371743 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:176.23, Y:110.85, Z:0.03 [[-6.22297548e-02 -9.98061851e-01 0.00000000e+00 1.76234597e+02] [ 9.98061851e-01 -6.22297548e-02 0.00000000e+00 1.10851816e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09813920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.340371743 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:176.23, Y:110.85, Z:0.03 [[-6.00863837e-02 -9.98193181e-01 0.00000000e+00 1.76234970e+02] [ 9.98193181e-01 -6.00863837e-02 0.00000000e+00 1.10853455e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06087564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.370371743 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:176.23, Y:110.86, Z:0.03 [[-5.99724110e-02 -9.98200035e-01 0.00000000e+00 1.76233851e+02] [ 9.98200035e-01 -5.99724110e-02 0.00000000e+00 1.10862412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99003103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.400371743 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:176.23, Y:110.86, Z:0.03 [[-5.77225116e-02 -9.98332666e-01 0.00000000e+00 1.76233396e+02] [ 9.98332666e-01 -5.77225116e-02 0.00000000e+00 1.10857934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91830107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43037174299997 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:176.23, Y:110.89, Z:0.03 [[-5.83240070e-02 -9.98297706e-01 0.00000000e+00 1.76233100e+02] [ 9.98297706e-01 -5.83240070e-02 0.00000000e+00 1.10885239e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91830107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46037174299997 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:176.23, Y:110.89, Z:0.03 [[-5.47981017e-02 -9.98497455e-01 0.00000000e+00 1.76230587e+02] [ 9.98497455e-01 -5.47981017e-02 0.00000000e+00 1.10887616e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90450052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49037174299997 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:176.23, Y:110.90, Z:0.03 [[-5.13106575e-02 -9.98682741e-01 0.00000000e+00 1.76229478e+02] [ 9.98682741e-01 -5.13106575e-02 0.00000000e+00 1.10896464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88685496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52037174299997 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:176.22, Y:110.90, Z:0.03 [[-6.41943563e-02 -9.97937415e-01 0.00000000e+00 1.76219127e+02] [ 9.97937415e-01 -6.41943563e-02 0.00000000e+00 1.10896463e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22136006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55037174299997 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:176.23, Y:110.88, Z:0.03 [[-4.06375725e-02 -9.99173953e-01 0.00000000e+00 1.76226104e+02] [ 9.99173953e-01 -4.06375725e-02 0.00000000e+00 1.10883025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88041494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58037174299997 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:176.22, Y:110.91, Z:0.03 [[-3.60556299e-02 -9.99349784e-01 0.00000000e+00 1.76223148e+02] [ 9.99349784e-01 -3.60556299e-02 0.00000000e+00 1.10911609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91829438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61037174299997 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:176.21, Y:110.92, Z:0.03 [[-4.99149677e-02 -9.98753471e-01 0.00000000e+00 1.76212914e+02] [ 9.98753471e-01 -4.99149677e-02 0.00000000e+00 1.10923752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27742840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64037174299997 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:176.21, Y:110.92, Z:0.03 [[-4.76352956e-02 -9.98864795e-01 0.00000000e+00 1.76211718e+02] [ 9.98864795e-01 -4.76352956e-02 0.00000000e+00 1.10923280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29464240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67037174299998 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:176.22, Y:110.91, Z:0.03 [[-2.68685711e-02 -9.99638975e-01 0.00000000e+00 1.76221172e+02] [ 9.99638975e-01 -2.68685711e-02 0.00000000e+00 1.10906651e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93840670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70037174299998 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:176.22, Y:110.94, Z:0.03 [[-2.47164412e-02 -9.99694502e-01 0.00000000e+00 1.76221114e+02] [ 9.99694502e-01 -2.47164412e-02 0.00000000e+00 1.10935752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82415530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73037174299998 meters Centerline goodness : 0.994449 Centerline is valid? [True, True] Translation: X:176.22, Y:110.96, Z:0.03 [[-2.54063724e-02 -9.99677206e-01 0.00000000e+00 1.76219415e+02] [ 9.99677206e-01 -2.54063724e-02 0.00000000e+00 1.10962882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68898953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76037174299998 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:176.22, Y:110.99, Z:0.03 [[-2.71239335e-02 -9.99632078e-01 0.00000000e+00 1.76218094e+02] [ 9.99632078e-01 -2.71239335e-02 0.00000000e+00 1.10990560e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67683531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79037174299998 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:176.22, Y:110.99, Z:0.03 [[-2.58313017e-02 -9.99666316e-01 0.00000000e+00 1.76218295e+02] [ 9.99666316e-01 -2.58313017e-02 0.00000000e+00 1.10990837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59038568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82037174299998 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:176.22, Y:111.02, Z:0.03 [[-2.51781291e-02 -9.99682981e-01 0.00000000e+00 1.76218940e+02] [ 9.99682981e-01 -2.51781291e-02 0.00000000e+00 1.11022084e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50373908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85037174299998 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:176.21, Y:111.04, Z:0.03 [[-4.68288425e-02 -9.98902928e-01 0.00000000e+00 1.76206860e+02] [ 9.98902928e-01 -4.68288425e-02 0.00000000e+00 1.11038825e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97106285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88037174299998 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:176.21, Y:111.04, Z:0.03 [[-4.47706394e-02 -9.98997292e-01 0.00000000e+00 1.76206865e+02] [ 9.98997292e-01 -4.47706394e-02 0.00000000e+00 1.11037583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02285095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91037174299998 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:176.21, Y:111.04, Z:0.03 [[-4.32520230e-02 -9.99064193e-01 0.00000000e+00 1.76206840e+02] [ 9.99064193e-01 -4.32520230e-02 0.00000000e+00 1.11040589e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10236835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.940371743 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:176.21, Y:111.04, Z:0.03 [[-4.15706191e-02 -9.99135568e-01 0.00000000e+00 1.76207031e+02] [ 9.99135568e-01 -4.15706191e-02 0.00000000e+00 1.11041636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09033279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.970371743 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:176.21, Y:111.04, Z:0.03 [[-3.79959084e-02 -9.99277895e-01 0.00000000e+00 1.76207680e+02] [ 9.99277895e-01 -3.79959084e-02 0.00000000e+00 1.11042588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16920564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.000371743 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:176.21, Y:111.05, Z:0.03 [[-3.58084393e-02 -9.99358672e-01 0.00000000e+00 1.76208016e+02] [ 9.99358672e-01 -3.58084393e-02 0.00000000e+00 1.11047989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19919369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.030371743 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:176.21, Y:111.04, Z:0.03 [[-3.16364225e-02 -9.99499443e-01 0.00000000e+00 1.76208966e+02] [ 9.99499443e-01 -3.16364225e-02 0.00000000e+00 1.11044379e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.24057487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.060371743 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:176.22, Y:111.04, Z:0.03 [[-7.70387265e-03 -9.99970325e-01 0.00000000e+00 1.76222106e+02] [ 9.99970325e-01 -7.70387265e-03 0.00000000e+00 1.11041477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85886487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.090371743 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:176.22, Y:111.07, Z:0.03 [[-7.14311734e-03 -9.99974488e-01 0.00000000e+00 1.76222229e+02] [ 9.99974488e-01 -7.14311734e-03 0.00000000e+00 1.11066105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91947847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.120371743 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:176.22, Y:111.10, Z:0.03 [[-8.88514077e-03 -9.99960526e-01 0.00000000e+00 1.76223940e+02] [ 9.99960526e-01 -8.88514077e-03 0.00000000e+00 1.11095637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81444470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.150371743 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:176.23, Y:111.10, Z:0.03 [[-1.00392403e-02 -9.99949606e-01 0.00000000e+00 1.76225796e+02] [ 9.99949606e-01 -1.00392403e-02 0.00000000e+00 1.11098760e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76859457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18037174299997 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:176.23, Y:111.13, Z:0.03 [[-1.14250504e-02 -9.99934732e-01 0.00000000e+00 1.76227645e+02] [ 9.99934732e-01 -1.14250504e-02 0.00000000e+00 1.11125779e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71097032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21037174299997 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:176.23, Y:111.16, Z:0.02 [[-1.44633537e-02 -9.99895400e-01 0.00000000e+00 1.76233830e+02] [ 9.99895400e-01 -1.44633537e-02 0.00000000e+00 1.11156450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47448796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24037174299997 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:176.23, Y:111.16, Z:0.03 [[-3.63920544e-02 -9.99337590e-01 0.00000000e+00 1.76227340e+02] [ 9.99337590e-01 -3.63920544e-02 0.00000000e+00 1.11158942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67499692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27037174299997 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:176.24, Y:111.15, Z:0.02 [[-1.66019716e-02 -9.99862178e-01 0.00000000e+00 1.76241294e+02] [ 9.99862178e-01 -1.66019716e-02 0.00000000e+00 1.11150333e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24401265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30037174299997 meters Centerline goodness : 0.993976 Centerline is valid? [True, True] Translation: X:176.23, Y:111.16, Z:0.03 [[-3.73549537e-02 -9.99302060e-01 0.00000000e+00 1.76232444e+02] [ 9.99302060e-01 -3.73549537e-02 0.00000000e+00 1.11162269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59198145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33037174299997 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:176.24, Y:111.17, Z:0.03 [[-3.77148078e-02 -9.99288544e-01 0.00000000e+00 1.76237753e+02] [ 9.99288544e-01 -3.77148078e-02 0.00000000e+00 1.11167539e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56011150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36037174299997 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:176.24, Y:111.17, Z:0.03 [[-3.74429517e-02 -9.99298767e-01 0.00000000e+00 1.76240444e+02] [ 9.99298767e-01 -3.74429517e-02 0.00000000e+00 1.11168979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54675478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39037174299997 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:176.25, Y:111.18, Z:0.02 [[-3.69961653e-02 -9.99315408e-01 0.00000000e+00 1.76245533e+02] [ 9.99315408e-01 -3.69961653e-02 0.00000000e+00 1.11175686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46914397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42037174299998 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:176.25, Y:111.17, Z:0.02 [[-3.63807806e-02 -9.99338000e-01 0.00000000e+00 1.76247971e+02] [ 9.99338000e-01 -3.63807806e-02 0.00000000e+00 1.11171885e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47503694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45037174299998 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:176.25, Y:111.18, Z:0.03 [[-3.47056524e-02 -9.99397577e-01 0.00000000e+00 1.76252709e+02] [ 9.99397577e-01 -3.47056524e-02 0.00000000e+00 1.11178019e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61998774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48037174299998 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:176.26, Y:111.18, Z:0.03 [[-3.38134926e-02 -9.99428160e-01 0.00000000e+00 1.76255031e+02] [ 9.99428160e-01 -3.38134926e-02 0.00000000e+00 1.11179919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65501740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51037174299998 meters Centerline goodness : 0.992821 Centerline is valid? [True, True] Translation: X:176.26, Y:111.18, Z:0.03 [[-3.24744590e-02 -9.99472566e-01 0.00000000e+00 1.76257544e+02] [ 9.99472566e-01 -3.24744590e-02 0.00000000e+00 1.11183861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70700662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54037174299998 meters Centerline goodness : 0.986699 Centerline is valid? [True, True] Translation: X:176.25, Y:112.19, Z:0.03 [[-3.59624148e-02 -9.99353143e-01 0.00000000e+00 1.76252147e+02] [ 9.99353143e-01 -3.59624148e-02 0.00000000e+00 1.12193557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79806001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57037174299998 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:176.26, Y:111.20, Z:0.03 [[-2.70078292e-02 -9.99635222e-01 0.00000000e+00 1.76264748e+02] [ 9.99635222e-01 -2.70078292e-02 0.00000000e+00 1.11197086e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70524799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60037174299998 meters Centerline goodness : 0.992571 Centerline is valid? [True, True] Translation: X:176.27, Y:111.20, Z:0.03 [[-2.46057383e-02 -9.99697233e-01 0.00000000e+00 1.76270819e+02] [ 9.99697233e-01 -2.46057383e-02 0.00000000e+00 1.11198861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63629496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63037174299998 meters Centerline goodness : 0.992622 Centerline is valid? [True, True] Translation: X:176.27, Y:111.20, Z:0.03 [[-2.32664368e-02 -9.99729300e-01 0.00000000e+00 1.76273908e+02] [ 9.99729300e-01 -2.32664368e-02 0.00000000e+00 1.11199252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57950462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66037174299998 meters Centerline goodness : 0.991757 Centerline is valid? [True, True] Translation: X:176.28, Y:111.20, Z:0.02 [[-2.11465238e-02 -9.99776387e-01 0.00000000e+00 1.76281261e+02] [ 9.99776387e-01 -2.11465238e-02 0.00000000e+00 1.11201078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46213475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.690371743 meters Centerline goodness : 0.992620 Centerline is valid? [True, True] Translation: X:176.29, Y:111.20, Z:0.02 [[-2.00197845e-02 -9.99799584e-01 0.00000000e+00 1.76285034e+02] [ 9.99799584e-01 -2.00197845e-02 0.00000000e+00 1.11202673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44883834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.720371743 meters Centerline goodness : 0.992134 Centerline is valid? [True, True] Translation: X:176.29, Y:111.21, Z:0.02 [[-1.90693571e-02 -9.99818163e-01 0.00000000e+00 1.76288774e+02] [ 9.99818163e-01 -1.90693571e-02 0.00000000e+00 1.11205726e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40689967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.750371743 meters Centerline goodness : 0.992321 Centerline is valid? [True, True] Translation: X:176.30, Y:111.21, Z:0.02 [[-1.74242836e-02 -9.99848186e-01 0.00000000e+00 1.76296577e+02] [ 9.99848186e-01 -1.74242836e-02 0.00000000e+00 1.11207346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32907362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.780371743 meters Centerline goodness : 0.990532 Centerline is valid? [True, True] Translation: X:176.32, Y:111.18, Z:0.02 [[ 4.15009452e-03 -9.99991388e-01 0.00000000e+00 1.76316372e+02] [ 9.99991388e-01 4.15009452e-03 0.00000000e+00 1.11184364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22177933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.810371743 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:176.31, Y:111.20, Z:0.02 [[-5.69055893e-03 -9.99983809e-01 0.00000000e+00 1.76306504e+02] [ 9.99983809e-01 -5.69055893e-03 0.00000000e+00 1.11198324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22295146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.840371743 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:176.31, Y:111.23, Z:0.02 [[-4.80941164e-03 -9.99988435e-01 0.00000000e+00 1.76310808e+02] [ 9.99988435e-01 -4.80941164e-03 0.00000000e+00 1.11225728e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18801089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.870371743 meters Centerline goodness : 0.991580 Centerline is valid? [True, True] Translation: X:176.32, Y:111.25, Z:0.02 [[-3.16202183e-03 -9.99995001e-01 0.00000000e+00 1.76319498e+02] [ 9.99995001e-01 -3.16202183e-03 0.00000000e+00 1.11252441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21645373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.900371743 meters Centerline goodness : 0.990216 Centerline is valid? [True, True] Translation: X:176.32, Y:111.28, Z:0.02 [[-2.86829870e-03 -9.99995886e-01 0.00000000e+00 1.76323895e+02] [ 9.99995886e-01 -2.86829870e-03 0.00000000e+00 1.11279368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20865571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93037174299997 meters Centerline goodness : 0.990023 Centerline is valid? [True, True] Translation: X:176.33, Y:111.31, Z:0.02 [[-2.18932750e-03 -9.99997603e-01 0.00000000e+00 1.76333506e+02] [ 9.99997603e-01 -2.18932750e-03 0.00000000e+00 1.11307264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29576942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96037174299997 meters Centerline goodness : 0.989542 Centerline is valid? [True, True] Translation: X:176.34, Y:111.34, Z:0.02 [[-2.28505508e-03 -9.99997389e-01 0.00000000e+00 1.76338414e+02] [ 9.99997389e-01 -2.28505508e-03 0.00000000e+00 1.11335627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29675655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99037174299997 meters Centerline goodness : 0.988444 Centerline is valid? [True, True] Translation: X:176.36, Y:111.37, Z:0.02 [[ 4.78726849e-03 -9.99988541e-01 0.00000000e+00 1.76358584e+02] [ 9.99988541e-01 4.78726849e-03 0.00000000e+00 1.11372910e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28623897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02037174299997 meters Centerline goodness : 0.988347 Centerline is valid? [True, True] Translation: X:176.35, Y:111.39, Z:0.02 [[-3.49439713e-03 -9.99993895e-01 0.00000000e+00 1.76352895e+02] [ 9.99993895e-01 -3.49439713e-03 0.00000000e+00 1.11390060e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39743022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05037174299997 meters Centerline goodness : 0.988271 Centerline is valid? [True, True] Translation: X:176.36, Y:111.42, Z:0.02 [[-5.18845291e-03 -9.99986540e-01 0.00000000e+00 1.76362883e+02] [ 9.99986540e-01 -5.18845291e-03 0.00000000e+00 1.11417047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39267838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08037174299997 meters Centerline goodness : 0.989398 Centerline is valid? [True, True] Translation: X:176.38, Y:111.46, Z:0.02 [[-3.28800628e-04 -9.99999946e-01 0.00000000e+00 1.76376452e+02] [ 9.99999946e-01 -3.28800628e-04 0.00000000e+00 1.11455190e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33011989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11037174299997 meters Centerline goodness : 0.989825 Centerline is valid? [True, True] Translation: X:176.38, Y:111.47, Z:0.02 [[-9.88119447e-03 -9.99951180e-01 0.00000000e+00 1.76377253e+02] [ 9.99951180e-01 -9.88119447e-03 0.00000000e+00 1.11473848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24032611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14037174299997 meters Centerline goodness : 0.989522 Centerline is valid? [True, True] Translation: X:176.38, Y:111.50, Z:0.02 [[-1.15886884e-02 -9.99932849e-01 0.00000000e+00 1.76381985e+02] [ 9.99932849e-01 -1.15886884e-02 0.00000000e+00 1.11500989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18661588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17037174299998 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:176.39, Y:111.53, Z:0.02 [[-1.56073391e-02 -9.99878198e-01 0.00000000e+00 1.76391655e+02] [ 9.99878198e-01 -1.56073391e-02 0.00000000e+00 1.11528558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20713835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20037174299998 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:176.40, Y:111.56, Z:0.02 [[-1.79869921e-02 -9.99838221e-01 0.00000000e+00 1.76395871e+02] [ 9.99838221e-01 -1.79869921e-02 0.00000000e+00 1.11555615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20187392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23037174299998 meters Centerline goodness : 0.991580 Centerline is valid? [True, True] Translation: X:176.40, Y:111.58, Z:0.02 [[-2.29282339e-02 -9.99737113e-01 0.00000000e+00 1.76403936e+02] [ 9.99737113e-01 -2.29282339e-02 0.00000000e+00 1.11584003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32263007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26037174299998 meters Centerline goodness : 0.991501 Centerline is valid? [True, True] Translation: X:176.41, Y:111.61, Z:0.02 [[-2.51106327e-02 -9.99684678e-01 0.00000000e+00 1.76407561e+02] [ 9.99684678e-01 -2.51106327e-02 0.00000000e+00 1.11612078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41145209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29037174299998 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:176.41, Y:111.64, Z:0.03 [[-2.87443830e-02 -9.99586795e-01 0.00000000e+00 1.76414793e+02] [ 9.99586795e-01 -2.87443830e-02 0.00000000e+00 1.11639291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52685700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32037174299998 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:176.41, Y:111.67, Z:0.03 [[-2.90242682e-02 -9.99578707e-01 0.00000000e+00 1.76414738e+02] [ 9.99578707e-01 -2.90242682e-02 0.00000000e+00 1.11667738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52685700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35037174299998 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:176.42, Y:111.70, Z:0.03 [[-3.10674619e-02 -9.99517290e-01 0.00000000e+00 1.76417556e+02] [ 9.99517290e-01 -3.10674619e-02 0.00000000e+00 1.11695580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55558214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38037174299998 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:176.42, Y:111.72, Z:0.03 [[-3.26945564e-02 -9.99465390e-01 0.00000000e+00 1.76420310e+02] [ 9.99465390e-01 -3.26945564e-02 0.00000000e+00 1.11723975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57952827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41037174299998 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:176.42, Y:111.75, Z:0.03 [[-3.61653325e-02 -9.99345820e-01 0.00000000e+00 1.76424190e+02] [ 9.99345820e-01 -3.61653325e-02 0.00000000e+00 1.11752216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64185045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.440371743 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:176.43, Y:111.75, Z:0.03 [[-3.71895488e-02 -9.99308229e-01 0.00000000e+00 1.76425830e+02] [ 9.99308229e-01 -3.71895488e-02 0.00000000e+00 1.11753066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71184323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.470371743 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:176.43, Y:111.78, Z:0.03 [[-4.02250520e-02 -9.99190645e-01 0.00000000e+00 1.76428543e+02] [ 9.99190645e-01 -4.02250520e-02 0.00000000e+00 1.11780191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86092927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.500371743 meters Centerline goodness : 0.992930 Centerline is valid? [True, True] Translation: X:176.43, Y:111.79, Z:0.03 [[-4.11298617e-02 -9.99153809e-01 0.00000000e+00 1.76429319e+02] [ 9.99153809e-01 -4.11298617e-02 0.00000000e+00 1.11785012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91277858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.530371743 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:176.43, Y:111.81, Z:0.03 [[-4.48052017e-02 -9.98995743e-01 0.00000000e+00 1.76430104e+02] [ 9.98995743e-01 -4.48052017e-02 0.00000000e+00 1.11812255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02740510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.560371743 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:176.43, Y:111.84, Z:0.03 [[-4.70916375e-02 -9.98890573e-01 0.00000000e+00 1.76430517e+02] [ 9.98890573e-01 -4.70916375e-02 0.00000000e+00 1.11840364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09626613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.590371743 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:176.44, Y:111.81, Z:0.03 [[-3.29150917e-02 -9.99458152e-01 0.00000000e+00 1.76441445e+02] [ 9.99458152e-01 -3.29150917e-02 0.00000000e+00 1.11814991e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85808600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.620371743 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:176.43, Y:111.83, Z:0.03 [[-4.33333059e-02 -9.99060671e-01 0.00000000e+00 1.76429401e+02] [ 9.99060671e-01 -4.33333059e-02 0.00000000e+00 1.11831008e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16410400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.650371743 meters Centerline goodness : 0.993437 Centerline is valid? [True, True] Translation: X:176.43, Y:111.86, Z:0.03 [[-4.52023209e-02 -9.98977853e-01 0.00000000e+00 1.76430081e+02] [ 9.98977853e-01 -4.52023209e-02 0.00000000e+00 1.11859360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07773057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68037174299997 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:176.43, Y:111.89, Z:0.03 [[-4.68417899e-02 -9.98902321e-01 0.00000000e+00 1.76429653e+02] [ 9.98902321e-01 -4.68417899e-02 0.00000000e+00 1.11887515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00328766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71037174299997 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:176.43, Y:111.91, Z:0.03 [[-4.80377323e-02 -9.98845522e-01 0.00000000e+00 1.76428890e+02] [ 9.98845522e-01 -4.80377323e-02 0.00000000e+00 1.11914450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85506125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74037174299997 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:176.43, Y:111.94, Z:0.03 [[-5.10287515e-02 -9.98697185e-01 0.00000000e+00 1.76426358e+02] [ 9.98697185e-01 -5.10287515e-02 0.00000000e+00 1.11942535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72768504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77037174299997 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:176.43, Y:111.97, Z:0.03 [[-5.30522782e-02 -9.98591736e-01 0.00000000e+00 1.76425264e+02] [ 9.98591736e-01 -5.30522782e-02 0.00000000e+00 1.11970761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68507931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80037174299997 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:176.42, Y:112.00, Z:0.03 [[-5.71183118e-02 -9.98367417e-01 0.00000000e+00 1.76424032e+02] [ 9.98367417e-01 -5.71183118e-02 0.00000000e+00 1.11998189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64578050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83037174299997 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:176.42, Y:112.02, Z:0.03 [[-5.96023552e-02 -9.98222199e-01 0.00000000e+00 1.76423163e+02] [ 9.98222199e-01 -5.96023552e-02 0.00000000e+00 1.12024182e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68931164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86037174299997 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:176.42, Y:112.05, Z:0.03 [[-6.40280095e-02 -9.97948102e-01 0.00000000e+00 1.76419732e+02] [ 9.97948102e-01 -6.40280095e-02 0.00000000e+00 1.12050046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76095941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89037174299997 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:176.42, Y:112.08, Z:0.03 [[-6.63328584e-02 -9.97797551e-01 0.00000000e+00 1.76417417e+02] [ 9.97797551e-01 -6.63328584e-02 0.00000000e+00 1.12077617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80566775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92037174299998 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:176.43, Y:112.12, Z:0.02 [[-6.12813262e-02 -9.98120533e-01 0.00000000e+00 1.76427359e+02] [ 9.98120533e-01 -6.12813262e-02 0.00000000e+00 1.12118757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23630312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95037174299998 meters Centerline goodness : 0.992752 Centerline is valid? [True, True] Translation: X:176.41, Y:112.13, Z:0.03 [[-7.17015833e-02 -9.97426129e-01 0.00000000e+00 1.76409988e+02] [ 9.97426129e-01 -7.17015833e-02 0.00000000e+00 1.12130245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65675839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98037174299998 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:176.40, Y:112.16, Z:0.03 [[-7.38219942e-02 -9.97271434e-01 0.00000000e+00 1.76403361e+02] [ 9.97271434e-01 -7.38219942e-02 0.00000000e+00 1.12156506e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69406977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01037174299998 meters Centerline goodness : 0.991899 Centerline is valid? [True, True] Translation: X:176.40, Y:112.18, Z:0.03 [[-7.43182201e-02 -9.97234577e-01 0.00000000e+00 1.76399857e+02] [ 9.97234577e-01 -7.43182201e-02 0.00000000e+00 1.12183524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73789828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04037174299998 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:176.41, Y:112.23, Z:0.02 [[-6.35096535e-02 -9.97981224e-01 0.00000000e+00 1.76407703e+02] [ 9.97981224e-01 -6.35096535e-02 0.00000000e+00 1.12227928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40669884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07037174299998 meters Centerline goodness : 0.989996 Centerline is valid? [True, True] Translation: X:176.39, Y:112.24, Z:0.03 [[-7.71949419e-02 -9.97016018e-01 0.00000000e+00 1.76387327e+02] [ 9.97016018e-01 -7.71949419e-02 0.00000000e+00 1.12238089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81502613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10037174299998 meters Centerline goodness : 0.987902 Centerline is valid? [True, True] Translation: X:176.40, Y:112.28, Z:0.03 [[-7.10511555e-02 -9.97472673e-01 0.00000000e+00 1.76396863e+02] [ 9.97472673e-01 -7.10511555e-02 0.00000000e+00 1.12277605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.62336984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13037174299998 meters Centerline goodness : 0.988599 Centerline is valid? [True, True] Translation: X:176.37, Y:112.29, Z:0.03 [[-8.02822655e-02 -9.96772169e-01 0.00000000e+00 1.76373340e+02] [ 9.96772169e-01 -8.02822655e-02 0.00000000e+00 1.12288951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83311807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16037174299998 meters Centerline goodness : 0.988248 Centerline is valid? [True, True] Translation: X:176.37, Y:112.32, Z:0.03 [[-8.10589351e-02 -9.96709310e-01 0.00000000e+00 1.76368920e+02] [ 9.96709310e-01 -8.10589351e-02 0.00000000e+00 1.12316635e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79648183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.190371743 meters Centerline goodness : 0.987768 Centerline is valid? [True, True] Translation: X:176.38, Y:112.36, Z:0.02 [[-7.14186572e-02 -9.97446427e-01 0.00000000e+00 1.76375885e+02] [ 9.97446427e-01 -7.14186572e-02 0.00000000e+00 1.12360934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20592211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.220371743 meters Centerline goodness : 0.988707 Centerline is valid? [True, True] Translation: X:176.36, Y:112.37, Z:0.03 [[-8.42754006e-02 -9.96442501e-01 0.00000000e+00 1.76355283e+02] [ 9.96442501e-01 -8.42754006e-02 0.00000000e+00 1.12370808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55517985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.250371743 meters Centerline goodness : 0.988191 Centerline is valid? [True, True] Translation: X:176.37, Y:112.41, Z:0.02 [[-7.52114506e-02 -9.97167608e-01 0.00000000e+00 1.76365368e+02] [ 9.97167608e-01 -7.52114506e-02 0.00000000e+00 1.12414474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06693675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.280371743 meters Centerline goodness : 0.986590 Centerline is valid? [True, True] Translation: X:176.35, Y:112.42, Z:0.02 [[-8.43911949e-02 -9.96432700e-01 0.00000000e+00 1.76354160e+02] [ 9.96432700e-01 -8.43911949e-02 0.00000000e+00 1.12424052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35214800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.310371743 meters Centerline goodness : 0.988396 Centerline is valid? [True, True] Translation: X:176.34, Y:112.45, Z:0.02 [[-1.01940423e-01 -9.94790506e-01 0.00000000e+00 1.76335743e+02] [ 9.94790506e-01 -1.01940423e-01 0.00000000e+00 1.12447079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17174803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.340371743 meters Centerline goodness : 0.987815 Centerline is valid? [True, True] Translation: X:176.34, Y:112.43, Z:0.02 [[-8.78008861e-02 -9.96138045e-01 0.00000000e+00 1.76339621e+02] [ 9.96138045e-01 -8.78008861e-02 0.00000000e+00 1.12428743e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44908443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.370371743 meters Centerline goodness : 0.987488 Centerline is valid? [True, True] Translation: X:176.33, Y:112.44, Z:0.03 [[-8.79691437e-02 -9.96123200e-01 0.00000000e+00 1.76330076e+02] [ 9.96123200e-01 -8.79691437e-02 0.00000000e+00 1.12437112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57198373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.400371743 meters Centerline goodness : 0.989011 Centerline is valid? [True, True] Translation: X:176.32, Y:112.45, Z:0.03 [[-1.01320438e-01 -9.94853843e-01 0.00000000e+00 1.76316878e+02] [ 9.94853843e-01 -1.01320438e-01 0.00000000e+00 1.12447628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70862975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43037174299997 meters Centerline goodness : 0.990832 Centerline is valid? [True, True] Translation: X:176.31, Y:112.45, Z:0.03 [[-9.82072354e-02 -9.95165986e-01 0.00000000e+00 1.76306566e+02] [ 9.95165986e-01 -9.82072354e-02 0.00000000e+00 1.12453613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59214378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46037174299997 meters Centerline goodness : 0.990266 Centerline is valid? [True, True] Translation: X:176.30, Y:112.45, Z:0.03 [[-9.53869049e-02 -9.95440274e-01 0.00000000e+00 1.76301380e+02] [ 9.95440274e-01 -9.53869049e-02 0.00000000e+00 1.12452507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90818241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49037174299997 meters Centerline goodness : 0.990228 Centerline is valid? [True, True] Translation: X:176.30, Y:112.43, Z:0.03 [[-7.90264276e-02 -9.96872521e-01 0.00000000e+00 1.76303600e+02] [ 9.96872521e-01 -7.90264276e-02 0.00000000e+00 1.12431306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90479380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52037174299997 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:176.29, Y:112.45, Z:0.03 [[-8.58218225e-02 -9.96310501e-01 0.00000000e+00 1.76285346e+02] [ 9.96310501e-01 -8.58218225e-02 0.00000000e+00 1.12449216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06919388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55037174299997 meters Centerline goodness : 0.992624 Centerline is valid? [True, True] Translation: X:176.28, Y:112.45, Z:0.03 [[-8.26816354e-02 -9.96576012e-01 0.00000000e+00 1.76280146e+02] [ 9.96576012e-01 -8.26816354e-02 0.00000000e+00 1.12445339e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09446960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58037174299997 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:176.28, Y:112.43, Z:0.03 [[-6.10332106e-02 -9.98135736e-01 0.00000000e+00 1.76280504e+02] [ 9.98135736e-01 -6.10332106e-02 0.00000000e+00 1.12429179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97374429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61037174299997 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:176.26, Y:112.45, Z:0.03 [[-7.57095258e-02 -9.97129915e-01 0.00000000e+00 1.76261472e+02] [ 9.97129915e-01 -7.57095258e-02 0.00000000e+00 1.12448601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17873563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64037174299997 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:176.26, Y:112.45, Z:0.03 [[-7.53142224e-02 -9.97159851e-01 0.00000000e+00 1.76261375e+02] [ 9.97159851e-01 -7.53142224e-02 0.00000000e+00 1.12451231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17873563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67037174299998 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:176.25, Y:112.45, Z:0.03 [[-7.36725042e-02 -9.97282489e-01 0.00000000e+00 1.76252926e+02] [ 9.97282489e-01 -7.36725042e-02 0.00000000e+00 1.12447895e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10586465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70037174299998 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:176.26, Y:112.44, Z:0.03 [[-5.75334677e-02 -9.98343578e-01 0.00000000e+00 1.76258479e+02] [ 9.98343578e-01 -5.75334677e-02 0.00000000e+00 1.12439733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88686981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73037174299998 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:176.24, Y:112.45, Z:0.03 [[-7.35327308e-02 -9.97292804e-01 0.00000000e+00 1.76241919e+02] [ 9.97292804e-01 -7.35327308e-02 0.00000000e+00 1.12451856e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01042504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76037174299998 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:176.23, Y:112.45, Z:0.03 [[-7.43709298e-02 -9.97230648e-01 0.00000000e+00 1.76234813e+02] [ 9.97230648e-01 -7.43709298e-02 0.00000000e+00 1.12454705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03822648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79037174299998 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:176.23, Y:112.46, Z:0.03 [[-7.49037475e-02 -9.97190768e-01 0.00000000e+00 1.76231052e+02] [ 9.97190768e-01 -7.49037475e-02 0.00000000e+00 1.12459153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04773155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82037174299998 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:176.23, Y:112.46, Z:0.03 [[-7.53185631e-02 -9.97159523e-01 0.00000000e+00 1.76227820e+02] [ 9.97159523e-01 -7.53185631e-02 0.00000000e+00 1.12458189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08667329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85037174299998 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:176.24, Y:112.46, Z:0.03 [[-5.19485575e-02 -9.98649762e-01 0.00000000e+00 1.76237603e+02] [ 9.98649762e-01 -5.19485575e-02 0.00000000e+00 1.12459401e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56478767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88037174299998 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:176.23, Y:112.48, Z:0.02 [[-5.12936194e-02 -9.98683616e-01 0.00000000e+00 1.76233266e+02] [ 9.98683616e-01 -5.12936194e-02 0.00000000e+00 1.12484478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47163081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91037174299998 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:176.21, Y:112.50, Z:0.03 [[-6.68837568e-02 -9.97760774e-01 0.00000000e+00 1.76213247e+02] [ 9.97760774e-01 -6.68837568e-02 0.00000000e+00 1.12496660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10100063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.940371743 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:176.21, Y:112.52, Z:0.03 [[-7.05352113e-02 -9.97509290e-01 0.00000000e+00 1.76208171e+02] [ 9.97509290e-01 -7.05352113e-02 0.00000000e+00 1.12524638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10856945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.970371743 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:176.21, Y:112.55, Z:0.03 [[-7.29718705e-02 -9.97333999e-01 0.00000000e+00 1.76205456e+02] [ 9.97333999e-01 -7.29718705e-02 0.00000000e+00 1.12552504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06586339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.000371743 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:176.20, Y:112.58, Z:0.03 [[-7.67151013e-02 -9.97053054e-01 0.00000000e+00 1.76200858e+02] [ 9.97053054e-01 -7.67151013e-02 0.00000000e+00 1.12579450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87175436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.030371743 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:176.21, Y:112.62, Z:0.02 [[-6.88881065e-02 -9.97624393e-01 0.00000000e+00 1.76212409e+02] [ 9.97624393e-01 -6.88881065e-02 0.00000000e+00 1.12622389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44261446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.060371743 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:176.21, Y:112.65, Z:0.02 [[-6.78477320e-02 -9.97695688e-01 0.00000000e+00 1.76211899e+02] [ 9.97695688e-01 -6.78477320e-02 0.00000000e+00 1.12650670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19482474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.090371743 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:176.20, Y:112.68, Z:0.03 [[-7.25437995e-02 -9.97365228e-01 0.00000000e+00 1.76202617e+02] [ 9.97365228e-01 -7.25437995e-02 0.00000000e+00 1.12676437e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53171035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.120371743 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:176.20, Y:112.70, Z:0.03 [[-7.26274723e-02 -9.97359138e-01 0.00000000e+00 1.76199503e+02] [ 9.97359138e-01 -7.26274723e-02 0.00000000e+00 1.12703234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58713274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.150371743 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:176.19, Y:112.73, Z:0.03 [[-7.23271846e-02 -9.97380959e-01 0.00000000e+00 1.76191799e+02] [ 9.97380959e-01 -7.23271846e-02 0.00000000e+00 1.12730640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84047544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18037174299997 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:176.19, Y:112.76, Z:0.03 [[-7.23732388e-02 -9.97377619e-01 0.00000000e+00 1.76188327e+02] [ 9.97377619e-01 -7.23732388e-02 0.00000000e+00 1.12757919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96224995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21037174299997 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:176.18, Y:112.78, Z:0.03 [[-7.08431873e-02 -9.97487465e-01 0.00000000e+00 1.76182473e+02] [ 9.97487465e-01 -7.08431873e-02 0.00000000e+00 1.12784763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00452044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24037174299997 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:176.18, Y:112.81, Z:0.03 [[-7.14903718e-02 -9.97441290e-01 0.00000000e+00 1.76182238e+02] [ 9.97441290e-01 -7.14903718e-02 0.00000000e+00 1.12812022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00452044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27037174299997 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:176.18, Y:112.84, Z:0.03 [[-7.14107926e-02 -9.97446990e-01 0.00000000e+00 1.76179511e+02] [ 9.97446990e-01 -7.14107926e-02 0.00000000e+00 1.12841345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98187510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30037174299997 meters Centerline goodness : 0.995506 Centerline is valid? [True, True] Translation: X:176.16, Y:112.86, Z:0.03 [[-7.85244847e-02 -9.96912185e-01 0.00000000e+00 1.76164601e+02] [ 9.96912185e-01 -7.85244847e-02 0.00000000e+00 1.12856932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32851128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33037174299997 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:176.17, Y:112.90, Z:0.03 [[-6.88360739e-02 -9.97627984e-01 0.00000000e+00 1.76168917e+02] [ 9.97627984e-01 -6.88360739e-02 0.00000000e+00 1.12895148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05568565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36037174299997 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:176.16, Y:112.92, Z:0.03 [[-6.70966980e-02 -9.97746477e-01 0.00000000e+00 1.76164979e+02] [ 9.97746477e-01 -6.70966980e-02 0.00000000e+00 1.12921439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92571284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39037174299997 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:176.15, Y:112.94, Z:0.03 [[-7.02383619e-02 -9.97530236e-01 0.00000000e+00 1.76149523e+02] [ 9.97530236e-01 -7.02383619e-02 0.00000000e+00 1.12939504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28858867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42037174299998 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:176.16, Y:112.98, Z:0.03 [[-6.27556371e-02 -9.98028922e-01 0.00000000e+00 1.76156673e+02] [ 9.98028922e-01 -6.27556371e-02 0.00000000e+00 1.12978035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19301937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45037174299998 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:176.15, Y:113.01, Z:0.03 [[-5.85278315e-02 -9.98285777e-01 0.00000000e+00 1.76151441e+02] [ 9.98285777e-01 -5.85278315e-02 0.00000000e+00 1.13006341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22392936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48037174299998 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:176.15, Y:113.00, Z:0.03 [[-5.45862518e-02 -9.98509059e-01 0.00000000e+00 1.76149282e+02] [ 9.98509059e-01 -5.45862518e-02 0.00000000e+00 1.12996253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06404346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51037174299998 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:176.14, Y:113.03, Z:0.03 [[-4.93674615e-02 -9.98780684e-01 0.00000000e+00 1.76144904e+02] [ 9.98780684e-01 -4.93674615e-02 0.00000000e+00 1.13025450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18555870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54037174299998 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:176.14, Y:113.03, Z:0.03 [[-4.45501741e-02 -9.99007148e-01 0.00000000e+00 1.76143658e+02] [ 9.99007148e-01 -4.45501741e-02 0.00000000e+00 1.13031446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10991458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57037174299998 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:176.14, Y:113.02, Z:0.03 [[-3.66991906e-02 -9.99326358e-01 0.00000000e+00 1.76140138e+02] [ 9.99326358e-01 -3.66991906e-02 0.00000000e+00 1.13018806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21681605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60037174299998 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:176.14, Y:113.02, Z:0.03 [[-3.22704000e-02 -9.99479175e-01 0.00000000e+00 1.76139050e+02] [ 9.99479175e-01 -3.22704000e-02 0.00000000e+00 1.13015474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11514299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63037174299998 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:176.14, Y:113.05, Z:0.03 [[-2.98613754e-02 -9.99554050e-01 0.00000000e+00 1.76138298e+02] [ 9.99554050e-01 -2.98613754e-02 0.00000000e+00 1.13045624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08715373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66037174299998 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:176.12, Y:113.05, Z:0.04 [[-4.65461490e-02 -9.98916141e-01 0.00000000e+00 1.76124659e+02] [ 9.98916141e-01 -4.65461490e-02 0.00000000e+00 1.13046880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69361690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.690371743 meters Centerline goodness : 0.993639 Centerline is valid? [True, True] Translation: X:176.14, Y:113.04, Z:0.03 [[-2.28507129e-02 -9.99738888e-01 0.00000000e+00 1.76136186e+02] [ 9.99738888e-01 -2.28507129e-02 0.00000000e+00 1.13039764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01989968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.720371743 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:176.12, Y:113.05, Z:0.04 [[-3.42956543e-02 -9.99411731e-01 0.00000000e+00 1.76121310e+02] [ 9.99411731e-01 -3.42956543e-02 0.00000000e+00 1.13050874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68535411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.750371743 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:176.12, Y:113.08, Z:0.04 [[-3.53454329e-02 -9.99375155e-01 0.00000000e+00 1.76121488e+02] [ 9.99375155e-01 -3.53454329e-02 0.00000000e+00 1.13077603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65344693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.780371743 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:176.13, Y:113.11, Z:0.03 [[-3.67911743e-02 -9.99322976e-01 0.00000000e+00 1.76127222e+02] [ 9.99322976e-01 -3.67911743e-02 0.00000000e+00 1.13111969e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48716669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.810371743 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:176.12, Y:113.13, Z:0.04 [[-4.10950651e-02 -9.99155241e-01 0.00000000e+00 1.76123211e+02] [ 9.99155241e-01 -4.10950651e-02 0.00000000e+00 1.13133084e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60614950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.840371743 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:176.12, Y:113.16, Z:0.04 [[-4.62933494e-02 -9.98927888e-01 0.00000000e+00 1.76124826e+02] [ 9.98927888e-01 -4.62933494e-02 0.00000000e+00 1.13160157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54648031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.870371743 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:176.14, Y:113.20, Z:0.03 [[-4.13706066e-02 -9.99143870e-01 0.00000000e+00 1.76141267e+02] [ 9.99143870e-01 -4.13706066e-02 0.00000000e+00 1.13203231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15388276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.900371743 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:176.14, Y:113.21, Z:0.03 [[-4.52704001e-02 -9.98974770e-01 0.00000000e+00 1.76141366e+02] [ 9.98974770e-01 -4.52704001e-02 0.00000000e+00 1.13206804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36801676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93037174299997 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:176.14, Y:113.20, Z:0.03 [[-4.24856034e-02 -9.99097079e-01 0.00000000e+00 1.76143290e+02] [ 9.99097079e-01 -4.24856034e-02 0.00000000e+00 1.13201422e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21868307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96037174299997 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:176.14, Y:113.23, Z:0.03 [[-4.60386094e-02 -9.98939661e-01 0.00000000e+00 1.76141661e+02] [ 9.98939661e-01 -4.60386094e-02 0.00000000e+00 1.13228064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44754943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99037174299997 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:176.13, Y:113.24, Z:0.04 [[-6.56310406e-02 -9.97843959e-01 0.00000000e+00 1.76132712e+02] [ 9.97843959e-01 -6.56310406e-02 0.00000000e+00 1.13244927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85759252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02037174299997 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:176.15, Y:113.24, Z:0.03 [[-4.28085387e-02 -9.99083294e-01 0.00000000e+00 1.76145831e+02] [ 9.99083294e-01 -4.28085387e-02 0.00000000e+00 1.13239864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37677537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05037174299997 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:176.13, Y:113.25, Z:0.04 [[-5.46200607e-02 -9.98507210e-01 0.00000000e+00 1.76132711e+02] [ 9.98507210e-01 -5.46200607e-02 0.00000000e+00 1.13251332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95585244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08037174299997 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:176.13, Y:113.28, Z:0.04 [[-5.46501874e-02 -9.98505562e-01 0.00000000e+00 1.76133732e+02] [ 9.98505562e-01 -5.46501874e-02 0.00000000e+00 1.13278747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86496186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11037174299997 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:176.14, Y:113.31, Z:0.04 [[-5.46968905e-02 -9.98503005e-01 0.00000000e+00 1.76135546e+02] [ 9.98503005e-01 -5.46968905e-02 0.00000000e+00 1.13305311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75756184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14037174299997 meters Centerline goodness : 0.991527 Centerline is valid? [True, True] Translation: X:176.14, Y:113.34, Z:0.04 [[-5.49905161e-02 -9.98486877e-01 0.00000000e+00 1.76138375e+02] [ 9.98486877e-01 -5.49905161e-02 0.00000000e+00 1.13337370e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63634191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17037174299998 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:176.14, Y:113.36, Z:0.04 [[-5.52269987e-02 -9.98473825e-01 0.00000000e+00 1.76137302e+02] [ 9.98473825e-01 -5.52269987e-02 0.00000000e+00 1.13360405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55445486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20037174299998 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:176.14, Y:113.39, Z:0.03 [[-5.57582194e-02 -9.98444300e-01 0.00000000e+00 1.76137518e+02] [ 9.98444300e-01 -5.57582194e-02 0.00000000e+00 1.13388694e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49019184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23037174299998 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:176.15, Y:113.43, Z:0.03 [[-4.61996385e-02 -9.98932227e-01 0.00000000e+00 1.76152990e+02] [ 9.98932227e-01 -4.61996385e-02 0.00000000e+00 1.13432537e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.75114514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26037174299998 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:176.14, Y:113.44, Z:0.04 [[-6.79662408e-02 -9.97687622e-01 0.00000000e+00 1.76140129e+02] [ 9.97687622e-01 -6.79662408e-02 0.00000000e+00 1.13441412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57611961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29037174299998 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:176.14, Y:113.86, Z:0.03 [[-5.65835530e-02 -9.98397867e-01 0.00000000e+00 1.76141767e+02] [ 9.98397867e-01 -5.65835530e-02 0.00000000e+00 1.13862011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41050490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32037174299998 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:176.96, Y:113.61, Z:0.86 [[-4.76679563e-02 9.98863237e-01 0.00000000e+00 1.76957055e+02] [ 9.98863237e-01 4.76679563e-02 0.00000000e+00 1.13606024e+02] [ 0.00000000e+00 0.00000000e+00 -1.00000000e+00 8.58329159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35037174299998 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:176.18, Y:113.57, Z:0.04 [[-1.34110973e-01 -9.90966320e-01 0.00000000e+00 1.76175460e+02] [ 9.90966320e-01 -1.34110973e-01 0.00000000e+00 1.13566074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76124515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38037174299998 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:176.17, Y:113.57, Z:0.04 [[-1.33313515e-01 -9.91073916e-01 0.00000000e+00 1.76174941e+02] [ 9.91073916e-01 -1.33313515e-01 0.00000000e+00 1.13567430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81764673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41037174299998 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:176.17, Y:113.57, Z:0.04 [[-1.31553221e-01 -9.91309109e-01 0.00000000e+00 1.76174085e+02] [ 9.91309109e-01 -1.31553221e-01 0.00000000e+00 1.13572737e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92528762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.440371743 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:176.19, Y:113.57, Z:0.03 [[-1.09048237e-01 -9.94036459e-01 0.00000000e+00 1.76186119e+02] [ 9.94036459e-01 -1.09048237e-01 0.00000000e+00 1.13568182e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22334463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.470371743 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:176.17, Y:113.57, Z:0.04 [[-1.29062778e-01 -9.91636425e-01 0.00000000e+00 1.76173968e+02] [ 9.91636425e-01 -1.29062778e-01 0.00000000e+00 1.13571217e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01473048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.500371743 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:176.17, Y:113.58, Z:0.04 [[-1.28113343e-01 -9.91759533e-01 0.00000000e+00 1.76173311e+02] [ 9.91759533e-01 -1.28113343e-01 0.00000000e+00 1.13576753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07002828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.530371743 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:176.18, Y:113.57, Z:0.03 [[-1.08042223e-01 -9.94146306e-01 0.00000000e+00 1.76183437e+02] [ 9.94146306e-01 -1.08042223e-01 0.00000000e+00 1.13571670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.49433880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.560371743 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:176.17, Y:113.57, Z:0.04 [[-1.23958817e-01 -9.92287363e-01 0.00000000e+00 1.76172656e+02] [ 9.92287363e-01 -1.23958817e-01 0.00000000e+00 1.13574665e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02046292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.590371743 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:176.18, Y:113.58, Z:0.04 [[-1.00931940e-01 -9.94893333e-01 0.00000000e+00 1.76183655e+02] [ 9.94893333e-01 -1.00931940e-01 0.00000000e+00 1.13575361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51428334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.620371743 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:176.18, Y:113.57, Z:0.04 [[-1.01377300e-01 -9.94848050e-01 0.00000000e+00 1.76181872e+02] [ 9.94848050e-01 -1.01377300e-01 0.00000000e+00 1.13573754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72450751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.650371743 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:176.18, Y:113.57, Z:0.04 [[-9.41747581e-02 -9.95555681e-01 0.00000000e+00 1.76181985e+02] [ 9.95555681e-01 -9.41747581e-02 0.00000000e+00 1.13572857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55377656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68037174299997 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:176.18, Y:113.58, Z:0.04 [[-8.86311526e-02 -9.96064515e-01 0.00000000e+00 1.76182457e+02] [ 9.96064515e-01 -8.86311526e-02 0.00000000e+00 1.13578956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50905811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71037174299997 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:176.17, Y:113.58, Z:0.04 [[-1.06067287e-01 -9.94358955e-01 0.00000000e+00 1.76169889e+02] [ 9.94358955e-01 -1.06067287e-01 0.00000000e+00 1.13581790e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18656541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74037174299997 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:176.18, Y:113.59, Z:0.04 [[-8.15390279e-02 -9.96670150e-01 0.00000000e+00 1.76180693e+02] [ 9.96670150e-01 -8.15390279e-02 0.00000000e+00 1.13590791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62881303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77037174299997 meters Centerline goodness : 0.994273 Centerline is valid? [True, True] Translation: X:176.18, Y:113.59, Z:0.04 [[-7.71375831e-02 -9.97020458e-01 0.00000000e+00 1.76181757e+02] [ 9.97020458e-01 -7.71375831e-02 0.00000000e+00 1.13590041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60445440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80037174299997 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:176.18, Y:113.61, Z:0.04 [[-7.64107795e-02 -9.97076423e-01 0.00000000e+00 1.76179515e+02] [ 9.97076423e-01 -7.64107795e-02 0.00000000e+00 1.13610177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72625946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83037174299997 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:176.17, Y:113.58, Z:0.04 [[-8.86401154e-02 -9.96063718e-01 0.00000000e+00 1.76172829e+02] [ 9.96063718e-01 -8.86401154e-02 0.00000000e+00 1.13581366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24908904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86037174299997 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:176.18, Y:113.61, Z:0.04 [[-7.37128151e-02 -9.97279510e-01 0.00000000e+00 1.76180565e+02] [ 9.97279510e-01 -7.37128151e-02 0.00000000e+00 1.13609651e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83731910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89037174299997 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:176.18, Y:113.59, Z:0.04 [[-8.33009382e-02 -9.96524437e-01 0.00000000e+00 1.76177513e+02] [ 9.96524437e-01 -8.33009382e-02 0.00000000e+00 1.13585745e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24327172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92037174299998 meters Centerline goodness : 0.994580 Centerline is valid? [True, True] Translation: X:176.19, Y:113.60, Z:0.04 [[-7.13512681e-02 -9.97451250e-01 0.00000000e+00 1.76186246e+02] [ 9.97451250e-01 -7.13512681e-02 0.00000000e+00 1.13601604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81059666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95037174299998 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:176.19, Y:113.61, Z:0.04 [[-7.10388882e-02 -9.97473547e-01 0.00000000e+00 1.76191375e+02] [ 9.97473547e-01 -7.10388882e-02 0.00000000e+00 1.13607589e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80138541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98037174299998 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:176.20, Y:113.60, Z:0.04 [[-7.15116204e-02 -9.97439767e-01 0.00000000e+00 1.76195637e+02] [ 9.97439767e-01 -7.15116204e-02 0.00000000e+00 1.13598544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87453195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01037174299998 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:176.19, Y:113.60, Z:0.04 [[-8.43421807e-02 -9.96436850e-01 0.00000000e+00 1.76192544e+02] [ 9.96436850e-01 -8.43421807e-02 0.00000000e+00 1.13597490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29494871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04037174299998 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:176.20, Y:113.60, Z:0.04 [[-6.99944061e-02 -9.97547384e-01 0.00000000e+00 1.76204014e+02] [ 9.97547384e-01 -6.99944061e-02 0.00000000e+00 1.13596467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87926786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07037174299998 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:176.21, Y:113.59, Z:0.04 [[-7.30166403e-02 -9.97330723e-01 0.00000000e+00 1.76212514e+02] [ 9.97330723e-01 -7.30166403e-02 0.00000000e+00 1.13586061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80512597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10037174299998 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:176.21, Y:113.61, Z:0.04 [[-8.92779106e-02 -9.96006754e-01 0.00000000e+00 1.76207405e+02] [ 9.96006754e-01 -8.92779106e-02 0.00000000e+00 1.13608683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03435996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13037174299998 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:176.21, Y:113.61, Z:0.04 [[-8.88946592e-02 -9.96041033e-01 0.00000000e+00 1.76207138e+02] [ 9.96041033e-01 -8.88946592e-02 0.00000000e+00 1.13611328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03435996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16037174299998 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:176.23, Y:113.58, Z:0.04 [[-7.11289912e-02 -9.97467126e-01 0.00000000e+00 1.76226234e+02] [ 9.97467126e-01 -7.11289912e-02 0.00000000e+00 1.13578837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60698147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.190371743 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:176.23, Y:113.59, Z:0.04 [[-7.31011865e-02 -9.97324529e-01 0.00000000e+00 1.76230177e+02] [ 9.97324529e-01 -7.31011865e-02 0.00000000e+00 1.13585874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61165473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.220371743 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:176.23, Y:113.59, Z:0.04 [[-7.67410912e-02 -9.97051054e-01 0.00000000e+00 1.76233662e+02] [ 9.97051054e-01 -7.67410912e-02 0.00000000e+00 1.13591895e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69908194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.250371743 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:176.24, Y:113.58, Z:0.04 [[-7.66035835e-02 -9.97061628e-01 0.00000000e+00 1.76243870e+02] [ 9.97061628e-01 -7.66035835e-02 0.00000000e+00 1.13583015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75715682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.280371743 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:176.25, Y:113.60, Z:0.04 [[-8.12842916e-02 -9.96690957e-01 0.00000000e+00 1.76245745e+02] [ 9.96690957e-01 -8.12842916e-02 0.00000000e+00 1.13602015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83572353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.310371743 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:176.24, Y:113.63, Z:0.04 [[-9.72933396e-02 -9.95255749e-01 0.00000000e+00 1.76244996e+02] [ 9.95255749e-01 -9.72933396e-02 0.00000000e+00 1.13634446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03569625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.340371743 meters Centerline goodness : 0.991861 Centerline is valid? [True, True] Translation: X:176.25, Y:113.64, Z:0.04 [[-9.47480538e-02 -9.95501284e-01 0.00000000e+00 1.76249207e+02] [ 9.95501284e-01 -9.47480538e-02 0.00000000e+00 1.13635942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74292971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.370371743 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:176.26, Y:113.64, Z:0.04 [[-9.70448762e-02 -9.95280007e-01 0.00000000e+00 1.76257382e+02] [ 9.95280007e-01 -9.70448762e-02 0.00000000e+00 1.13639403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84034514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.400371743 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:176.26, Y:113.65, Z:0.04 [[-9.73501379e-02 -9.95250195e-01 0.00000000e+00 1.76261327e+02] [ 9.95250195e-01 -9.73501379e-02 0.00000000e+00 1.13645536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73613827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43037174299997 meters Centerline goodness : 0.991735 Centerline is valid? [True, True] Translation: X:176.27, Y:113.65, Z:0.04 [[-9.78383529e-02 -9.95202319e-01 0.00000000e+00 1.76265702e+02] [ 9.95202319e-01 -9.78383529e-02 0.00000000e+00 1.13645789e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72189785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46037174299997 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:176.27, Y:113.65, Z:0.04 [[-9.98508066e-02 -9.95002420e-01 0.00000000e+00 1.76273957e+02] [ 9.95002420e-01 -9.98508066e-02 0.00000000e+00 1.13652518e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62739438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49037174299997 meters Centerline goodness : 0.991419 Centerline is valid? [True, True] Translation: X:176.28, Y:113.66, Z:0.04 [[-1.00721008e-01 -9.94914709e-01 0.00000000e+00 1.76277754e+02] [ 9.94914709e-01 -1.00721008e-01 0.00000000e+00 1.13657424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60422103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52037174299997 meters Centerline goodness : 0.990531 Centerline is valid? [True, True] Translation: X:176.29, Y:113.63, Z:0.04 [[-9.53611554e-02 -9.95442741e-01 0.00000000e+00 1.76286782e+02] [ 9.95442741e-01 -9.53611554e-02 0.00000000e+00 1.13633096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68511061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55037174299997 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:176.29, Y:113.64, Z:0.04 [[-9.75685712e-02 -9.95228805e-01 0.00000000e+00 1.76293863e+02] [ 9.95228805e-01 -9.75685712e-02 0.00000000e+00 1.13644840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.67655643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58037174299997 meters Centerline goodness : 0.991315 Centerline is valid? [True, True] Translation: X:176.30, Y:113.65, Z:0.04 [[-9.91344177e-02 -9.95074051e-01 0.00000000e+00 1.76297231e+02] [ 9.95074051e-01 -9.91344177e-02 0.00000000e+00 1.13645846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77519616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61037174299997 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:176.30, Y:113.67, Z:0.04 [[-1.06849749e-01 -9.94275179e-01 0.00000000e+00 1.76297708e+02] [ 9.94275179e-01 -1.06849749e-01 0.00000000e+00 1.13674888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69468719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64037174299997 meters Centerline goodness : 0.992092 Centerline is valid? [True, True] Translation: X:176.30, Y:113.68, Z:0.04 [[-1.06385948e-01 -9.94324912e-01 0.00000000e+00 1.76301021e+02] [ 9.94324912e-01 -1.06385948e-01 0.00000000e+00 1.13677111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72037334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67037174299998 meters Centerline goodness : 0.991443 Centerline is valid? [True, True] Translation: X:176.31, Y:113.66, Z:0.04 [[-9.76505280e-02 -9.95220767e-01 0.00000000e+00 1.76309645e+02] [ 9.95220767e-01 -9.76505280e-02 0.00000000e+00 1.13660517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69642663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70037174299998 meters Centerline goodness : 0.991806 Centerline is valid? [True, True] Translation: X:176.31, Y:113.68, Z:0.04 [[-1.06055552e-01 -9.94360206e-01 0.00000000e+00 1.76308488e+02] [ 9.94360206e-01 -1.06055552e-01 0.00000000e+00 1.13680662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75158361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73037174299998 meters Centerline goodness : 0.990113 Centerline is valid? [True, True] Translation: X:176.32, Y:113.65, Z:0.04 [[-9.22579989e-02 -9.95735136e-01 0.00000000e+00 1.76319269e+02] [ 9.95735136e-01 -9.22579989e-02 0.00000000e+00 1.13653548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88255448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76037174299998 meters Centerline goodness : 0.990940 Centerline is valid? [True, True] Translation: X:176.31, Y:113.68, Z:0.04 [[-1.03863105e-01 -9.94591602e-01 0.00000000e+00 1.76314089e+02] [ 9.94591602e-01 -1.03863105e-01 0.00000000e+00 1.13681425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91464982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79037174299998 meters Centerline goodness : 0.990524 Centerline is valid? [True, True] Translation: X:176.33, Y:113.66, Z:0.04 [[-8.84035760e-02 -9.96084739e-01 0.00000000e+00 1.76325269e+02] [ 9.96084739e-01 -8.84035760e-02 0.00000000e+00 1.13658899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98057184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82037174299998 meters Centerline goodness : 0.990786 Centerline is valid? [True, True] Translation: X:176.33, Y:113.66, Z:0.04 [[-8.96704455e-02 -9.95971491e-01 0.00000000e+00 1.76325631e+02] [ 9.95971491e-01 -8.96704455e-02 0.00000000e+00 1.13664916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86338971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85037174299998 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:176.33, Y:113.67, Z:0.04 [[-8.71052595e-02 -9.96199114e-01 0.00000000e+00 1.76328434e+02] [ 9.96199114e-01 -8.71052595e-02 0.00000000e+00 1.13665945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92375327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88037174299998 meters Centerline goodness : 0.990446 Centerline is valid? [True, True] Translation: X:176.32, Y:113.69, Z:0.04 [[-9.87401142e-02 -9.95113255e-01 0.00000000e+00 1.76323178e+02] [ 9.95113255e-01 -9.87401142e-02 0.00000000e+00 1.13686551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83931566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91037174299998 meters Centerline goodness : 0.991501 Centerline is valid? [True, True] Translation: X:176.32, Y:113.69, Z:0.04 [[-9.70959899e-02 -9.95275022e-01 0.00000000e+00 1.76324741e+02] [ 9.95275022e-01 -9.70959899e-02 0.00000000e+00 1.13688660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89103595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.940371743 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:176.34, Y:113.66, Z:0.04 [[-7.51489792e-02 -9.97172318e-01 0.00000000e+00 1.76338499e+02] [ 9.97172318e-01 -7.51489792e-02 0.00000000e+00 1.13657382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81077901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.970371743 meters Centerline goodness : 0.990051 Centerline is valid? [True, True] Translation: X:176.34, Y:113.67, Z:0.04 [[-7.38473411e-02 -9.97269557e-01 0.00000000e+00 1.76338988e+02] [ 9.97269557e-01 -7.38473411e-02 0.00000000e+00 1.13665111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95040812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.000371743 meters Centerline goodness : 0.988358 Centerline is valid? [True, True] Translation: X:176.34, Y:113.67, Z:0.04 [[-6.70847337e-02 -9.97747282e-01 0.00000000e+00 1.76342129e+02] [ 9.97747282e-01 -6.70847337e-02 0.00000000e+00 1.13670128e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88707944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.030371743 meters Centerline goodness : 0.989439 Centerline is valid? [True, True] Translation: X:176.34, Y:113.68, Z:0.04 [[-6.35846117e-02 -9.97976451e-01 0.00000000e+00 1.76343080e+02] [ 9.97976451e-01 -6.35846117e-02 0.00000000e+00 1.13676853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85845109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.060371743 meters Centerline goodness : 0.987748 Centerline is valid? [True, True] Translation: X:176.34, Y:113.67, Z:0.04 [[-5.97572771e-02 -9.98212937e-01 0.00000000e+00 1.76344844e+02] [ 9.98212937e-01 -5.97572771e-02 0.00000000e+00 1.13668838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80839667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.090371743 meters Centerline goodness : 0.987798 Centerline is valid? [True, True] Translation: X:176.35, Y:113.67, Z:0.04 [[-5.73993223e-02 -9.98351300e-01 0.00000000e+00 1.76346370e+02] [ 9.98351300e-01 -5.73993223e-02 0.00000000e+00 1.13666912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87482726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.120371743 meters Centerline goodness : 0.987851 Centerline is valid? [True, True] Translation: X:176.35, Y:113.66, Z:0.04 [[-5.45545591e-02 -9.98510791e-01 0.00000000e+00 1.76348444e+02] [ 9.98510791e-01 -5.45545591e-02 0.00000000e+00 1.13664747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90167247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.150371743 meters Centerline goodness : 0.987406 Centerline is valid? [True, True] Translation: X:176.35, Y:113.66, Z:0.04 [[-4.91383098e-02 -9.98791984e-01 0.00000000e+00 1.76353324e+02] [ 9.98791984e-01 -4.91383098e-02 0.00000000e+00 1.13662329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83157184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18037174299997 meters Centerline goodness : 0.986260 Centerline is valid? [True, True] Translation: X:176.36, Y:113.67, Z:0.04 [[-4.71356389e-02 -9.98888498e-01 0.00000000e+00 1.76355325e+02] [ 9.98888498e-01 -4.71356389e-02 0.00000000e+00 1.13669152e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86204333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21037174299997 meters Centerline goodness : 0.986657 Centerline is valid? [True, True] Translation: X:176.36, Y:113.67, Z:0.04 [[-4.51028807e-02 -9.98982347e-01 0.00000000e+00 1.76358795e+02] [ 9.98982347e-01 -4.51028807e-02 0.00000000e+00 1.13667193e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78474990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24037174299997 meters Centerline goodness : 0.986776 Centerline is valid? [True, True] Translation: X:176.36, Y:113.68, Z:0.04 [[-5.52275331e-02 -9.98473795e-01 0.00000000e+00 1.76358018e+02] [ 9.98473795e-01 -5.52275331e-02 0.00000000e+00 1.13684022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88454754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27037174299997 meters Centerline goodness : 0.986020 Centerline is valid? [True, True] Translation: X:176.37, Y:113.67, Z:0.04 [[-4.24598300e-02 -9.99098175e-01 0.00000000e+00 1.76370654e+02] [ 9.99098175e-01 -4.24598300e-02 0.00000000e+00 1.13665975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69265839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30037174299997 meters Centerline goodness : 0.986099 Centerline is valid? [True, True] Translation: X:176.37, Y:113.70, Z:0.04 [[-5.65411656e-02 -9.98400269e-01 0.00000000e+00 1.76370654e+02] [ 9.98400269e-01 -5.65411656e-02 0.00000000e+00 1.13695337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86918946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33037174299997 meters Centerline goodness : 0.985625 Centerline is valid? [True, True] Translation: X:176.38, Y:113.69, Z:0.04 [[-5.75320568e-02 -9.98343659e-01 0.00000000e+00 1.76375094e+02] [ 9.98343659e-01 -5.75320568e-02 0.00000000e+00 1.13694478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83697897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36037174299997 meters Centerline goodness : 0.985353 Centerline is valid? [True, True] Translation: X:176.39, Y:113.68, Z:0.04 [[-4.95133800e-02 -9.98773460e-01 0.00000000e+00 1.76392063e+02] [ 9.98773460e-01 -4.95133800e-02 0.00000000e+00 1.13681630e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62883144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39037174299997 meters Centerline goodness : 0.986230 Centerline is valid? [True, True] Translation: X:176.40, Y:113.69, Z:0.04 [[-5.10314097e-02 -9.98697049e-01 0.00000000e+00 1.76396169e+02] [ 9.98697049e-01 -5.10314097e-02 0.00000000e+00 1.13690219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61163320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42037174299998 meters Centerline goodness : 0.985437 Centerline is valid? [True, True] Translation: X:176.40, Y:113.69, Z:0.04 [[-5.33526258e-02 -9.98575734e-01 0.00000000e+00 1.76401493e+02] [ 9.98575734e-01 -5.33526258e-02 0.00000000e+00 1.13692926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.64514844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45037174299998 meters Centerline goodness : 0.986727 Centerline is valid? [True, True] Translation: X:176.41, Y:113.70, Z:0.04 [[-5.80236412e-02 -9.98315209e-01 0.00000000e+00 1.76411954e+02] [ 9.98315209e-01 -5.80236412e-02 0.00000000e+00 1.13700183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68905819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48037174299998 meters Centerline goodness : 0.987174 Centerline is valid? [True, True] Translation: X:176.41, Y:113.72, Z:0.04 [[-7.17045300e-02 -9.97425917e-01 0.00000000e+00 1.76409398e+02] [ 9.97425917e-01 -7.17045300e-02 0.00000000e+00 1.13720647e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90610310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51037174299998 meters Centerline goodness : 0.988573 Centerline is valid? [True, True] Translation: X:176.42, Y:113.73, Z:0.04 [[-7.58286932e-02 -9.97120860e-01 0.00000000e+00 1.76417942e+02] [ 9.97120860e-01 -7.58286932e-02 0.00000000e+00 1.13729256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89936513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54037174299998 meters Centerline goodness : 0.989285 Centerline is valid? [True, True] Translation: X:176.42, Y:113.74, Z:0.04 [[-7.70566731e-02 -9.97026714e-01 0.00000000e+00 1.76421830e+02] [ 9.97026714e-01 -7.70566731e-02 0.00000000e+00 1.13736370e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90183130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57037174299998 meters Centerline goodness : 0.990515 Centerline is valid? [True, True] Translation: X:176.43, Y:113.74, Z:0.04 [[-7.82072664e-02 -9.96937121e-01 0.00000000e+00 1.76425952e+02] [ 9.96937121e-01 -7.82072664e-02 0.00000000e+00 1.13735896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87836793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60037174299998 meters Centerline goodness : 0.991807 Centerline is valid? [True, True] Translation: X:176.43, Y:113.74, Z:0.04 [[-7.95075347e-02 -9.96834265e-01 0.00000000e+00 1.76433226e+02] [ 9.96834265e-01 -7.95075347e-02 0.00000000e+00 1.13740352e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.94225838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63037174299998 meters Centerline goodness : 0.991217 Centerline is valid? [True, True] Translation: X:176.44, Y:113.74, Z:0.04 [[-7.92475317e-02 -9.96854969e-01 0.00000000e+00 1.76436389e+02] [ 9.96854969e-01 -7.92475317e-02 0.00000000e+00 1.13743774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90504529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66037174299998 meters Centerline goodness : 0.991829 Centerline is valid? [True, True] Translation: X:176.44, Y:113.75, Z:0.04 [[-7.92168933e-02 -9.96857404e-01 0.00000000e+00 1.76439130e+02] [ 9.96857404e-01 -7.92168933e-02 0.00000000e+00 1.13747001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87412844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.690371743 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:176.44, Y:113.75, Z:0.04 [[-7.82396692e-02 -9.96934579e-01 0.00000000e+00 1.76444216e+02] [ 9.96934579e-01 -7.82396692e-02 0.00000000e+00 1.13749308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88080855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.720371743 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:176.45, Y:113.75, Z:0.04 [[-7.63774093e-02 -9.97078979e-01 0.00000000e+00 1.76448541e+02] [ 9.97078979e-01 -7.63774093e-02 0.00000000e+00 1.13750642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89545576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.750371743 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:176.45, Y:113.75, Z:0.04 [[-7.50046810e-02 -9.97183182e-01 0.00000000e+00 1.76450727e+02] [ 9.97183182e-01 -7.50046810e-02 0.00000000e+00 1.13751118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96142297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.780371743 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:176.45, Y:113.76, Z:0.04 [[-7.33847550e-02 -9.97303704e-01 0.00000000e+00 1.76452302e+02] [ 9.97303704e-01 -7.33847550e-02 0.00000000e+00 1.13758956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04605647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.810371743 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:176.45, Y:113.76, Z:0.04 [[-7.17418052e-02 -9.97423237e-01 0.00000000e+00 1.76454226e+02] [ 9.97423237e-01 -7.17418052e-02 0.00000000e+00 1.13756818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07335372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.840371743 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:176.46, Y:113.76, Z:0.04 [[-6.86956865e-02 -9.97637661e-01 0.00000000e+00 1.76458020e+02] [ 9.97637661e-01 -6.86956865e-02 0.00000000e+00 1.13757723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18883175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.870371743 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:176.46, Y:113.76, Z:0.04 [[-6.73144460e-02 -9.97731810e-01 0.00000000e+00 1.76460151e+02] [ 9.97731810e-01 -6.73144460e-02 0.00000000e+00 1.13757209e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24521354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.900371743 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:176.46, Y:113.76, Z:0.04 [[-6.54784306e-02 -9.97853985e-01 0.00000000e+00 1.76463484e+02] [ 9.97853985e-01 -6.54784306e-02 0.00000000e+00 1.13759290e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39942241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93037174299997 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:176.46, Y:113.76, Z:0.04 [[-6.47925415e-02 -9.97898756e-01 0.00000000e+00 1.76464879e+02] [ 9.97898756e-01 -6.47925415e-02 0.00000000e+00 1.13763210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45142379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96037174299997 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:176.47, Y:113.77, Z:0.04 [[-6.44853264e-02 -9.97918655e-01 0.00000000e+00 1.76466335e+02] [ 9.97918655e-01 -6.44853264e-02 0.00000000e+00 1.13766018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42500320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99037174299997 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:176.47, Y:113.77, Z:0.04 [[-6.45120970e-02 -9.97916925e-01 0.00000000e+00 1.76471233e+02] [ 9.97916925e-01 -6.45120970e-02 0.00000000e+00 1.13768651e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46649798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02037174299997 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:176.47, Y:113.77, Z:0.04 [[-6.49182298e-02 -9.97890587e-01 0.00000000e+00 1.76473733e+02] [ 9.97890587e-01 -6.49182298e-02 0.00000000e+00 1.13770122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38978787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05037174299997 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:176.47, Y:113.77, Z:0.04 [[-6.45343843e-02 -9.97915484e-01 0.00000000e+00 1.76473524e+02] [ 9.97915484e-01 -6.45343843e-02 0.00000000e+00 1.13772664e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38978787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08037174299997 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:176.48, Y:113.78, Z:0.04 [[-6.50060620e-02 -9.97884869e-01 0.00000000e+00 1.76475895e+02] [ 9.97884869e-01 -6.50060620e-02 0.00000000e+00 1.13777231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38220068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11037174299997 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:176.48, Y:113.78, Z:0.04 [[-6.72950655e-02 -9.97733118e-01 0.00000000e+00 1.76480493e+02] [ 9.97733118e-01 -6.72950655e-02 0.00000000e+00 1.13783527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38965158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14037174299997 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:176.48, Y:113.79, Z:0.04 [[-6.82575146e-02 -9.97667736e-01 0.00000000e+00 1.76482897e+02] [ 9.97667736e-01 -6.82575146e-02 0.00000000e+00 1.13785146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36025721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17037174299998 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:176.49, Y:113.79, Z:0.04 [[-7.07009190e-02 -9.97497559e-01 0.00000000e+00 1.76487358e+02] [ 9.97497559e-01 -7.07009190e-02 0.00000000e+00 1.13792125e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24068426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20037174299998 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:176.49, Y:113.80, Z:0.04 [[-7.19829974e-02 -9.97405859e-01 0.00000000e+00 1.76489345e+02] [ 9.97405859e-01 -7.19829974e-02 0.00000000e+00 1.13801359e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13445496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23037174299998 meters Centerline goodness : 0.996820 Centerline is valid? [True, True] Translation: X:176.49, Y:113.81, Z:0.04 [[-7.30301196e-02 -9.97329736e-01 0.00000000e+00 1.76491240e+02] [ 9.97329736e-01 -7.30301196e-02 0.00000000e+00 1.13810372e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07562676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26037174299998 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:176.50, Y:113.81, Z:0.04 [[-7.57155097e-02 -9.97129461e-01 0.00000000e+00 1.76495896e+02] [ 9.97129461e-01 -7.57155097e-02 0.00000000e+00 1.13805429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98346882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29037174299998 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:176.50, Y:113.83, Z:0.04 [[-7.66860758e-02 -9.97055287e-01 0.00000000e+00 1.76496886e+02] [ 9.97055287e-01 -7.66860758e-02 0.00000000e+00 1.13829799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99682171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32037174299998 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:176.50, Y:113.81, Z:0.04 [[-8.01251489e-02 -9.96784812e-01 0.00000000e+00 1.76501443e+02] [ 9.96784812e-01 -8.01251489e-02 0.00000000e+00 1.13814369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99107891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35037174299998 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:176.50, Y:113.82, Z:0.04 [[-8.22467170e-02 -9.96611999e-01 0.00000000e+00 1.76502508e+02] [ 9.96611999e-01 -8.22467170e-02 0.00000000e+00 1.13820851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97057021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38037174299998 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:176.51, Y:113.83, Z:0.04 [[-8.70925811e-02 -9.96200222e-01 0.00000000e+00 1.76505363e+02] [ 9.96200222e-01 -8.70925811e-02 0.00000000e+00 1.13826487e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05975265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41037174299998 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:176.51, Y:113.84, Z:0.04 [[-9.01742790e-02 -9.95926001e-01 0.00000000e+00 1.76506276e+02] [ 9.95926001e-01 -9.01742790e-02 0.00000000e+00 1.13839865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11964291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.440371743 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:176.51, Y:113.84, Z:0.04 [[-9.31854630e-02 -9.95648768e-01 0.00000000e+00 1.76507524e+02] [ 9.95648768e-01 -9.31854630e-02 0.00000000e+00 1.13840038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17265475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.470371743 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:176.51, Y:113.85, Z:0.04 [[-9.93938295e-02 -9.95048173e-01 0.00000000e+00 1.76509308e+02] [ 9.95048173e-01 -9.93938295e-02 0.00000000e+00 1.13848748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16644374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.500371743 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:176.51, Y:113.85, Z:0.04 [[-1.02346092e-01 -9.94748851e-01 0.00000000e+00 1.76509189e+02] [ 9.94748851e-01 -1.02346092e-01 0.00000000e+00 1.13854766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11078615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.530371743 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:176.51, Y:113.86, Z:0.04 [[-1.07315125e-01 -9.94225057e-01 0.00000000e+00 1.76509191e+02] [ 9.94225057e-01 -1.07315125e-01 0.00000000e+00 1.13861956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06888443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.560371743 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:176.51, Y:113.86, Z:0.04 [[-1.08320889e-01 -9.94115982e-01 0.00000000e+00 1.76508788e+02] [ 9.94115982e-01 -1.08320889e-01 0.00000000e+00 1.13863724e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09195034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.590371743 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:176.51, Y:113.87, Z:0.04 [[-1.09117541e-01 -9.94028854e-01 0.00000000e+00 1.76507671e+02] [ 9.94028854e-01 -1.09117541e-01 0.00000000e+00 1.13868951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11560605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.620371743 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:176.51, Y:113.87, Z:0.04 [[-1.07879972e-01 -9.94163926e-01 0.00000000e+00 1.76505004e+02] [ 9.94163926e-01 -1.07879972e-01 0.00000000e+00 1.13869090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27684977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.650371743 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:176.50, Y:113.88, Z:0.04 [[-1.05975931e-01 -9.94368695e-01 0.00000000e+00 1.76503149e+02] [ 9.94368695e-01 -1.05975931e-01 0.00000000e+00 1.13875911e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33461461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68037174299997 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:176.50, Y:113.87, Z:0.04 [[-1.01840170e-01 -9.94800774e-01 0.00000000e+00 1.76499090e+02] [ 9.94800774e-01 -1.01840170e-01 0.00000000e+00 1.13870627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40546771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71037174299997 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:176.50, Y:113.87, Z:0.04 [[-9.94728737e-02 -9.95040274e-01 0.00000000e+00 1.76496826e+02] [ 9.95040274e-01 -9.94728737e-02 0.00000000e+00 1.13870621e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46815494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74037174299997 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:176.49, Y:113.87, Z:0.04 [[-9.73851948e-02 -9.95246765e-01 0.00000000e+00 1.76494142e+02] [ 9.95246765e-01 -9.73851948e-02 0.00000000e+00 1.13873677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46380511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77037174299997 meters Centerline goodness : 0.997661 Centerline is valid? [True, True] Translation: X:176.49, Y:113.87, Z:0.04 [[-9.43989056e-02 -9.95534453e-01 0.00000000e+00 1.76489464e+02] [ 9.95534453e-01 -9.43989056e-02 0.00000000e+00 1.13871678e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32038447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80037174299997 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:176.49, Y:113.87, Z:0.04 [[-9.30930926e-02 -9.95657409e-01 0.00000000e+00 1.76487068e+02] [ 9.95657409e-01 -9.30930926e-02 0.00000000e+00 1.13873799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23344218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83037174299997 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:176.48, Y:113.87, Z:0.04 [[-9.26433247e-02 -9.95699359e-01 0.00000000e+00 1.76482255e+02] [ 9.95699359e-01 -9.26433247e-02 0.00000000e+00 1.13873656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13004943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86037174299997 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:176.48, Y:113.88, Z:0.04 [[-9.31380175e-02 -9.95653208e-01 0.00000000e+00 1.76479549e+02] [ 9.95653208e-01 -9.31380175e-02 0.00000000e+00 1.13881811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04978724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89037174299997 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:176.48, Y:113.88, Z:0.04 [[-9.31493750e-02 -9.95652145e-01 0.00000000e+00 1.76477800e+02] [ 9.95652145e-01 -9.31493750e-02 0.00000000e+00 1.13880516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09299883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92037174299998 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:176.47, Y:113.89, Z:0.04 [[-9.45784910e-02 -9.95517408e-01 0.00000000e+00 1.76473669e+02] [ 9.95517408e-01 -9.45784910e-02 0.00000000e+00 1.13885060e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15683854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95037174299998 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:176.47, Y:113.89, Z:0.04 [[-9.53466761e-02 -9.95444128e-01 0.00000000e+00 1.76471270e+02] [ 9.95444128e-01 -9.53466761e-02 0.00000000e+00 1.13887274e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13439177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98037174299998 meters Centerline goodness : 0.996917 Centerline is valid? [True, True] Translation: X:176.47, Y:113.89, Z:0.04 [[-9.72735969e-02 -9.95257679e-01 0.00000000e+00 1.76466754e+02] [ 9.95257679e-01 -9.72735969e-02 0.00000000e+00 1.13891279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13644092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01037174299998 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:176.46, Y:113.90, Z:0.04 [[-9.80944346e-02 -9.95177111e-01 0.00000000e+00 1.76464400e+02] [ 9.95177111e-01 -9.80944346e-02 0.00000000e+00 1.13895288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13521583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04037174299998 meters Centerline goodness : 0.996695 Centerline is valid? [True, True] Translation: X:176.46, Y:113.90, Z:0.04 [[-9.86767925e-02 -9.95119536e-01 0.00000000e+00 1.76462374e+02] [ 9.95119536e-01 -9.86767925e-02 0.00000000e+00 1.13900871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13243045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07037174299998 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:176.46, Y:113.90, Z:0.04 [[-9.93796458e-02 -9.95049590e-01 0.00000000e+00 1.76460292e+02] [ 9.95049590e-01 -9.93796458e-02 0.00000000e+00 1.13900312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07937217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10037174299998 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:176.46, Y:113.90, Z:0.04 [[-1.00609494e-01 -9.94925992e-01 0.00000000e+00 1.76456761e+02] [ 9.94925992e-01 -1.00609494e-01 0.00000000e+00 1.13904422e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92223268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13037174299998 meters Centerline goodness : 0.995719 Centerline is valid? [True, True] Translation: X:176.45, Y:113.91, Z:0.04 [[-1.01187846e-01 -9.94867338e-01 0.00000000e+00 1.76451968e+02] [ 9.94867338e-01 -1.01187846e-01 0.00000000e+00 1.13908839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74332686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16037174299998 meters Centerline goodness : 0.995117 Centerline is valid? [True, True] Translation: X:176.45, Y:113.91, Z:0.04 [[-1.00954481e-01 -9.94891046e-01 0.00000000e+00 1.76449257e+02] [ 9.94891046e-01 -1.00954481e-01 0.00000000e+00 1.13911522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68244175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.190371743 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:176.45, Y:113.91, Z:0.04 [[-1.00857282e-01 -9.94900904e-01 0.00000000e+00 1.76446547e+02] [ 9.94900904e-01 -1.00857282e-01 0.00000000e+00 1.13910333e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59066689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.220371743 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:176.44, Y:113.92, Z:0.03 [[-1.00147456e-01 -9.94972606e-01 0.00000000e+00 1.76441474e+02] [ 9.94972606e-01 -1.00147456e-01 0.00000000e+00 1.13915803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42512668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.250371743 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:176.44, Y:113.92, Z:0.03 [[-9.91956503e-02 -9.95067949e-01 0.00000000e+00 1.76438986e+02] [ 9.95067949e-01 -9.91956503e-02 0.00000000e+00 1.13919450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41407201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.280371743 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:176.44, Y:113.92, Z:0.03 [[-9.77891880e-02 -9.95207152e-01 0.00000000e+00 1.76436600e+02] [ 9.95207152e-01 -9.77891880e-02 0.00000000e+00 1.13917542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37700580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.310371743 meters Centerline goodness : 0.993800 Centerline is valid? [True, True] Translation: X:176.43, Y:113.92, Z:0.03 [[-9.44368764e-02 -9.95530852e-01 0.00000000e+00 1.76431412e+02] [ 9.95530852e-01 -9.44368764e-02 0.00000000e+00 1.13919549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35135587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.340371743 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:176.43, Y:113.92, Z:0.03 [[-9.16892291e-02 -9.95787671e-01 0.00000000e+00 1.76428571e+02] [ 9.95787671e-01 -9.16892291e-02 0.00000000e+00 1.13919677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36095900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.370371743 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:176.42, Y:113.91, Z:0.03 [[-8.62775341e-02 -9.96271141e-01 0.00000000e+00 1.76422438e+02] [ 9.96271141e-01 -8.62775341e-02 0.00000000e+00 1.13914010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33760161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.400371743 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:176.42, Y:113.92, Z:0.03 [[-8.34230736e-02 -9.96514220e-01 0.00000000e+00 1.76419474e+02] [ 9.96514220e-01 -8.34230736e-02 0.00000000e+00 1.13915556e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30107618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43037174299997 meters Centerline goodness : 0.991447 Centerline is valid? [True, True] Translation: X:176.42, Y:113.92, Z:0.03 [[-8.21792495e-02 -9.96617565e-01 0.00000000e+00 1.76416679e+02] [ 9.96617565e-01 -8.21792495e-02 0.00000000e+00 1.13920444e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25227046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46037174299997 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:176.41, Y:113.92, Z:0.03 [[-8.12909781e-02 -9.96690412e-01 0.00000000e+00 1.76412735e+02] [ 9.96690412e-01 -8.12909781e-02 0.00000000e+00 1.13921028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29751897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49037174299997 meters Centerline goodness : 0.991565 Centerline is valid? [True, True] Translation: X:176.41, Y:113.92, Z:0.03 [[-8.18315651e-02 -9.96646173e-01 0.00000000e+00 1.76410791e+02] [ 9.96646173e-01 -8.18315651e-02 0.00000000e+00 1.13922276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31962491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52037174299997 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:176.41, Y:113.93, Z:0.03 [[-8.48287180e-02 -9.96395548e-01 0.00000000e+00 1.76406313e+02] [ 9.96395548e-01 -8.48287180e-02 0.00000000e+00 1.13929844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33059537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55037174299997 meters Centerline goodness : 0.989223 Centerline is valid? [True, True] Translation: X:176.40, Y:113.93, Z:0.03 [[-8.64568328e-02 -9.96255598e-01 0.00000000e+00 1.76404007e+02] [ 9.96255598e-01 -8.64568328e-02 0.00000000e+00 1.13932698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.30802848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58037174299997 meters Centerline goodness : 0.988556 Centerline is valid? [True, True] Translation: X:176.40, Y:113.94, Z:0.03 [[-9.01141684e-02 -9.95931442e-01 0.00000000e+00 1.76399714e+02] [ 9.95931442e-01 -9.01141684e-02 0.00000000e+00 1.13942439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33447009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61037174299997 meters Centerline goodness : 0.989261 Centerline is valid? [True, True] Translation: X:176.40, Y:113.95, Z:0.03 [[-9.11348893e-02 -9.95838557e-01 0.00000000e+00 1.76397767e+02] [ 9.95838557e-01 -9.11348893e-02 0.00000000e+00 1.13946227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32821656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64037174299997 meters Centerline goodness : 0.988751 Centerline is valid? [True, True] Translation: X:176.40, Y:113.93, Z:0.03 [[-8.15047572e-02 -9.96672953e-01 0.00000000e+00 1.76401352e+02] [ 9.96672953e-01 -8.15047572e-02 0.00000000e+00 1.13934984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32373259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67037174299998 meters Centerline goodness : 0.989603 Centerline is valid? [True, True] Translation: X:176.39, Y:113.95, Z:0.03 [[-9.25428966e-02 -9.95708699e-01 0.00000000e+00 1.76392557e+02] [ 9.95708699e-01 -9.25428966e-02 0.00000000e+00 1.13948338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25474853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70037174299998 meters Centerline goodness : 0.989051 Centerline is valid? [True, True] Translation: X:176.39, Y:113.95, Z:0.03 [[-9.21665720e-02 -9.95743603e-01 0.00000000e+00 1.76390387e+02] [ 9.95743603e-01 -9.21665720e-02 0.00000000e+00 1.13949812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17017624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73037174299998 meters Centerline goodness : 0.988978 Centerline is valid? [True, True] Translation: X:176.39, Y:113.95, Z:0.03 [[-9.14531500e-02 -9.95809380e-01 0.00000000e+00 1.76388289e+02] [ 9.95809380e-01 -9.14531500e-02 0.00000000e+00 1.13951901e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12976782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76037174299998 meters Centerline goodness : 0.988153 Centerline is valid? [True, True] Translation: X:176.39, Y:113.94, Z:0.03 [[-7.83128380e-02 -9.96928834e-01 0.00000000e+00 1.76391942e+02] [ 9.96928834e-01 -7.83128380e-02 0.00000000e+00 1.13940689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12554201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79037174299998 meters Centerline goodness : 0.987690 Centerline is valid? [True, True] Translation: X:176.38, Y:113.95, Z:0.03 [[-8.80896554e-02 -9.96112550e-01 0.00000000e+00 1.76383025e+02] [ 9.96112550e-01 -8.80896554e-02 0.00000000e+00 1.13954559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94386633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82037174299998 meters Centerline goodness : 0.988365 Centerline is valid? [True, True] Translation: X:176.39, Y:113.93, Z:0.03 [[-7.35461201e-02 -9.97291817e-01 0.00000000e+00 1.76387196e+02] [ 9.97291817e-01 -7.35461201e-02 0.00000000e+00 1.13930088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78721608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85037174299998 meters Centerline goodness : 0.988226 Centerline is valid? [True, True] Translation: X:176.38, Y:113.96, Z:0.03 [[-8.36192725e-02 -9.96497776e-01 0.00000000e+00 1.76378648e+02] [ 9.96497776e-01 -8.36192725e-02 0.00000000e+00 1.13955766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01695946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88037174299998 meters Centerline goodness : 0.987792 Centerline is valid? [True, True] Translation: X:176.38, Y:113.95, Z:0.03 [[-8.17429391e-02 -9.96653446e-01 0.00000000e+00 1.76377216e+02] [ 9.96653446e-01 -8.17429391e-02 0.00000000e+00 1.13954860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.95269257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91037174299998 meters Centerline goodness : 0.987350 Centerline is valid? [True, True] Translation: X:176.37, Y:113.96, Z:0.03 [[-7.88261302e-02 -9.96888380e-01 0.00000000e+00 1.76373947e+02] [ 9.96888380e-01 -7.88261302e-02 0.00000000e+00 1.13955153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91025245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.940371743 meters Centerline goodness : 0.987350 Centerline is valid? [True, True] Translation: X:176.37, Y:113.96, Z:0.03 [[-7.84336945e-02 -9.96919333e-01 0.00000000e+00 1.76373796e+02] [ 9.96919333e-01 -7.84336945e-02 0.00000000e+00 1.13957735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91025245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.970371743 meters Centerline goodness : 0.987597 Centerline is valid? [True, True] Translation: X:176.38, Y:113.91, Z:0.03 [[-6.24555571e-02 -9.98047746e-01 0.00000000e+00 1.76381404e+02] [ 9.98047746e-01 -6.24555571e-02 0.00000000e+00 1.13912630e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64852888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.000371743 meters Centerline goodness : 0.987158 Centerline is valid? [True, True] Translation: X:176.37, Y:113.96, Z:0.03 [[-7.61216696e-02 -9.97098536e-01 0.00000000e+00 1.76371520e+02] [ 9.97098536e-01 -7.61216696e-02 0.00000000e+00 1.13960122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81282483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.030371743 meters Centerline goodness : 0.987965 Centerline is valid? [True, True] Translation: X:176.37, Y:113.96, Z:0.03 [[-7.30000533e-02 -9.97331937e-01 0.00000000e+00 1.76370720e+02] [ 9.97331937e-01 -7.30000533e-02 0.00000000e+00 1.13959690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80655610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.060371743 meters Centerline goodness : 0.988107 Centerline is valid? [True, True] Translation: X:176.37, Y:113.96, Z:0.03 [[-7.09180436e-02 -9.97482146e-01 0.00000000e+00 1.76369932e+02] [ 9.97482146e-01 -7.09180436e-02 0.00000000e+00 1.13961642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83823048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.090371743 meters Centerline goodness : 0.987837 Centerline is valid? [True, True] Translation: X:176.37, Y:113.96, Z:0.03 [[-6.68401893e-02 -9.97763694e-01 0.00000000e+00 1.76368117e+02] [ 9.97763694e-01 -6.68401893e-02 0.00000000e+00 1.13961021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98501887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.120371743 meters Centerline goodness : 0.987926 Centerline is valid? [True, True] Translation: X:176.37, Y:113.96, Z:0.03 [[-6.43275528e-02 -9.97928838e-01 0.00000000e+00 1.76367385e+02] [ 9.97928838e-01 -6.43275528e-02 0.00000000e+00 1.13963070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06347435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.150371743 meters Centerline goodness : 0.988097 Centerline is valid? [True, True] Translation: X:176.37, Y:113.96, Z:0.03 [[-6.22838305e-02 -9.98058477e-01 0.00000000e+00 1.76366732e+02] [ 9.98058477e-01 -6.22838305e-02 0.00000000e+00 1.13963854e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11617604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18037174299997 meters Centerline goodness : 0.986990 Centerline is valid? [True, True] Translation: X:176.38, Y:113.94, Z:0.03 [[-4.41349602e-02 -9.99025578e-01 0.00000000e+00 1.76376259e+02] [ 9.99025578e-01 -4.41349602e-02 0.00000000e+00 1.13938301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15820872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21037174299997 meters Centerline goodness : 0.988196 Centerline is valid? [True, True] Translation: X:176.37, Y:113.97, Z:0.03 [[-5.83620775e-02 -9.98295481e-01 0.00000000e+00 1.76367245e+02] [ 9.98295481e-01 -5.83620775e-02 0.00000000e+00 1.13967942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10562271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24037174299997 meters Centerline goodness : 0.988081 Centerline is valid? [True, True] Translation: X:176.37, Y:113.97, Z:0.03 [[-5.79364994e-02 -9.98320270e-01 0.00000000e+00 1.76367865e+02] [ 9.98320270e-01 -5.79364994e-02 0.00000000e+00 1.13967858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02948994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27037174299997 meters Centerline goodness : 0.987574 Centerline is valid? [True, True] Translation: X:176.38, Y:113.94, Z:0.03 [[-4.56503390e-02 -9.98957480e-01 0.00000000e+00 1.76376474e+02] [ 9.98957480e-01 -4.56503390e-02 0.00000000e+00 1.13939594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81559375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30037174299997 meters Centerline goodness : 0.987991 Centerline is valid? [True, True] Translation: X:176.38, Y:113.95, Z:0.03 [[-4.67848273e-02 -9.98904990e-01 0.00000000e+00 1.76377383e+02] [ 9.98904990e-01 -4.67848273e-02 0.00000000e+00 1.13945299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79861713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33037174299997 meters Centerline goodness : 0.987344 Centerline is valid? [True, True] Translation: X:176.38, Y:113.96, Z:0.03 [[-5.18917909e-02 -9.98652713e-01 0.00000000e+00 1.76379929e+02] [ 9.98652713e-01 -5.18917909e-02 0.00000000e+00 1.13956498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.80643195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36037174299997 meters Centerline goodness : 0.988481 Centerline is valid? [True, True] Translation: X:176.37, Y:113.98, Z:0.03 [[-6.57506301e-02 -9.97836086e-01 0.00000000e+00 1.76374024e+02] [ 9.97836086e-01 -6.57506301e-02 0.00000000e+00 1.13982983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87516710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39037174299997 meters Centerline goodness : 0.988072 Centerline is valid? [True, True] Translation: X:176.38, Y:113.96, Z:0.03 [[-5.62464814e-02 -9.98416914e-01 0.00000000e+00 1.76384520e+02] [ 9.98416914e-01 -5.62464814e-02 0.00000000e+00 1.13962647e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63559549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42037174299998 meters Centerline goodness : 0.988863 Centerline is valid? [True, True] Translation: X:176.38, Y:113.99, Z:0.03 [[-6.89011503e-02 -9.97623492e-01 0.00000000e+00 1.76377728e+02] [ 9.97623492e-01 -6.89011503e-02 0.00000000e+00 1.13991518e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.76059568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45037174299998 meters Centerline goodness : 0.987392 Centerline is valid? [True, True] Translation: X:176.39, Y:113.96, Z:0.03 [[-5.50277427e-02 -9.98484826e-01 0.00000000e+00 1.76387253e+02] [ 9.98484826e-01 -5.50277427e-02 0.00000000e+00 1.13955770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78900625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48037174299998 meters Centerline goodness : 0.989005 Centerline is valid? [True, True] Translation: X:176.38, Y:113.99, Z:0.03 [[-6.57620332e-02 -9.97835335e-01 0.00000000e+00 1.76380799e+02] [ 9.97835335e-01 -6.57620332e-02 0.00000000e+00 1.13990172e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85820933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51037174299998 meters Centerline goodness : 0.988306 Centerline is valid? [True, True] Translation: X:176.38, Y:113.99, Z:0.03 [[-5.96959238e-02 -9.98216608e-01 0.00000000e+00 1.76381986e+02] [ 9.98216608e-01 -5.96959238e-02 0.00000000e+00 1.13987560e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.89836087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54037174299998 meters Centerline goodness : 0.988780 Centerline is valid? [True, True] Translation: X:176.38, Y:113.99, Z:0.03 [[-5.62688261e-02 -9.98415655e-01 0.00000000e+00 1.76382249e+02] [ 9.98415655e-01 -5.62688261e-02 0.00000000e+00 1.13988600e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88785068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57037174299998 meters Centerline goodness : 0.988561 Centerline is valid? [True, True] Translation: X:176.38, Y:113.99, Z:0.03 [[-5.27433288e-02 -9.98608102e-01 0.00000000e+00 1.76382577e+02] [ 9.98608102e-01 -5.27433288e-02 0.00000000e+00 1.13988650e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87798061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60037174299998 meters Centerline goodness : 0.988515 Centerline is valid? [True, True] Translation: X:176.38, Y:113.99, Z:0.03 [[-4.95189885e-02 -9.98773182e-01 0.00000000e+00 1.76383185e+02] [ 9.98773182e-01 -4.95189885e-02 0.00000000e+00 1.13992879e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84467545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63037174299998 meters Centerline goodness : 0.988127 Centerline is valid? [True, True] Translation: X:176.39, Y:114.00, Z:0.03 [[-4.47586987e-02 -9.98997827e-01 0.00000000e+00 1.76385397e+02] [ 9.98997827e-01 -4.47586987e-02 0.00000000e+00 1.13997094e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88235463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66037174299998 meters Centerline goodness : 0.988340 Centerline is valid? [True, True] Translation: X:176.39, Y:113.99, Z:0.03 [[-4.06190966e-02 -9.99174704e-01 0.00000000e+00 1.76388759e+02] [ 9.99174704e-01 -4.06190966e-02 0.00000000e+00 1.13987215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96192800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.690371743 meters Centerline goodness : 0.988895 Centerline is valid? [True, True] Translation: X:176.39, Y:113.99, Z:0.03 [[-3.90108141e-02 -9.99238788e-01 0.00000000e+00 1.76390505e+02] [ 9.99238788e-01 -3.90108141e-02 0.00000000e+00 1.13989399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97661777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.720371743 meters Centerline goodness : 0.989231 Centerline is valid? [True, True] Translation: X:176.39, Y:113.99, Z:0.03 [[-3.75807371e-02 -9.99293595e-01 0.00000000e+00 1.76392343e+02] [ 9.99293595e-01 -3.75807371e-02 0.00000000e+00 1.13994800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98628529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.750371743 meters Centerline goodness : 0.990105 Centerline is valid? [True, True] Translation: X:176.39, Y:113.99, Z:0.03 [[-3.64603115e-02 -9.99335102e-01 0.00000000e+00 1.76394547e+02] [ 9.99335102e-01 -3.64603115e-02 0.00000000e+00 1.13994082e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94267190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.780371743 meters Centerline goodness : 0.990488 Centerline is valid? [True, True] Translation: X:176.40, Y:113.99, Z:0.03 [[-3.60038246e-02 -9.99351652e-01 0.00000000e+00 1.76398981e+02] [ 9.99351652e-01 -3.60038246e-02 0.00000000e+00 1.13994231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94415120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.810371743 meters Centerline goodness : 0.990881 Centerline is valid? [True, True] Translation: X:176.40, Y:114.00, Z:0.03 [[-3.63424309e-02 -9.99339396e-01 0.00000000e+00 1.76400800e+02] [ 9.99339396e-01 -3.63424309e-02 0.00000000e+00 1.13999646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.93316751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.840371743 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:176.41, Y:114.00, Z:0.03 [[-3.77841287e-02 -9.99285925e-01 0.00000000e+00 1.76405082e+02] [ 9.99285925e-01 -3.77841287e-02 0.00000000e+00 1.14002366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85151438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.870371743 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:176.41, Y:114.01, Z:0.03 [[-3.85357989e-02 -9.99257220e-01 0.00000000e+00 1.76407308e+02] [ 9.99257220e-01 -3.85357989e-02 0.00000000e+00 1.14006935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84626704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.900371743 meters Centerline goodness : 0.991804 Centerline is valid? [True, True] Translation: X:176.41, Y:114.01, Z:0.03 [[-3.91328367e-02 -9.99234017e-01 0.00000000e+00 1.76409717e+02] [ 9.99234017e-01 -3.91328367e-02 0.00000000e+00 1.14010178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.83115220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93037174299997 meters Centerline goodness : 0.991486 Centerline is valid? [True, True] Translation: X:176.41, Y:114.02, Z:0.03 [[-4.12242444e-02 -9.99149920e-01 0.00000000e+00 1.76414902e+02] [ 9.99149920e-01 -4.12242444e-02 0.00000000e+00 1.14015327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92021204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96037174299997 meters Centerline goodness : 0.991808 Centerline is valid? [True, True] Translation: X:176.42, Y:114.02, Z:0.03 [[-4.09692755e-02 -9.99160407e-01 0.00000000e+00 1.76417219e+02] [ 9.99160407e-01 -4.09692755e-02 0.00000000e+00 1.14017540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02744283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99037174299997 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:176.42, Y:114.02, Z:0.03 [[-3.76544828e-02 -9.99290818e-01 0.00000000e+00 1.76420427e+02] [ 9.99290818e-01 -3.76544828e-02 0.00000000e+00 1.14021781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26111814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02037174299997 meters Centerline goodness : 0.992570 Centerline is valid? [True, True] Translation: X:176.42, Y:114.02, Z:0.03 [[-3.48086110e-02 -9.99393997e-01 0.00000000e+00 1.76421416e+02] [ 9.99393997e-01 -3.48086110e-02 0.00000000e+00 1.14021741e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34217671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05037174299997 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:176.42, Y:114.02, Z:0.03 [[-3.16439774e-02 -9.99499204e-01 0.00000000e+00 1.76422572e+02] [ 9.99499204e-01 -3.16439774e-02 0.00000000e+00 1.14017941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34592433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08037174299997 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:176.43, Y:114.01, Z:0.03 [[-2.60527714e-02 -9.99660569e-01 0.00000000e+00 1.76425286e+02] [ 9.99660569e-01 -2.60527714e-02 0.00000000e+00 1.14014902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40206542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11037174299997 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:176.43, Y:114.02, Z:0.03 [[-2.35947343e-02 -9.99721606e-01 0.00000000e+00 1.76426897e+02] [ 9.99721606e-01 -2.35947343e-02 0.00000000e+00 1.14016504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43448025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14037174299997 meters Centerline goodness : 0.993224 Centerline is valid? [True, True] Translation: X:176.43, Y:114.02, Z:0.04 [[-1.90109251e-02 -9.99819276e-01 0.00000000e+00 1.76430148e+02] [ 9.99819276e-01 -1.90109251e-02 0.00000000e+00 1.14017197e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59293544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17037174299998 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:176.43, Y:114.02, Z:0.04 [[-1.64081370e-02 -9.99865377e-01 0.00000000e+00 1.76432010e+02] [ 9.99865377e-01 -1.64081370e-02 0.00000000e+00 1.14016040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65566734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20037174299998 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:176.43, Y:114.02, Z:0.04 [[-1.40689060e-02 -9.99901028e-01 0.00000000e+00 1.76433464e+02] [ 9.99901028e-01 -1.40689060e-02 0.00000000e+00 1.14019059e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72920129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23037174299998 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:176.44, Y:114.02, Z:0.04 [[-9.74472026e-03 -9.99952519e-01 0.00000000e+00 1.76437483e+02] [ 9.99952519e-01 -9.74472026e-03 0.00000000e+00 1.14016302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89986905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26037174299998 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:176.44, Y:114.03, Z:0.04 [[-7.42364489e-03 -9.99972444e-01 0.00000000e+00 1.76439469e+02] [ 9.99972444e-01 -7.42364489e-03 0.00000000e+00 1.14027636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91557228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29037174299998 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:176.45, Y:114.02, Z:0.04 [[-4.45551254e-03 -9.99990074e-01 0.00000000e+00 1.76445024e+02] [ 9.99990074e-01 -4.45551254e-03 0.00000000e+00 1.14017748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81168864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32037174299998 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:176.45, Y:114.04, Z:0.04 [[-3.11200414e-03 -9.99995158e-01 0.00000000e+00 1.76447996e+02] [ 9.99995158e-01 -3.11200414e-03 0.00000000e+00 1.14043301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83567512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35037174299998 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:176.46, Y:114.04, Z:0.04 [[-9.93276810e-04 -9.99999507e-01 0.00000000e+00 1.76455085e+02] [ 9.99999507e-01 -9.93276810e-04 0.00000000e+00 1.14037158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78536948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38037174299998 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:176.46, Y:114.04, Z:0.04 [[ 1.63210760e-04 -9.99999987e-01 0.00000000e+00 1.76458825e+02] [ 9.99999987e-01 1.63210760e-04 0.00000000e+00 1.14035515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.73948757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41037174299998 meters Centerline goodness : 0.995603 Centerline is valid? [True, True] Translation: X:176.46, Y:114.02, Z:0.04 [[ 1.34500466e-03 -9.99999095e-01 0.00000000e+00 1.76463035e+02] [ 9.99999095e-01 1.34500466e-03 0.00000000e+00 1.14023815e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74625205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.440371743 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:176.47, Y:114.05, Z:0.04 [[ 2.98085493e-03 -9.99995557e-01 0.00000000e+00 1.76467137e+02] [ 9.99995557e-01 2.98085493e-03 0.00000000e+00 1.14045190e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71429106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.470371743 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:176.48, Y:114.03, Z:0.04 [[ 5.47821900e-03 -9.99984994e-01 0.00000000e+00 1.76475996e+02] [ 9.99984994e-01 5.47821900e-03 0.00000000e+00 1.14028880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70897772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.500371743 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:176.49, Y:114.03, Z:0.04 [[ 7.27665765e-03 -9.99973525e-01 0.00000000e+00 1.76486083e+02] [ 9.99973525e-01 7.27665765e-03 0.00000000e+00 1.14027142e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75575065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.530371743 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:176.49, Y:114.03, Z:0.04 [[ 7.72309906e-03 -9.99970176e-01 0.00000000e+00 1.76490990e+02] [ 9.99970176e-01 7.72309906e-03 0.00000000e+00 1.14027864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78129813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.560371743 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:176.50, Y:114.03, Z:0.04 [[ 7.87914836e-03 -9.99968959e-01 0.00000000e+00 1.76495899e+02] [ 9.99968959e-01 7.87914836e-03 0.00000000e+00 1.14029487e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79042493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.590371743 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:176.50, Y:114.03, Z:0.04 [[ 7.75594911e-03 -9.99969922e-01 0.00000000e+00 1.76501403e+02] [ 9.99969922e-01 7.75594911e-03 0.00000000e+00 1.14034445e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85522123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.620371743 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:176.51, Y:114.04, Z:0.04 [[ 5.45648111e-03 -9.99985113e-01 0.00000000e+00 1.76511917e+02] [ 9.99985113e-01 5.45648111e-03 0.00000000e+00 1.14041599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83349530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.650371743 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:176.52, Y:114.04, Z:0.04 [[ 3.89988757e-03 -9.99992395e-01 0.00000000e+00 1.76517495e+02] [ 9.99992395e-01 3.89988757e-03 0.00000000e+00 1.14040151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83324142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68037174299997 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:176.53, Y:114.05, Z:0.04 [[-1.15669730e-03 -9.99999331e-01 0.00000000e+00 1.76528465e+02] [ 9.99999331e-01 -1.15669730e-03 0.00000000e+00 1.14051791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88035074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71037174299997 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:176.53, Y:114.04, Z:0.04 [[-4.55091920e-03 -9.99989645e-01 0.00000000e+00 1.76533937e+02] [ 9.99989645e-01 -4.55091920e-03 0.00000000e+00 1.14042619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91643350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74037174299997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:176.54, Y:114.05, Z:0.04 [[-8.30633391e-03 -9.99965502e-01 0.00000000e+00 1.76539552e+02] [ 9.99965502e-01 -8.30633391e-03 0.00000000e+00 1.14047648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96731132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77037174299997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:176.55, Y:114.04, Z:0.04 [[-1.70679987e-02 -9.99854331e-01 0.00000000e+00 1.76550735e+02] [ 9.99854331e-01 -1.70679987e-02 0.00000000e+00 1.14037840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01720688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80037174299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:176.56, Y:114.04, Z:0.04 [[-2.21178658e-02 -9.99755370e-01 0.00000000e+00 1.76555686e+02] [ 9.99755370e-01 -2.21178658e-02 0.00000000e+00 1.14038839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04870926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83037174299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.56, Y:114.02, Z:0.04 [[-3.07626272e-02 -9.99526718e-01 0.00000000e+00 1.76564661e+02] [ 9.99526718e-01 -3.07626272e-02 0.00000000e+00 1.14019883e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11896689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86037174299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.56, Y:114.02, Z:0.04 [[-3.11389014e-02 -9.99515067e-01 0.00000000e+00 1.76564766e+02] [ 9.99515067e-01 -3.11389014e-02 0.00000000e+00 1.14017378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11896689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89037174299997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:176.57, Y:114.03, Z:0.04 [[-3.50484823e-02 -9.99385613e-01 0.00000000e+00 1.76568339e+02] [ 9.99385613e-01 -3.50484823e-02 0.00000000e+00 1.14026565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09535824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92037174299998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:176.57, Y:114.01, Z:0.04 [[-3.88527880e-02 -9.99244945e-01 0.00000000e+00 1.76571316e+02] [ 9.99244945e-01 -3.88527880e-02 0.00000000e+00 1.14009216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08909043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95037174299998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:176.58, Y:114.02, Z:0.04 [[-4.41571338e-02 -9.99024598e-01 0.00000000e+00 1.76576031e+02] [ 9.99024598e-01 -4.41571338e-02 0.00000000e+00 1.14018677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10371767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:114.01, Z:0.04 [[-4.59946139e-02 -9.98941688e-01 0.00000000e+00 1.76578581e+02] [ 9.98941688e-01 -4.59946139e-02 0.00000000e+00 1.14007211e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11311106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:114.03, Z:0.04 [[-4.78019740e-02 -9.98856832e-01 0.00000000e+00 1.76581899e+02] [ 9.98856832e-01 -4.78019740e-02 0.00000000e+00 1.14028047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08857417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:114.02, Z:0.04 [[-4.86518076e-02 -9.98815800e-01 0.00000000e+00 1.76583116e+02] [ 9.98815800e-01 -4.86518076e-02 0.00000000e+00 1.14022238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09341235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07037174299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.58, Y:114.02, Z:0.04 [[-4.95752261e-02 -9.98770393e-01 0.00000000e+00 1.76583938e+02] [ 9.98770393e-01 -4.95752261e-02 0.00000000e+00 1.14020287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10104411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:114.01, Z:0.04 [[-5.26202820e-02 -9.98614593e-01 0.00000000e+00 1.76583931e+02] [ 9.98614593e-01 -5.26202820e-02 0.00000000e+00 1.14013303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03390182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:113.98, Z:0.04 [[-5.27519587e-02 -9.98607646e-01 0.00000000e+00 1.76585235e+02] [ 9.98607646e-01 -5.27519587e-02 0.00000000e+00 1.13978863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08422530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:113.99, Z:0.04 [[-5.44404725e-02 -9.98517018e-01 0.00000000e+00 1.76585009e+02] [ 9.98517018e-01 -5.44404725e-02 0.00000000e+00 1.13989701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09558489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.190371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:113.98, Z:0.04 [[-5.52616773e-02 -9.98471906e-01 0.00000000e+00 1.76584917e+02] [ 9.98471906e-01 -5.52616773e-02 0.00000000e+00 1.13982233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07231984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.220371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:113.97, Z:0.04 [[-5.60226594e-02 -9.98429498e-01 0.00000000e+00 1.76583281e+02] [ 9.98429498e-01 -5.60226594e-02 0.00000000e+00 1.13973734e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15363075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.250371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:113.98, Z:0.04 [[-5.59394195e-02 -9.98434165e-01 0.00000000e+00 1.76581891e+02] [ 9.98434165e-01 -5.59394195e-02 0.00000000e+00 1.13983622e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17290184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.280371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:113.98, Z:0.04 [[-5.55845568e-02 -9.98453983e-01 0.00000000e+00 1.76580633e+02] [ 9.98453983e-01 -5.55845568e-02 0.00000000e+00 1.13975439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22860950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.310371743 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:176.58, Y:113.97, Z:0.04 [[-5.31572019e-02 -9.98586156e-01 0.00000000e+00 1.76577575e+02] [ 9.98586156e-01 -5.31572019e-02 0.00000000e+00 1.13974470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25188843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.340371743 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:176.58, Y:113.96, Z:0.04 [[-5.17677020e-02 -9.98659154e-01 0.00000000e+00 1.76576085e+02] [ 9.98659154e-01 -5.17677020e-02 0.00000000e+00 1.13963471e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22492735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.370371743 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:176.57, Y:113.97, Z:0.04 [[-4.80777051e-02 -9.98843599e-01 0.00000000e+00 1.76571871e+02] [ 9.98843599e-01 -4.80777051e-02 0.00000000e+00 1.13974939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17032258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40037174299997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:176.57, Y:113.97, Z:0.04 [[-4.66741505e-02 -9.98910168e-01 0.00000000e+00 1.76570077e+02] [ 9.98910168e-01 -4.66741505e-02 0.00000000e+00 1.13966106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14725582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43037174299997 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:176.57, Y:113.97, Z:0.04 [[-4.56053931e-02 -9.98959533e-01 0.00000000e+00 1.76568247e+02] [ 9.98959533e-01 -4.56053931e-02 0.00000000e+00 1.13966249e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10035525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46037174299997 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:176.57, Y:113.99, Z:0.04 [[-4.46123833e-02 -9.99004372e-01 0.00000000e+00 1.76565917e+02] [ 9.99004372e-01 -4.46123833e-02 0.00000000e+00 1.13987267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09700368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49037174299997 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:176.57, Y:113.97, Z:0.04 [[-4.46820738e-02 -9.99001257e-01 0.00000000e+00 1.76565713e+02] [ 9.99001257e-01 -4.46820738e-02 0.00000000e+00 1.13966707e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06671545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52037174299997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:176.56, Y:113.98, Z:0.04 [[-4.58406978e-02 -9.98948763e-01 0.00000000e+00 1.76562573e+02] [ 9.98948763e-01 -4.58406978e-02 0.00000000e+00 1.13981978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.05343022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55037174299997 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:176.56, Y:114.00, Z:0.04 [[-4.63161048e-02 -9.98926833e-01 0.00000000e+00 1.76560771e+02] [ 9.98926833e-01 -4.63161048e-02 0.00000000e+00 1.13995089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99809881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58037174299997 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:176.56, Y:113.99, Z:0.04 [[-4.65937981e-02 -9.98913919e-01 0.00000000e+00 1.76559418e+02] [ 9.98913919e-01 -4.65937981e-02 0.00000000e+00 1.13993904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93047149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61037174299997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:176.56, Y:113.97, Z:0.04 [[-4.63994191e-02 -9.98922967e-01 0.00000000e+00 1.76558451e+02] [ 9.98922967e-01 -4.63994191e-02 0.00000000e+00 1.13967230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86501006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64037174299997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:176.56, Y:113.96, Z:0.04 [[-4.63544635e-02 -9.98925054e-01 0.00000000e+00 1.76558468e+02] [ 9.98925054e-01 -4.63544635e-02 0.00000000e+00 1.13955668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87660986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67037174299998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:176.56, Y:113.95, Z:0.04 [[-4.48676232e-02 -9.98992941e-01 0.00000000e+00 1.76557646e+02] [ 9.98992941e-01 -4.48676232e-02 0.00000000e+00 1.13946027e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99998676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70037174299998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:176.56, Y:113.95, Z:0.04 [[-4.37849057e-02 -9.99040981e-01 0.00000000e+00 1.76556505e+02] [ 9.99040981e-01 -4.37849057e-02 0.00000000e+00 1.13949559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02994823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73037174299998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:176.56, Y:113.95, Z:0.04 [[-4.16016588e-02 -9.99134276e-01 0.00000000e+00 1.76555782e+02] [ 9.99134276e-01 -4.16016588e-02 0.00000000e+00 1.13948129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04360643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76037174299998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:176.55, Y:113.97, Z:0.04 [[-3.62553886e-02 -9.99342557e-01 0.00000000e+00 1.76554331e+02] [ 9.99342557e-01 -3.62553886e-02 0.00000000e+00 1.13965752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08444027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79037174299998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:176.55, Y:113.97, Z:0.04 [[-3.36483306e-02 -9.99433735e-01 0.00000000e+00 1.76554271e+02] [ 9.99433735e-01 -3.36483306e-02 0.00000000e+00 1.13968715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12500785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82037174299998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:176.55, Y:113.95, Z:0.04 [[-2.85803555e-02 -9.99591498e-01 0.00000000e+00 1.76554968e+02] [ 9.99591498e-01 -2.85803555e-02 0.00000000e+00 1.13951384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10522641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85037174299998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:176.56, Y:113.95, Z:0.04 [[-2.72809672e-02 -9.99627805e-01 0.00000000e+00 1.76555048e+02] [ 9.99627805e-01 -2.72809672e-02 0.00000000e+00 1.13951870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09552476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88037174299998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:176.56, Y:113.95, Z:0.04 [[-2.60561731e-02 -9.99660480e-01 0.00000000e+00 1.76555785e+02] [ 9.99660480e-01 -2.60561731e-02 0.00000000e+00 1.13952653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08364882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91037174299998 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:176.56, Y:113.95, Z:0.04 [[-2.50873797e-02 -9.99685262e-01 0.00000000e+00 1.76558080e+02] [ 9.99685262e-01 -2.50873797e-02 0.00000000e+00 1.13954004e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00286042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.940371743 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:176.56, Y:113.96, Z:0.04 [[-2.52699154e-02 -9.99680665e-01 0.00000000e+00 1.76559759e+02] [ 9.99680665e-01 -2.52699154e-02 0.00000000e+00 1.13955744e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.02906161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.970371743 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.56, Y:113.94, Z:0.04 [[-2.63664654e-02 -9.99652344e-01 0.00000000e+00 1.76563908e+02] [ 9.99652344e-01 -2.63664654e-02 0.00000000e+00 1.13944969e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00048183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.000371743 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:176.57, Y:113.94, Z:0.04 [[-2.75478343e-02 -9.99620486e-01 0.00000000e+00 1.76566041e+02] [ 9.99620486e-01 -2.75478343e-02 0.00000000e+00 1.13943672e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97687978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.030371743 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.57, Y:113.94, Z:0.04 [[-2.94022276e-02 -9.99567661e-01 0.00000000e+00 1.76568355e+02] [ 9.99567661e-01 -2.94022276e-02 0.00000000e+00 1.13938903e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01143498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.060371743 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.57, Y:113.93, Z:0.04 [[-3.45403436e-02 -9.99403304e-01 0.00000000e+00 1.76573420e+02] [ 9.99403304e-01 -3.45403436e-02 0.00000000e+00 1.13931482e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99825509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.090371743 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.58, Y:113.92, Z:0.04 [[-4.20268275e-02 -9.99116483e-01 0.00000000e+00 1.76579927e+02] [ 9.99116483e-01 -4.20268275e-02 0.00000000e+00 1.13919326e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93682151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.120371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:113.94, Z:0.04 [[-4.56691054e-02 -9.98956622e-01 0.00000000e+00 1.76582682e+02] [ 9.98956622e-01 -4.56691054e-02 0.00000000e+00 1.13944057e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92454573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:113.92, Z:0.04 [[-5.09386292e-02 -9.98701785e-01 0.00000000e+00 1.76585549e+02] [ 9.98701785e-01 -5.09386292e-02 0.00000000e+00 1.13923611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78933314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18037174299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.59, Y:113.91, Z:0.04 [[-5.36528502e-02 -9.98559649e-01 0.00000000e+00 1.76588966e+02] [ 9.98559649e-01 -5.36528502e-02 0.00000000e+00 1.13912106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01131453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:113.90, Z:0.04 [[-6.07874411e-02 -9.98150734e-01 0.00000000e+00 1.76593047e+02] [ 9.98150734e-01 -6.07874411e-02 0.00000000e+00 1.13895397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08234909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24037174299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.60, Y:113.89, Z:0.04 [[-6.67502539e-02 -9.97769715e-01 0.00000000e+00 1.76596478e+02] [ 9.97769715e-01 -6.67502539e-02 0.00000000e+00 1.13888567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11930633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:113.88, Z:0.04 [[-6.92958273e-02 -9.97596155e-01 0.00000000e+00 1.76598179e+02] [ 9.97596155e-01 -6.92958273e-02 0.00000000e+00 1.13884082e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16882966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:113.92, Z:0.04 [[-7.17985277e-02 -9.97419155e-01 0.00000000e+00 1.76598141e+02] [ 9.97419155e-01 -7.17985277e-02 0.00000000e+00 1.13915813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15429576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:113.92, Z:0.04 [[-7.41727487e-02 -9.97245408e-01 0.00000000e+00 1.76598639e+02] [ 9.97245408e-01 -7.41727487e-02 0.00000000e+00 1.13919897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17473381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:113.87, Z:0.04 [[-7.77242809e-02 -9.96974892e-01 0.00000000e+00 1.76600073e+02] [ 9.96974892e-01 -7.77242809e-02 0.00000000e+00 1.13868226e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22500240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39037174299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:113.86, Z:0.04 [[-7.91114169e-02 -9.96865780e-01 0.00000000e+00 1.76599287e+02] [ 9.96865780e-01 -7.91114169e-02 0.00000000e+00 1.13864697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18937042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:113.88, Z:0.04 [[-8.03532679e-02 -9.96766448e-01 0.00000000e+00 1.76596086e+02] [ 9.96766448e-01 -8.03532679e-02 0.00000000e+00 1.13875114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12352398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:113.90, Z:0.04 [[-8.07411608e-02 -9.96735103e-01 0.00000000e+00 1.76593643e+02] [ 9.96735103e-01 -8.07411608e-02 0.00000000e+00 1.13902022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10223748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:113.86, Z:0.04 [[-8.11961710e-02 -9.96698140e-01 0.00000000e+00 1.76593000e+02] [ 9.96698140e-01 -8.11961710e-02 0.00000000e+00 1.13860699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07933239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.59, Y:113.86, Z:0.04 [[-8.10253864e-02 -9.96712038e-01 0.00000000e+00 1.76588435e+02] [ 9.96712038e-01 -8.10253864e-02 0.00000000e+00 1.13864023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.00572520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54037174299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.59, Y:113.89, Z:0.04 [[-8.10270599e-02 -9.96711902e-01 0.00000000e+00 1.76585034e+02] [ 9.96711902e-01 -8.10270599e-02 0.00000000e+00 1.13890864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90998791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57037174299998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:176.58, Y:113.85, Z:0.04 [[-7.98806580e-02 -9.96804434e-01 0.00000000e+00 1.76581167e+02] [ 9.96804434e-01 -7.98806580e-02 0.00000000e+00 1.13853263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63962395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60037174299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:113.84, Z:0.04 [[-7.99999495e-02 -9.96794868e-01 0.00000000e+00 1.76578665e+02] [ 9.96794868e-01 -7.99999495e-02 0.00000000e+00 1.13844483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52889941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63037174299998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:176.57, Y:113.84, Z:0.03 [[-8.10978049e-02 -9.96706148e-01 0.00000000e+00 1.76573166e+02] [ 9.96706148e-01 -8.10978049e-02 0.00000000e+00 1.13839878e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45602891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66037174299998 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:176.57, Y:113.87, Z:0.03 [[-8.24007994e-02 -9.96599272e-01 0.00000000e+00 1.76569052e+02] [ 9.96599272e-01 -8.24007994e-02 0.00000000e+00 1.13873366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46598924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.690371743 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:176.56, Y:113.84, Z:0.04 [[-8.42764581e-02 -9.96442411e-01 0.00000000e+00 1.76563026e+02] [ 9.96442411e-01 -8.42764581e-02 0.00000000e+00 1.13840819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53491479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.720371743 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:176.56, Y:113.84, Z:0.03 [[-8.35819233e-02 -9.96500909e-01 0.00000000e+00 1.76560401e+02] [ 9.96500909e-01 -8.35819233e-02 0.00000000e+00 1.13835851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47021402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.750371743 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:176.56, Y:113.83, Z:0.03 [[-8.39494892e-02 -9.96470011e-01 0.00000000e+00 1.76560564e+02] [ 9.96470011e-01 -8.39494892e-02 0.00000000e+00 1.13833344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47021402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.780371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.56, Y:113.84, Z:0.03 [[-8.31182283e-02 -9.96539693e-01 0.00000000e+00 1.76557268e+02] [ 9.96539693e-01 -8.31182283e-02 0.00000000e+00 1.13835347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46155803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.810371743 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:176.55, Y:113.86, Z:0.04 [[-7.92166900e-02 -9.96857420e-01 0.00000000e+00 1.76549198e+02] [ 9.96857420e-01 -7.92166900e-02 0.00000000e+00 1.13862177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53502953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.840371743 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:176.54, Y:113.85, Z:0.04 [[-7.32506632e-02 -9.97313562e-01 0.00000000e+00 1.76541943e+02] [ 9.97313562e-01 -7.32506632e-02 0.00000000e+00 1.13854236e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66682057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.870371743 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:176.54, Y:113.87, Z:0.04 [[-6.62189720e-02 -9.97805115e-01 0.00000000e+00 1.76539619e+02] [ 9.97805115e-01 -6.62189720e-02 0.00000000e+00 1.13868448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75048252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90037174299997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:176.54, Y:113.84, Z:0.04 [[-6.54124901e-02 -9.97858310e-01 0.00000000e+00 1.76535228e+02] [ 9.97858310e-01 -6.54124901e-02 0.00000000e+00 1.13841368e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72568543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93037174299997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:176.53, Y:113.85, Z:0.04 [[-5.87443260e-02 -9.98273061e-01 0.00000000e+00 1.76527972e+02] [ 9.98273061e-01 -5.87443260e-02 0.00000000e+00 1.13850749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78101947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96037174299997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:176.52, Y:113.86, Z:0.04 [[-5.60268814e-02 -9.98429261e-01 0.00000000e+00 1.76524419e+02] [ 9.98429261e-01 -5.60268814e-02 0.00000000e+00 1.13863151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81073763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99037174299997 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:176.49, Y:114.64, Z:0.04 [[-5.30773436e-02 -9.98590404e-01 0.00000000e+00 1.76489945e+02] [ 9.98590404e-01 -5.30773436e-02 0.00000000e+00 1.14637130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85837493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02037174299997 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:176.52, Y:113.90, Z:0.04 [[-5.04544750e-02 -9.98726362e-01 0.00000000e+00 1.76515843e+02] [ 9.98726362e-01 -5.04544750e-02 0.00000000e+00 1.13897397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85610338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05037174299997 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:176.49, Y:114.65, Z:0.04 [[-5.07584413e-02 -9.98710960e-01 0.00000000e+00 1.76486337e+02] [ 9.98710960e-01 -5.07584413e-02 0.00000000e+00 1.14647886e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89580611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08037174299997 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:176.51, Y:113.89, Z:0.04 [[-5.09725268e-02 -9.98700056e-01 0.00000000e+00 1.76511353e+02] [ 9.98700056e-01 -5.09725268e-02 0.00000000e+00 1.13892122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82857558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11037174299997 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:176.51, Y:113.89, Z:0.04 [[-5.26013542e-02 -9.98615590e-01 0.00000000e+00 1.76510602e+02] [ 9.98615590e-01 -5.26013542e-02 0.00000000e+00 1.13887736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82871494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14037174299997 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:176.51, Y:113.93, Z:0.04 [[-5.97265605e-02 -9.98214775e-01 0.00000000e+00 1.76507735e+02] [ 9.98214775e-01 -5.97265605e-02 0.00000000e+00 1.13931304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78340919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17037174299998 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:176.51, Y:113.92, Z:0.04 [[-6.33821211e-02 -9.97989332e-01 0.00000000e+00 1.76507629e+02] [ 9.97989332e-01 -6.33821211e-02 0.00000000e+00 1.13923593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80985895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20037174299998 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:176.51, Y:113.93, Z:0.04 [[-6.70421905e-02 -9.97750141e-01 0.00000000e+00 1.76507236e+02] [ 9.97750141e-01 -6.70421905e-02 0.00000000e+00 1.13928690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70929966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23037174299998 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:176.51, Y:113.93, Z:0.04 [[-7.44305121e-02 -9.97226202e-01 0.00000000e+00 1.76506630e+02] [ 9.97226202e-01 -7.44305121e-02 0.00000000e+00 1.13933745e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.58676373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26037174299998 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:176.51, Y:113.94, Z:0.04 [[-7.76030037e-02 -9.96984340e-01 0.00000000e+00 1.76506019e+02] [ 9.96984340e-01 -7.76030037e-02 0.00000000e+00 1.13941656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51797623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29037174299998 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:176.50, Y:113.94, Z:0.03 [[-8.29038851e-02 -9.96557548e-01 0.00000000e+00 1.76504872e+02] [ 9.96557548e-01 -8.29038851e-02 0.00000000e+00 1.13938388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43576156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32037174299998 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:176.50, Y:113.94, Z:0.03 [[-8.50976800e-02 -9.96372613e-01 0.00000000e+00 1.76503792e+02] [ 9.96372613e-01 -8.50976800e-02 0.00000000e+00 1.13943717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41597925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35037174299998 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:176.50, Y:113.95, Z:0.03 [[-8.85738301e-02 -9.96069614e-01 0.00000000e+00 1.76501100e+02] [ 9.96069614e-01 -8.85738301e-02 0.00000000e+00 1.13953012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31628494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38037174299998 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:176.50, Y:113.95, Z:0.03 [[-8.98231672e-02 -9.95957729e-01 0.00000000e+00 1.76499734e+02] [ 9.95957729e-01 -8.98231672e-02 0.00000000e+00 1.13953470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28753301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41037174299998 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:176.50, Y:113.96, Z:0.03 [[-9.12872504e-02 -9.95824602e-01 0.00000000e+00 1.76498031e+02] [ 9.95824602e-01 -9.12872504e-02 0.00000000e+00 1.13956498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33647746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.440371743 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:176.49, Y:113.96, Z:0.03 [[-9.51616384e-02 -9.95461834e-01 0.00000000e+00 1.76494268e+02] [ 9.95461834e-01 -9.51616384e-02 0.00000000e+00 1.13962620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40212151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.470371743 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:176.49, Y:113.97, Z:0.03 [[-9.76136316e-02 -9.95224386e-01 0.00000000e+00 1.76491806e+02] [ 9.95224386e-01 -9.76136316e-02 0.00000000e+00 1.13968234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41653518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.500371743 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:176.49, Y:113.98, Z:0.03 [[-1.04036781e-01 -9.94573450e-01 0.00000000e+00 1.76486297e+02] [ 9.94573450e-01 -1.04036781e-01 0.00000000e+00 1.13978576e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37358438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.530371743 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:176.49, Y:113.97, Z:0.03 [[-1.02145386e-01 -9.94769481e-01 0.00000000e+00 1.76486239e+02] [ 9.94769481e-01 -1.02145386e-01 0.00000000e+00 1.13974275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36031185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.560371743 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:176.48, Y:113.99, Z:0.03 [[-1.12907377e-01 -9.93605517e-01 0.00000000e+00 1.76475493e+02] [ 9.93605517e-01 -1.12907377e-01 0.00000000e+00 1.13988461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32380310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.590371743 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:176.47, Y:114.00, Z:0.03 [[-1.14528635e-01 -9.93419947e-01 0.00000000e+00 1.76470786e+02] [ 9.93419947e-01 -1.14528635e-01 0.00000000e+00 1.13995832e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33344853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.620371743 meters Centerline goodness : 0.996791 Centerline is valid? [True, True] Translation: X:176.47, Y:114.00, Z:0.03 [[-1.15324208e-01 -9.93327905e-01 0.00000000e+00 1.76466125e+02] [ 9.93327905e-01 -1.15324208e-01 0.00000000e+00 1.13997633e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31477719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65037174299997 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:176.46, Y:114.00, Z:0.03 [[-1.15735219e-01 -9.93280101e-01 0.00000000e+00 1.76455991e+02] [ 9.93280101e-01 -1.15735219e-01 0.00000000e+00 1.14001034e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26899690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68037174299997 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:176.45, Y:114.00, Z:0.03 [[-1.15028619e-01 -9.93362178e-01 0.00000000e+00 1.76450779e+02] [ 9.93362178e-01 -1.15028619e-01 0.00000000e+00 1.13998703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22644190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71037174299997 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:176.44, Y:114.00, Z:0.03 [[-1.13419813e-01 -9.93547153e-01 0.00000000e+00 1.76440138e+02] [ 9.93547153e-01 -1.13419813e-01 0.00000000e+00 1.13998744e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16779602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74037174299997 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:176.43, Y:114.01, Z:0.03 [[-1.12428885e-01 -9.93659774e-01 0.00000000e+00 1.76434289e+02] [ 9.93659774e-01 -1.12428885e-01 0.00000000e+00 1.14005457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10964625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77037174299997 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:176.43, Y:114.00, Z:0.03 [[-1.10952442e-01 -9.93825717e-01 0.00000000e+00 1.76428945e+02] [ 9.93825717e-01 -1.10952442e-01 0.00000000e+00 1.14003510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09097584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80037174299997 meters Centerline goodness : 0.993542 Centerline is valid? [True, True] Translation: X:176.42, Y:113.99, Z:0.03 [[-9.52147446e-02 -9.95456756e-01 0.00000000e+00 1.76424750e+02] [ 9.95456756e-01 -9.52147446e-02 0.00000000e+00 1.13989595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.64530821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83037174299997 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:176.42, Y:113.99, Z:0.03 [[-9.39292708e-02 -9.95578873e-01 0.00000000e+00 1.76418577e+02] [ 9.95578873e-01 -9.39292708e-02 0.00000000e+00 1.13986989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63154247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86037174299997 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:176.41, Y:113.99, Z:0.02 [[-9.01712509e-02 -9.95926275e-01 0.00000000e+00 1.76406550e+02] [ 9.95926275e-01 -9.01712509e-02 0.00000000e+00 1.13988542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49859611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89037174299997 meters Centerline goodness : 0.990577 Centerline is valid? [True, True] Translation: X:176.39, Y:114.00, Z:0.03 [[-9.98210276e-02 -9.95005408e-01 0.00000000e+00 1.76394086e+02] [ 9.95005408e-01 -9.98210276e-02 0.00000000e+00 1.13996684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.70679253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92037174299998 meters Centerline goodness : 0.990062 Centerline is valid? [True, True] Translation: X:176.39, Y:114.00, Z:0.03 [[-9.78037199e-02 -9.95205724e-01 0.00000000e+00 1.76387964e+02] [ 9.95205724e-01 -9.78037199e-02 0.00000000e+00 1.14000121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58914103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95037174299998 meters Centerline goodness : 0.989290 Centerline is valid? [True, True] Translation: X:176.38, Y:113.99, Z:0.02 [[-8.42560575e-02 -9.96444136e-01 0.00000000e+00 1.76383254e+02] [ 9.96444136e-01 -8.42560575e-02 0.00000000e+00 1.13990504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38161059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98037174299998 meters Centerline goodness : 0.988583 Centerline is valid? [True, True] Translation: X:176.37, Y:113.99, Z:0.02 [[-8.16628753e-02 -9.96660010e-01 0.00000000e+00 1.76372570e+02] [ 9.96660010e-01 -8.16628753e-02 0.00000000e+00 1.13990473e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28366703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01037174299998 meters Centerline goodness : 0.988756 Centerline is valid? [True, True] Translation: X:176.37, Y:113.99, Z:0.02 [[-7.85252415e-02 -9.96912126e-01 0.00000000e+00 1.76368570e+02] [ 9.96912126e-01 -7.85252415e-02 0.00000000e+00 1.13985303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15586029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04037174299998 meters Centerline goodness : 0.989519 Centerline is valid? [True, True] Translation: X:176.36, Y:113.97, Z:0.02 [[-7.52691062e-02 -9.97163257e-01 0.00000000e+00 1.76364134e+02] [ 9.97163257e-01 -7.52691062e-02 0.00000000e+00 1.13970222e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08487505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07037174299998 meters Centerline goodness : 0.988928 Centerline is valid? [True, True] Translation: X:176.35, Y:114.00, Z:0.02 [[-8.86095845e-02 -9.96066434e-01 0.00000000e+00 1.76346687e+02] [ 9.96066434e-01 -8.86095845e-02 0.00000000e+00 1.14002501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40617110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10037174299998 meters Centerline goodness : 0.989086 Centerline is valid? [True, True] Translation: X:176.34, Y:114.00, Z:0.02 [[-8.80704661e-02 -9.96114247e-01 0.00000000e+00 1.76341856e+02] [ 9.96114247e-01 -8.80704661e-02 0.00000000e+00 1.14004259e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38826445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13037174299998 meters Centerline goodness : 0.988156 Centerline is valid? [True, True] Translation: X:176.34, Y:113.98, Z:0.02 [[-7.49113496e-02 -9.97190197e-01 0.00000000e+00 1.76341366e+02] [ 9.97190197e-01 -7.49113496e-02 0.00000000e+00 1.13979088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25791443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16037174299998 meters Centerline goodness : 0.989067 Centerline is valid? [True, True] Translation: X:176.34, Y:113.98, Z:0.02 [[-7.46511506e-02 -9.97209710e-01 0.00000000e+00 1.76337472e+02] [ 9.97209710e-01 -7.46511506e-02 0.00000000e+00 1.13983433e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29364562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.190371743 meters Centerline goodness : 0.989694 Centerline is valid? [True, True] Translation: X:176.33, Y:114.01, Z:0.02 [[-8.86742225e-02 -9.96060682e-01 0.00000000e+00 1.76325932e+02] [ 9.96060682e-01 -8.86742225e-02 0.00000000e+00 1.14007890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39926010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.220371743 meters Centerline goodness : 0.989854 Centerline is valid? [True, True] Translation: X:176.32, Y:114.01, Z:0.02 [[-9.01586373e-02 -9.95927417e-01 0.00000000e+00 1.76318448e+02] [ 9.95927417e-01 -9.01586373e-02 0.00000000e+00 1.14012260e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36272337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.250371743 meters Centerline goodness : 0.990364 Centerline is valid? [True, True] Translation: X:176.32, Y:114.02, Z:0.02 [[-9.06393026e-02 -9.95883787e-01 0.00000000e+00 1.76315011e+02] [ 9.95883787e-01 -9.06393026e-02 0.00000000e+00 1.14016346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37038622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.280371743 meters Centerline goodness : 0.990282 Centerline is valid? [True, True] Translation: X:176.32, Y:114.00, Z:0.02 [[-7.70085167e-02 -9.97030435e-01 0.00000000e+00 1.76316267e+02] [ 9.97030435e-01 -7.70085167e-02 0.00000000e+00 1.13995207e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29428638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.310371743 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:176.30, Y:114.02, Z:0.02 [[-9.11766631e-02 -9.95834733e-01 0.00000000e+00 1.76304517e+02] [ 9.95834733e-01 -9.11766631e-02 0.00000000e+00 1.14017447e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35752214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.340371743 meters Centerline goodness : 0.991141 Centerline is valid? [True, True] Translation: X:176.30, Y:114.02, Z:0.02 [[-9.09013373e-02 -9.95859903e-01 0.00000000e+00 1.76301123e+02] [ 9.95859903e-01 -9.09013373e-02 0.00000000e+00 1.14023612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36018650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.370371743 meters Centerline goodness : 0.991509 Centerline is valid? [True, True] Translation: X:176.30, Y:114.02, Z:0.02 [[-9.02884367e-02 -9.95915658e-01 0.00000000e+00 1.76298112e+02] [ 9.95915658e-01 -9.02884367e-02 0.00000000e+00 1.14022387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31074748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40037174299997 meters Centerline goodness : 0.992199 Centerline is valid? [True, True] Translation: X:176.29, Y:114.03, Z:0.02 [[-9.13065308e-02 -9.95822834e-01 0.00000000e+00 1.76292122e+02] [ 9.95822834e-01 -9.13065308e-02 0.00000000e+00 1.14027397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23170488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43037174299997 meters Centerline goodness : 0.992675 Centerline is valid? [True, True] Translation: X:176.29, Y:114.03, Z:0.02 [[-9.45592823e-02 -9.95519232e-01 0.00000000e+00 1.76286760e+02] [ 9.95519232e-01 -9.45592823e-02 0.00000000e+00 1.14030331e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15328321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46037174299997 meters Centerline goodness : 0.986043 Centerline is valid? [True, True] Translation: X:176.26, Y:115.05, Z:0.02 [[-1.03864064e-01 -9.94591502e-01 0.00000000e+00 1.76258138e+02] [ 9.94591502e-01 -1.03864064e-01 0.00000000e+00 1.15048210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95645004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49037174299997 meters Centerline goodness : 0.992376 Centerline is valid? [True, True] Translation: X:176.28, Y:114.03, Z:0.02 [[-8.23778690e-02 -9.96601167e-01 0.00000000e+00 1.76281169e+02] [ 9.96601167e-01 -8.23778690e-02 0.00000000e+00 1.14033008e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13417807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52037174299997 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:176.28, Y:114.03, Z:0.02 [[-8.47370800e-02 -9.96403346e-01 0.00000000e+00 1.76275459e+02] [ 9.96403346e-01 -8.47370800e-02 0.00000000e+00 1.14030126e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30915028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55037174299997 meters Centerline goodness : 0.992020 Centerline is valid? [True, True] Translation: X:176.27, Y:114.04, Z:0.03 [[-8.84270994e-02 -9.96082651e-01 0.00000000e+00 1.76272125e+02] [ 9.96082651e-01 -8.84270994e-02 0.00000000e+00 1.14041110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81798918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58037174299997 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:176.26, Y:114.04, Z:0.03 [[-8.82395624e-02 -9.96099282e-01 0.00000000e+00 1.76264388e+02] [ 9.96099282e-01 -8.82395624e-02 0.00000000e+00 1.14041204e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59479115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61037174299997 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:176.26, Y:114.04, Z:0.03 [[-8.71807243e-02 -9.96192512e-01 0.00000000e+00 1.76260531e+02] [ 9.96192512e-01 -8.71807243e-02 0.00000000e+00 1.14038048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52743274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64037174299997 meters Centerline goodness : 0.993243 Centerline is valid? [True, True] Translation: X:176.26, Y:114.05, Z:0.02 [[-8.65022336e-02 -9.96251657e-01 0.00000000e+00 1.76256119e+02] [ 9.96251657e-01 -8.65022336e-02 0.00000000e+00 1.14047703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46054458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67037174299998 meters Centerline goodness : 0.993243 Centerline is valid? [True, True] Translation: X:176.26, Y:114.05, Z:0.02 [[-8.61362703e-02 -9.96283365e-01 0.00000000e+00 1.76256008e+02] [ 9.96283365e-01 -8.61362703e-02 0.00000000e+00 1.14050323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46054458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70037174299998 meters Centerline goodness : 0.993447 Centerline is valid? [True, True] Translation: X:176.25, Y:114.05, Z:0.02 [[-8.15023702e-02 -9.96673148e-01 0.00000000e+00 1.76248450e+02] [ 9.96673148e-01 -8.15023702e-02 0.00000000e+00 1.14046749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31933324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73037174299998 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:176.24, Y:114.05, Z:0.02 [[-8.05407746e-02 -9.96751315e-01 0.00000000e+00 1.76244137e+02] [ 9.96751315e-01 -8.05407746e-02 0.00000000e+00 1.14047437e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35886133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76037174299998 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:176.24, Y:114.07, Z:0.02 [[-8.24805481e-02 -9.96592675e-01 0.00000000e+00 1.76236015e+02] [ 9.96592675e-01 -8.24805481e-02 0.00000000e+00 1.14073132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31081060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79037174299998 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:176.23, Y:114.06, Z:0.02 [[-8.02802065e-02 -9.96772335e-01 0.00000000e+00 1.76234235e+02] [ 9.96772335e-01 -8.02802065e-02 0.00000000e+00 1.14059886e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37988971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82037174299998 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:176.23, Y:114.06, Z:0.02 [[-8.09839296e-02 -9.96715407e-01 0.00000000e+00 1.76230661e+02] [ 9.96715407e-01 -8.09839296e-02 0.00000000e+00 1.14064968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38041531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85037174299998 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:176.22, Y:114.07, Z:0.02 [[-8.38122073e-02 -9.96481567e-01 0.00000000e+00 1.76223411e+02] [ 9.96481567e-01 -8.38122073e-02 0.00000000e+00 1.14070825e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44409879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88037174299998 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:176.22, Y:114.08, Z:0.02 [[-8.67071447e-02 -9.96233844e-01 0.00000000e+00 1.76219118e+02] [ 9.96233844e-01 -8.67071447e-02 0.00000000e+00 1.14079807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38714703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91037174299998 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:176.21, Y:114.07, Z:0.02 [[-9.01004755e-02 -9.95932681e-01 0.00000000e+00 1.76212477e+02] [ 9.95932681e-01 -9.01004755e-02 0.00000000e+00 1.14070405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18472259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.940371743 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:176.21, Y:114.07, Z:0.02 [[-9.18325200e-02 -9.95774467e-01 0.00000000e+00 1.76209641e+02] [ 9.95774467e-01 -9.18325200e-02 0.00000000e+00 1.14074830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10574842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.970371743 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:176.21, Y:114.08, Z:0.02 [[-9.38310744e-02 -9.95588132e-01 0.00000000e+00 1.76206405e+02] [ 9.95588132e-01 -9.38310744e-02 0.00000000e+00 1.14084144e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00292779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.000371743 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:176.20, Y:114.08, Z:0.02 [[-1.04124075e-01 -9.94564315e-01 0.00000000e+00 1.76195081e+02] [ 9.94564315e-01 -1.04124075e-01 0.00000000e+00 1.14082660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87515271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.030371743 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:176.19, Y:114.42, Z:0.02 [[-1.00803504e-01 -9.94906354e-01 0.00000000e+00 1.76191380e+02] [ 9.94906354e-01 -1.00803504e-01 0.00000000e+00 1.14424958e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70197427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.060371743 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:176.91, Y:114.25, Z:0.87 [[ 1.23986053e-02 9.99923134e-01 0.00000000e+00 1.76908026e+02] [ 9.99923134e-01 -1.23986053e-02 0.00000000e+00 1.14249901e+02] [ 0.00000000e+00 0.00000000e+00 -1.00000000e+00 8.66601932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.090371743 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:176.22, Y:114.20, Z:0.02 [[-1.62239164e-01 -9.86751465e-01 0.00000000e+00 1.76222288e+02] [ 9.86751465e-01 -1.62239164e-01 0.00000000e+00 1.14202176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46480015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.120371743 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:176.22, Y:114.21, Z:0.03 [[-1.62184328e-01 -9.86760479e-01 0.00000000e+00 1.76219103e+02] [ 9.86760479e-01 -1.62184328e-01 0.00000000e+00 1.14206173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53631603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15037174299997 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:176.21, Y:114.21, Z:0.03 [[-1.60798103e-01 -9.86987320e-01 0.00000000e+00 1.76213324e+02] [ 9.86987320e-01 -1.60798103e-01 0.00000000e+00 1.14212855e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66313281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18037174299997 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:176.21, Y:114.21, Z:0.03 [[-1.59866950e-01 -9.87138571e-01 0.00000000e+00 1.76208041e+02] [ 9.87138571e-01 -1.59866950e-01 0.00000000e+00 1.14209699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.68544667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21037174299997 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:176.20, Y:114.22, Z:0.03 [[-1.59224782e-01 -9.87242356e-01 0.00000000e+00 1.76204373e+02] [ 9.87242356e-01 -1.59224782e-01 0.00000000e+00 1.14218749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61565184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24037174299997 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:176.20, Y:114.22, Z:0.03 [[-1.58222762e-01 -9.87403442e-01 0.00000000e+00 1.76202156e+02] [ 9.87403442e-01 -1.58222762e-01 0.00000000e+00 1.14219869e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61299500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27037174299997 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:176.20, Y:114.24, Z:0.02 [[-1.58814422e-01 -9.87308452e-01 0.00000000e+00 1.76198407e+02] [ 9.87308452e-01 -1.58814422e-01 0.00000000e+00 1.14237843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48313402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30037174299997 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:176.19, Y:114.22, Z:0.02 [[-1.59157892e-01 -9.87253141e-01 0.00000000e+00 1.76194202e+02] [ 9.87253141e-01 -1.59157892e-01 0.00000000e+00 1.14222366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47355874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33037174299997 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:176.19, Y:114.23, Z:0.02 [[-1.57821721e-01 -9.87467622e-01 0.00000000e+00 1.76187836e+02] [ 9.87467622e-01 -1.57821721e-01 0.00000000e+00 1.14230982e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44323480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36037174299997 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:176.18, Y:114.25, Z:0.02 [[-1.56622697e-01 -9.87658509e-01 0.00000000e+00 1.76184493e+02] [ 9.87658509e-01 -1.56622697e-01 0.00000000e+00 1.14245400e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36455852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39037174299997 meters Centerline goodness : 0.995021 Centerline is valid? [True, True] Translation: X:176.18, Y:114.23, Z:0.02 [[-1.55899082e-01 -9.87772988e-01 0.00000000e+00 1.76183233e+02] [ 9.87772988e-01 -1.55899082e-01 0.00000000e+00 1.14228900e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30333240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42037174299998 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:176.18, Y:114.24, Z:0.02 [[-1.54570075e-01 -9.87981828e-01 0.00000000e+00 1.76177593e+02] [ 9.87981828e-01 -1.54570075e-01 0.00000000e+00 1.14242918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39720012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45037174299998 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:176.18, Y:114.22, Z:0.02 [[-1.52839215e-01 -9.88251068e-01 0.00000000e+00 1.76177308e+02] [ 9.88251068e-01 -1.52839215e-01 0.00000000e+00 1.14220860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45733166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48037174299998 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:176.17, Y:114.22, Z:0.02 [[-1.51579674e-01 -9.88445043e-01 0.00000000e+00 1.76172658e+02] [ 9.88445043e-01 -1.51579674e-01 0.00000000e+00 1.14224362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49957181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51037174299998 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:176.17, Y:114.23, Z:0.03 [[-1.50529753e-01 -9.88605479e-01 0.00000000e+00 1.76170408e+02] [ 9.88605479e-01 -1.50529753e-01 0.00000000e+00 1.14230775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56349437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54037174299998 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:176.17, Y:114.22, Z:0.03 [[-1.47503270e-01 -9.89061568e-01 0.00000000e+00 1.76169734e+02] [ 9.89061568e-01 -1.47503270e-01 0.00000000e+00 1.14221986e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69812620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57037174299998 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:176.17, Y:114.23, Z:0.03 [[-1.44466562e-01 -9.89509683e-01 0.00000000e+00 1.76167215e+02] [ 9.89509683e-01 -1.44466562e-01 0.00000000e+00 1.14225557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66882849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60037174299998 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:176.16, Y:114.25, Z:0.03 [[-1.44232901e-01 -9.89543769e-01 0.00000000e+00 1.76163874e+02] [ 9.89543769e-01 -1.44232901e-01 0.00000000e+00 1.14252857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65381693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63037174299998 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:176.16, Y:114.23, Z:0.03 [[-1.40801353e-01 -9.90037867e-01 0.00000000e+00 1.76162430e+02] [ 9.90037867e-01 -1.40801353e-01 0.00000000e+00 1.14228584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61288218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66037174299998 meters Centerline goodness : 0.993329 Centerline is valid? [True, True] Translation: X:176.16, Y:114.23, Z:0.03 [[-1.39035527e-01 -9.90287394e-01 0.00000000e+00 1.76160174e+02] [ 9.90287394e-01 -1.39035527e-01 0.00000000e+00 1.14233687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60115656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.690371743 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:176.16, Y:114.23, Z:0.02 [[-1.38344383e-01 -9.90384184e-01 0.00000000e+00 1.76158065e+02] [ 9.90384184e-01 -1.38344383e-01 0.00000000e+00 1.14232035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48115186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.720371743 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:176.15, Y:114.24, Z:0.02 [[-1.36431836e-01 -9.90649461e-01 0.00000000e+00 1.76154347e+02] [ 9.90649461e-01 -1.36431836e-01 0.00000000e+00 1.14243896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35986887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.750371743 meters Centerline goodness : 0.992994 Centerline is valid? [True, True] Translation: X:176.15, Y:114.23, Z:0.02 [[-1.35315857e-01 -9.90802513e-01 0.00000000e+00 1.76154521e+02] [ 9.90802513e-01 -1.35315857e-01 0.00000000e+00 1.14234132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35207400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.780371743 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:176.15, Y:114.24, Z:0.02 [[-1.31979884e-01 -9.91252395e-01 0.00000000e+00 1.76151258e+02] [ 9.91252395e-01 -1.31979884e-01 0.00000000e+00 1.14241877e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45523657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.810371743 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:176.15, Y:114.24, Z:0.02 [[-1.32840709e-01 -9.91137400e-01 0.00000000e+00 1.76148782e+02] [ 9.91137400e-01 -1.32840709e-01 0.00000000e+00 1.14244239e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45211321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.840371743 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:176.15, Y:114.24, Z:0.02 [[-1.31075184e-01 -9.91372431e-01 0.00000000e+00 1.76147832e+02] [ 9.91372431e-01 -1.31075184e-01 0.00000000e+00 1.14238299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49584262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.870371743 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:176.14, Y:114.24, Z:0.03 [[-1.30845679e-01 -9.91402748e-01 0.00000000e+00 1.76144009e+02] [ 9.91402748e-01 -1.30845679e-01 0.00000000e+00 1.14237841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52540746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90037174299997 meters Centerline goodness : 0.992856 Centerline is valid? [True, True] Translation: X:176.14, Y:114.24, Z:0.03 [[-1.29299546e-01 -9.91605581e-01 0.00000000e+00 1.76141560e+02] [ 9.91605581e-01 -1.29299546e-01 0.00000000e+00 1.14241513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56122022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93037174299997 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:176.14, Y:114.25, Z:0.03 [[-1.27781108e-01 -9.91802394e-01 0.00000000e+00 1.76137806e+02] [ 9.91802394e-01 -1.27781108e-01 0.00000000e+00 1.14251167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53300681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96037174299997 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:176.14, Y:114.26, Z:0.02 [[-1.27486615e-01 -9.91840291e-01 0.00000000e+00 1.76136061e+02] [ 9.91840291e-01 -1.27486615e-01 0.00000000e+00 1.14255369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49309800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99037174299997 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:176.13, Y:114.25, Z:0.02 [[-1.26345440e-01 -9.91986305e-01 0.00000000e+00 1.76134961e+02] [ 9.91986305e-01 -1.26345440e-01 0.00000000e+00 1.14252821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40279420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02037174299997 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] Translation: X:176.13, Y:114.25, Z:0.02 [[-1.26529588e-01 -9.91962834e-01 0.00000000e+00 1.76133321e+02] [ 9.91962834e-01 -1.26529588e-01 0.00000000e+00 1.14247968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28211083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05037174299997 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:176.13, Y:114.26, Z:0.02 [[-1.26299559e-01 -9.91992148e-01 0.00000000e+00 1.76131002e+02] [ 9.91992148e-01 -1.26299559e-01 0.00000000e+00 1.14258858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34290662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08037174299997 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:176.13, Y:114.26, Z:0.02 [[-1.26653568e-01 -9.91947012e-01 0.00000000e+00 1.76128846e+02] [ 9.91947012e-01 -1.26653568e-01 0.00000000e+00 1.14260733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30851240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11037174299997 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:176.13, Y:114.26, Z:0.02 [[-1.26367752e-01 -9.91983463e-01 0.00000000e+00 1.76127772e+02] [ 9.91983463e-01 -1.26367752e-01 0.00000000e+00 1.14262550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19575875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14037174299997 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:176.13, Y:114.26, Z:0.02 [[-1.26266483e-01 -9.91996358e-01 0.00000000e+00 1.76126368e+02] [ 9.91996358e-01 -1.26266483e-01 0.00000000e+00 1.14262477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31542318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17037174299998 meters Centerline goodness : 0.993202 Centerline is valid? [True, True] Translation: X:176.12, Y:114.26, Z:0.02 [[-1.24232985e-01 -9.92253075e-01 0.00000000e+00 1.76123647e+02] [ 9.92253075e-01 -1.24232985e-01 0.00000000e+00 1.14259178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46481393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20037174299998 meters Centerline goodness : 0.993308 Centerline is valid? [True, True] Translation: X:176.12, Y:114.27, Z:0.02 [[-1.22974229e-01 -9.92409864e-01 0.00000000e+00 1.76121464e+02] [ 9.92409864e-01 -1.22974229e-01 0.00000000e+00 1.14267853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38295833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23037174299998 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:176.12, Y:114.27, Z:0.02 [[-1.19951167e-01 -9.92779793e-01 0.00000000e+00 1.76118511e+02] [ 9.92779793e-01 -1.19951167e-01 0.00000000e+00 1.14272010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34623215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26037174299998 meters Centerline goodness : 0.992558 Centerline is valid? [True, True] Translation: X:176.12, Y:114.30, Z:0.02 [[-1.17908034e-01 -9.93024519e-01 0.00000000e+00 1.76115468e+02] [ 9.93024519e-01 -1.17908034e-01 0.00000000e+00 1.14303719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29217160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29037174299998 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:176.11, Y:114.30, Z:0.02 [[-1.16222209e-01 -9.93223237e-01 0.00000000e+00 1.76114714e+02] [ 9.93223237e-01 -1.16222209e-01 0.00000000e+00 1.14297483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27018922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32037174299998 meters Centerline goodness : 0.992794 Centerline is valid? [True, True] Translation: X:176.11, Y:114.28, Z:0.02 [[-1.12920863e-01 -9.93603985e-01 0.00000000e+00 1.76114824e+02] [ 9.93603985e-01 -1.12920863e-01 0.00000000e+00 1.14275183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23047325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35037174299998 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:176.11, Y:114.27, Z:0.02 [[-1.11469216e-01 -9.93767887e-01 0.00000000e+00 1.76114865e+02] [ 9.93767887e-01 -1.11469216e-01 0.00000000e+00 1.14268776e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04418140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38037174299998 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:176.11, Y:114.28, Z:0.02 [[-1.10986845e-01 -9.93821876e-01 0.00000000e+00 1.76113697e+02] [ 9.93821876e-01 -1.10986845e-01 0.00000000e+00 1.14281980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99185995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41037174299998 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:176.11, Y:114.28, Z:0.02 [[-1.08694037e-01 -9.94075252e-01 0.00000000e+00 1.76114675e+02] [ 9.94075252e-01 -1.08694037e-01 0.00000000e+00 1.14282420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62320028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.440371743 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:176.12, Y:114.28, Z:0.02 [[-1.08917552e-01 -9.94050787e-01 0.00000000e+00 1.76115118e+02] [ 9.94050787e-01 -1.08917552e-01 0.00000000e+00 1.14276831e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58745227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.470371743 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:176.12, Y:114.29, Z:0.01 [[-1.08397197e-01 -9.94107664e-01 0.00000000e+00 1.76115340e+02] [ 9.94107664e-01 -1.08397197e-01 0.00000000e+00 1.14288720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32268310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.500371743 meters Centerline goodness : 0.992985 Centerline is valid? [True, True] Translation: X:176.11, Y:114.29, Z:0.02 [[-1.10539011e-01 -9.93871786e-01 0.00000000e+00 1.76113999e+02] [ 9.93871786e-01 -1.10539011e-01 0.00000000e+00 1.14294423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67184066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.530371743 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:176.11, Y:114.29, Z:0.02 [[-1.08447564e-01 -9.94102171e-01 0.00000000e+00 1.76114989e+02] [ 9.94102171e-01 -1.08447564e-01 0.00000000e+00 1.14289623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53748576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.560371743 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:176.11, Y:114.29, Z:0.02 [[-1.08103766e-01 -9.94139616e-01 0.00000000e+00 1.76114742e+02] [ 9.94139616e-01 -1.08103766e-01 0.00000000e+00 1.14292287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53748576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.590371743 meters Centerline goodness : 0.992998 Centerline is valid? [True, True] Translation: X:176.11, Y:114.29, Z:0.02 [[-1.07494266e-01 -9.94205704e-01 0.00000000e+00 1.76114537e+02] [ 9.94205704e-01 -1.07494266e-01 0.00000000e+00 1.14291238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56477764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.620371743 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:176.11, Y:114.31, Z:0.02 [[-1.07139271e-01 -9.94244023e-01 0.00000000e+00 1.76113391e+02] [ 9.94244023e-01 -1.07139271e-01 0.00000000e+00 1.14309311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66121729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65037174299997 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:176.11, Y:114.31, Z:0.02 [[-1.06497680e-01 -9.94312951e-01 0.00000000e+00 1.76113074e+02] [ 9.94312951e-01 -1.06497680e-01 0.00000000e+00 1.14314375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74108307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68037174299997 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:176.11, Y:114.32, Z:0.02 [[-1.05513987e-01 -9.94417819e-01 0.00000000e+00 1.76113123e+02] [ 9.94417819e-01 -1.05513987e-01 0.00000000e+00 1.14318318e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75506353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71037174299997 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:176.11, Y:114.31, Z:0.02 [[-1.03672370e-01 -9.94611502e-01 0.00000000e+00 1.76113922e+02] [ 9.94611502e-01 -1.03672370e-01 0.00000000e+00 1.14314079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76179279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74037174299997 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:176.11, Y:114.33, Z:0.02 [[-1.05621997e-01 -9.94406352e-01 0.00000000e+00 1.76112802e+02] [ 9.94406352e-01 -1.05621997e-01 0.00000000e+00 1.14333475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86407224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77037174299997 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:176.11, Y:114.33, Z:0.02 [[-1.05891622e-01 -9.94377677e-01 0.00000000e+00 1.76113533e+02] [ 9.94377677e-01 -1.05891622e-01 0.00000000e+00 1.14326039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90115730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80037174299997 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:176.12, Y:114.31, Z:0.02 [[-1.05225095e-01 -9.94448430e-01 0.00000000e+00 1.76115579e+02] [ 9.94448430e-01 -1.05225095e-01 0.00000000e+00 1.14313570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80578429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83037174299997 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:176.12, Y:114.33, Z:0.02 [[-1.04707474e-01 -9.94503064e-01 0.00000000e+00 1.76115459e+02] [ 9.94503064e-01 -1.04707474e-01 0.00000000e+00 1.14331735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72338513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86037174299997 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:176.12, Y:114.33, Z:0.02 [[-1.04611818e-01 -9.94513131e-01 0.00000000e+00 1.76116836e+02] [ 9.94513131e-01 -1.04611818e-01 0.00000000e+00 1.14326768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71686217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89037174299997 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:176.12, Y:114.32, Z:0.02 [[-1.05803645e-01 -9.94387042e-01 0.00000000e+00 1.76117593e+02] [ 9.94387042e-01 -1.05803645e-01 0.00000000e+00 1.14317772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85147585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92037174299998 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:176.12, Y:114.33, Z:0.02 [[-1.05568572e-01 -9.94412026e-01 0.00000000e+00 1.76117106e+02] [ 9.94412026e-01 -1.05568572e-01 0.00000000e+00 1.14329647e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85665897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95037174299998 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:176.12, Y:114.33, Z:0.02 [[-1.04938521e-01 -9.94478711e-01 0.00000000e+00 1.76116740e+02] [ 9.94478711e-01 -1.04938521e-01 0.00000000e+00 1.14332337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02699538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98037174299998 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:176.12, Y:114.33, Z:0.02 [[-1.04894380e-01 -9.94483368e-01 0.00000000e+00 1.76116303e+02] [ 9.94483368e-01 -1.04894380e-01 0.00000000e+00 1.14334781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06026746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01037174299998 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:176.12, Y:114.35, Z:0.02 [[-1.04838880e-01 -9.94489220e-01 0.00000000e+00 1.76115041e+02] [ 9.94489220e-01 -1.04838880e-01 0.00000000e+00 1.14348238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21571503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04037174299998 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:176.11, Y:114.33, Z:0.02 [[-1.04760577e-01 -9.94497472e-01 0.00000000e+00 1.76114238e+02] [ 9.94497472e-01 -1.04760577e-01 0.00000000e+00 1.14332548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36711032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07037174299998 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:176.11, Y:114.35, Z:0.02 [[-1.03468385e-01 -9.94632743e-01 0.00000000e+00 1.76112367e+02] [ 9.94632743e-01 -1.03468385e-01 0.00000000e+00 1.14354759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40828067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10037174299998 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:176.11, Y:114.34, Z:0.02 [[-9.95769485e-02 -9.95029865e-01 0.00000000e+00 1.76112660e+02] [ 9.95029865e-01 -9.95769485e-02 0.00000000e+00 1.14341698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49239459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13037174299998 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:176.11, Y:114.34, Z:0.03 [[-1.07807857e-01 -9.94171749e-01 0.00000000e+00 1.76106081e+02] [ 9.94171749e-01 -1.07807857e-01 0.00000000e+00 1.14343370e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51793974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16037174299998 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:176.10, Y:114.35, Z:0.03 [[-1.03657116e-01 -9.94613092e-01 0.00000000e+00 1.76104688e+02] [ 9.94613092e-01 -1.03657116e-01 0.00000000e+00 1.14352744e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74766295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.190371743 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:176.11, Y:114.35, Z:0.02 [[-8.88625600e-02 -9.96043897e-01 0.00000000e+00 1.76112045e+02] [ 9.96043897e-01 -8.88625600e-02 0.00000000e+00 1.14345122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49652884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.220371743 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:176.11, Y:114.35, Z:0.02 [[-8.50580449e-02 -9.96375998e-01 0.00000000e+00 1.76112469e+02] [ 9.96375998e-01 -8.50580449e-02 0.00000000e+00 1.14347048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46034748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.250371743 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:176.11, Y:114.35, Z:0.03 [[-8.62995249e-02 -9.96269237e-01 0.00000000e+00 1.76110478e+02] [ 9.96269237e-01 -8.62995249e-02 0.00000000e+00 1.14345524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77555763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.280371743 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:176.11, Y:114.35, Z:0.03 [[-8.33429555e-02 -9.96520924e-01 0.00000000e+00 1.76110346e+02] [ 9.96520924e-01 -8.33429555e-02 0.00000000e+00 1.14352733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.77546163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.310371743 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:176.11, Y:114.37, Z:0.03 [[-7.94136616e-02 -9.96841748e-01 0.00000000e+00 1.76111174e+02] [ 9.96841748e-01 -7.94136616e-02 0.00000000e+00 1.14370361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50947799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.340371743 meters Centerline goodness : 0.993294 Centerline is valid? [True, True] Translation: X:176.11, Y:114.36, Z:0.02 [[-7.58621581e-02 -9.97118314e-01 0.00000000e+00 1.76113345e+02] [ 9.97118314e-01 -7.58621581e-02 0.00000000e+00 1.14358902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40951907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.370371743 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:176.11, Y:114.37, Z:0.02 [[-7.38660202e-02 -9.97268174e-01 0.00000000e+00 1.76114179e+02] [ 9.97268174e-01 -7.38660202e-02 0.00000000e+00 1.14367658e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34275937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40037174299997 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:176.11, Y:114.38, Z:0.02 [[-7.41098383e-02 -9.97250085e-01 0.00000000e+00 1.76113856e+02] [ 9.97250085e-01 -7.41098383e-02 0.00000000e+00 1.14375730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42196545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43037174299997 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:176.12, Y:114.37, Z:0.02 [[-6.96492034e-02 -9.97571546e-01 0.00000000e+00 1.76117501e+02] [ 9.97571546e-01 -6.96492034e-02 0.00000000e+00 1.14370973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18726707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46037174299997 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:176.12, Y:114.37, Z:0.02 [[-6.74753517e-02 -9.97720941e-01 0.00000000e+00 1.76119223e+02] [ 9.97720941e-01 -6.74753517e-02 0.00000000e+00 1.14372800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16732384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49037174299997 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:176.12, Y:114.36, Z:0.02 [[-6.51323980e-02 -9.97876631e-01 0.00000000e+00 1.76122660e+02] [ 9.97876631e-01 -6.51323980e-02 0.00000000e+00 1.14363676e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17400334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52037174299997 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:176.13, Y:114.37, Z:0.02 [[-6.23224219e-02 -9.98056068e-01 0.00000000e+00 1.76125235e+02] [ 9.98056068e-01 -6.23224219e-02 0.00000000e+00 1.14368417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08590402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55037174299997 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:176.13, Y:114.38, Z:0.02 [[-6.21758733e-02 -9.98065209e-01 0.00000000e+00 1.76126240e+02] [ 9.98065209e-01 -6.21758733e-02 0.00000000e+00 1.14378176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02719115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58037174299997 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:176.13, Y:114.37, Z:0.02 [[-6.34549907e-02 -9.97984701e-01 0.00000000e+00 1.76127545e+02] [ 9.97984701e-01 -6.34549907e-02 0.00000000e+00 1.14372816e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10367072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61037174299997 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:176.12, Y:114.38, Z:0.02 [[-7.95305761e-02 -9.96832427e-01 0.00000000e+00 1.76122868e+02] [ 9.96832427e-01 -7.95305761e-02 0.00000000e+00 1.14381763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43975555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64037174299997 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:176.13, Y:114.38, Z:0.02 [[-6.51387678e-02 -9.97876215e-01 0.00000000e+00 1.76133441e+02] [ 9.97876215e-01 -6.51387678e-02 0.00000000e+00 1.14384220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04468043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67037174299998 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:176.13, Y:114.39, Z:0.03 [[-8.25777265e-02 -9.96584627e-01 0.00000000e+00 1.76129148e+02] [ 9.96584627e-01 -8.25777265e-02 0.00000000e+00 1.14389832e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53125338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70037174299998 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:176.14, Y:114.39, Z:0.02 [[-6.80611184e-02 -9.97681154e-01 0.00000000e+00 1.76140317e+02] [ 9.97681154e-01 -6.80611184e-02 0.00000000e+00 1.14390932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02666835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73037174299998 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:176.14, Y:114.41, Z:0.02 [[-6.97319255e-02 -9.97565767e-01 0.00000000e+00 1.76142126e+02] [ 9.97565767e-01 -6.97319255e-02 0.00000000e+00 1.14405991e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02425033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76037174299998 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:176.15, Y:114.42, Z:0.02 [[-7.34845246e-02 -9.97296357e-01 0.00000000e+00 1.76145451e+02] [ 9.97296357e-01 -7.34845246e-02 0.00000000e+00 1.14419238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00446203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79037174299998 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:176.15, Y:114.42, Z:0.02 [[-7.43684702e-02 -9.97230831e-01 0.00000000e+00 1.76147401e+02] [ 9.97230831e-01 -7.43684702e-02 0.00000000e+00 1.14424502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95185987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82037174299998 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:176.14, Y:114.41, Z:0.03 [[-9.18794527e-02 -9.95770137e-01 0.00000000e+00 1.76140462e+02] [ 9.95770137e-01 -9.18794527e-02 0.00000000e+00 1.14412812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50714383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85037174299998 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:176.15, Y:114.44, Z:0.02 [[-7.91524109e-02 -9.96862526e-01 0.00000000e+00 1.76151848e+02] [ 9.96862526e-01 -7.91524109e-02 0.00000000e+00 1.14438759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01894736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88037174299998 meters Centerline goodness : 0.995564 Centerline is valid? [True, True] Translation: X:176.15, Y:114.42, Z:0.03 [[-9.61176526e-02 -9.95369980e-01 0.00000000e+00 1.76145195e+02] [ 9.95369980e-01 -9.61176526e-02 0.00000000e+00 1.14420150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58748414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91037174299998 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:176.16, Y:114.43, Z:0.02 [[-8.34317767e-02 -9.96513491e-01 0.00000000e+00 1.76156440e+02] [ 9.96513491e-01 -8.34317767e-02 0.00000000e+00 1.14429012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06234877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.940371743 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:176.15, Y:114.43, Z:0.03 [[-9.92561586e-02 -9.95061915e-01 0.00000000e+00 1.76148304e+02] [ 9.95061915e-01 -9.92561586e-02 0.00000000e+00 1.14429486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54356564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.970371743 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:176.16, Y:114.43, Z:0.02 [[-8.59871962e-02 -9.96296242e-01 0.00000000e+00 1.76157073e+02] [ 9.96296242e-01 -8.59871962e-02 0.00000000e+00 1.14432428e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04811161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.000371743 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:176.16, Y:114.44, Z:0.02 [[-8.59143209e-02 -9.96302529e-01 0.00000000e+00 1.76158441e+02] [ 9.96302529e-01 -8.59143209e-02 0.00000000e+00 1.14442709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99576344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.030371743 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:176.16, Y:114.44, Z:0.02 [[-8.73276679e-02 -9.96179642e-01 0.00000000e+00 1.76160066e+02] [ 9.96179642e-01 -8.73276679e-02 0.00000000e+00 1.14436645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03688016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.060371743 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:176.16, Y:114.44, Z:0.02 [[-8.79940923e-02 -9.96120997e-01 0.00000000e+00 1.76160984e+02] [ 9.96120997e-01 -8.79940923e-02 0.00000000e+00 1.14435355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08409765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.090371743 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:176.16, Y:114.44, Z:0.02 [[-9.21529170e-02 -9.95744867e-01 0.00000000e+00 1.76162011e+02] [ 9.95744867e-01 -9.21529170e-02 0.00000000e+00 1.14436106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18343057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.120371743 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:176.16, Y:114.46, Z:0.02 [[-9.42372338e-02 -9.95549770e-01 0.00000000e+00 1.76161934e+02] [ 9.95549770e-01 -9.42372338e-02 0.00000000e+00 1.14459763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16222820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15037174299997 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:176.16, Y:114.44, Z:0.02 [[-9.58392207e-02 -9.95396827e-01 0.00000000e+00 1.76163188e+02] [ 9.95396827e-01 -9.58392207e-02 0.00000000e+00 1.14444860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16927804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18037174299997 meters Centerline goodness : 0.994817 Centerline is valid? [True, True] Translation: X:176.17, Y:114.45, Z:0.02 [[-9.74526095e-02 -9.95240166e-01 0.00000000e+00 1.76165475e+02] [ 9.95240166e-01 -9.74526095e-02 0.00000000e+00 1.14448566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12966233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21037174299997 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:176.17, Y:114.45, Z:0.02 [[-9.91943231e-02 -9.95068081e-01 0.00000000e+00 1.76165574e+02] [ 9.95068081e-01 -9.91943231e-02 0.00000000e+00 1.14454357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14361301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24037174299997 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:176.17, Y:114.46, Z:0.02 [[-9.95324847e-02 -9.95034313e-01 0.00000000e+00 1.76166325e+02] [ 9.95034313e-01 -9.95324847e-02 0.00000000e+00 1.14456562e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14547065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27037174299997 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:176.17, Y:114.46, Z:0.02 [[-1.02253778e-01 -9.94758345e-01 0.00000000e+00 1.76166609e+02] [ 9.94758345e-01 -1.02253778e-01 0.00000000e+00 1.14457519e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18918088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30037174299997 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:176.17, Y:114.46, Z:0.02 [[-1.03279799e-01 -9.94652343e-01 0.00000000e+00 1.76166409e+02] [ 9.94652343e-01 -1.03279799e-01 0.00000000e+00 1.14464968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16895560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33037174299997 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:176.17, Y:114.47, Z:0.02 [[-1.04027316e-01 -9.94574440e-01 0.00000000e+00 1.76166628e+02] [ 9.94574440e-01 -1.04027316e-01 0.00000000e+00 1.14468912e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08052380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36037174299997 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:176.16, Y:114.48, Z:0.02 [[-1.17299705e-01 -9.93096561e-01 0.00000000e+00 1.76158522e+02] [ 9.93096561e-01 -1.17299705e-01 0.00000000e+00 1.14482431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25716353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39037174299997 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:176.17, Y:114.47, Z:0.02 [[-1.01570332e-01 -9.94828361e-01 0.00000000e+00 1.76167756e+02] [ 9.94828361e-01 -1.01570332e-01 0.00000000e+00 1.14470916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82804492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42037174299998 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:176.17, Y:114.47, Z:0.02 [[-9.72288343e-02 -9.95262053e-01 0.00000000e+00 1.76166452e+02] [ 9.95262053e-01 -9.72288343e-02 0.00000000e+00 1.14468689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85038810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45037174299998 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:176.16, Y:114.48, Z:0.02 [[-1.11291892e-01 -9.93787761e-01 0.00000000e+00 1.76156290e+02] [ 9.93787761e-01 -1.11291892e-01 0.00000000e+00 1.14484926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30225586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48037174299998 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:176.16, Y:114.49, Z:0.02 [[-1.10898320e-01 -9.93831758e-01 0.00000000e+00 1.76156105e+02] [ 9.93831758e-01 -1.10898320e-01 0.00000000e+00 1.14487594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30225586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51037174299998 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:176.16, Y:114.48, Z:0.02 [[-8.95175951e-02 -9.95985241e-01 0.00000000e+00 1.76163477e+02] [ 9.95985241e-01 -8.95175951e-02 0.00000000e+00 1.14483404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99067468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54037174299998 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:176.16, Y:114.48, Z:0.02 [[-8.52409093e-02 -9.96360370e-01 0.00000000e+00 1.76163704e+02] [ 9.96360370e-01 -8.52409093e-02 0.00000000e+00 1.14478822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01919458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57037174299998 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:176.16, Y:114.48, Z:0.02 [[-8.28054218e-02 -9.96565734e-01 0.00000000e+00 1.76162953e+02] [ 9.96565734e-01 -8.28054218e-02 0.00000000e+00 1.14475729e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06054262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60037174299998 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:176.16, Y:114.47, Z:0.02 [[-7.33558753e-02 -9.97305828e-01 0.00000000e+00 1.76164259e+02] [ 9.97305828e-01 -7.33558753e-02 0.00000000e+00 1.14473429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94767829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63037174299998 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:176.16, Y:114.48, Z:0.02 [[-7.52297969e-02 -9.97166224e-01 0.00000000e+00 1.76161927e+02] [ 9.97166224e-01 -7.52297969e-02 0.00000000e+00 1.14476968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08990066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66037174299998 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:176.16, Y:114.48, Z:0.02 [[-7.44408675e-02 -9.97225430e-01 0.00000000e+00 1.76160769e+02] [ 9.97225430e-01 -7.44408675e-02 0.00000000e+00 1.14476828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15098131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.690371743 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:176.16, Y:114.48, Z:0.02 [[-7.13512259e-02 -9.97451253e-01 0.00000000e+00 1.76160901e+02] [ 9.97451253e-01 -7.13512259e-02 0.00000000e+00 1.14482712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10156193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.720371743 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:176.15, Y:114.49, Z:0.03 [[-9.22695387e-02 -9.95734067e-01 0.00000000e+00 1.76149534e+02] [ 9.95734067e-01 -9.22695387e-02 0.00000000e+00 1.14487200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58010505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.750371743 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:176.16, Y:114.50, Z:0.02 [[-6.44690179e-02 -9.97919709e-01 0.00000000e+00 1.76162625e+02] [ 9.97919709e-01 -6.44690179e-02 0.00000000e+00 1.14499474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76392898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.780371743 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:176.15, Y:114.49, Z:0.02 [[-9.33165997e-02 -9.95636486e-01 0.00000000e+00 1.76148479e+02] [ 9.95636486e-01 -9.33165997e-02 0.00000000e+00 1.14494768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43546963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.810371743 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:176.15, Y:114.49, Z:0.02 [[-9.36991729e-02 -9.95600555e-01 0.00000000e+00 1.76148089e+02] [ 9.95600555e-01 -9.36991729e-02 0.00000000e+00 1.14493775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30858377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.840371743 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:176.16, Y:114.53, Z:0.01 [[-6.14370760e-02 -9.98110959e-01 0.00000000e+00 1.76163598e+02] [ 9.98110959e-01 -6.14370760e-02 0.00000000e+00 1.14530684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36829702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.870371743 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:176.16, Y:114.51, Z:0.01 [[-7.33011979e-02 -9.97309849e-01 0.00000000e+00 1.76158549e+02] [ 9.97309849e-01 -7.33011979e-02 0.00000000e+00 1.14513137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49130770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90037174299997 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:176.16, Y:114.51, Z:0.01 [[-7.22187226e-02 -9.97388819e-01 0.00000000e+00 1.76158823e+02] [ 9.97388819e-01 -7.22187226e-02 0.00000000e+00 1.14510331e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41062671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93037174299997 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:176.16, Y:114.51, Z:0.01 [[-7.31060020e-02 -9.97324176e-01 0.00000000e+00 1.76157281e+02] [ 9.97324176e-01 -7.31060020e-02 0.00000000e+00 1.14514247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48156741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96037174299997 meters Centerline goodness : 0.994725 Centerline is valid? [True, True] Translation: X:176.16, Y:114.53, Z:0.01 [[-7.32910173e-02 -9.97310597e-01 0.00000000e+00 1.76156397e+02] [ 9.97310597e-01 -7.32910173e-02 0.00000000e+00 1.14533742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48760017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99037174299997 meters Centerline goodness : 0.995579 Centerline is valid? [True, True] Translation: X:176.14, Y:114.52, Z:0.02 [[-9.77377183e-02 -9.95212208e-01 0.00000000e+00 1.76142762e+02] [ 9.95212208e-01 -9.77377183e-02 0.00000000e+00 1.14515441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20233577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02037174299997 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:176.14, Y:114.52, Z:0.02 [[-9.79534676e-02 -9.95190996e-01 0.00000000e+00 1.76141984e+02] [ 9.95190996e-01 -9.79534676e-02 0.00000000e+00 1.14519496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19570842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05037174299997 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:176.15, Y:114.54, Z:0.02 [[-8.12234315e-02 -9.96695919e-01 0.00000000e+00 1.76151231e+02] [ 9.96695919e-01 -8.12234315e-02 0.00000000e+00 1.14537438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62704836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08037174299997 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:176.14, Y:114.52, Z:0.02 [[-9.99407139e-02 -9.94993394e-01 0.00000000e+00 1.76141134e+02] [ 9.94993394e-01 -9.99407139e-02 0.00000000e+00 1.14522333e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07736579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11037174299997 meters Centerline goodness : 0.994858 Centerline is valid? [True, True] Translation: X:176.14, Y:114.53, Z:0.02 [[-1.00952456e-01 -9.94891251e-01 0.00000000e+00 1.76139620e+02] [ 9.94891251e-01 -1.00952456e-01 0.00000000e+00 1.14526453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00756344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14037174299997 meters Centerline goodness : 0.995604 Centerline is valid? [True, True] Translation: X:176.14, Y:114.53, Z:0.02 [[-1.01581703e-01 -9.94827200e-01 0.00000000e+00 1.76138498e+02] [ 9.94827200e-01 -1.01581703e-01 0.00000000e+00 1.14534351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93697802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17037174299998 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:176.15, Y:114.55, Z:0.01 [[-8.61950602e-02 -9.96278280e-01 0.00000000e+00 1.76145652e+02] [ 9.96278280e-01 -8.61950602e-02 0.00000000e+00 1.14553171e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34632962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20037174299998 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:176.14, Y:114.56, Z:0.01 [[-8.81733295e-02 -9.96105147e-01 0.00000000e+00 1.76144649e+02] [ 9.96105147e-01 -8.81733295e-02 0.00000000e+00 1.14558997e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27901504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23037174299998 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:176.14, Y:114.54, Z:0.02 [[-1.04326464e-01 -9.94543106e-01 0.00000000e+00 1.76136734e+02] [ 9.94543106e-01 -1.04326464e-01 0.00000000e+00 1.14537898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89555203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26037174299998 meters Centerline goodness : 0.995084 Centerline is valid? [True, True] Translation: X:176.14, Y:114.54, Z:0.02 [[-1.04232480e-01 -9.94552960e-01 0.00000000e+00 1.76136208e+02] [ 9.94552960e-01 -1.04232480e-01 0.00000000e+00 1.14538107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92503226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29037174299998 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:176.13, Y:114.54, Z:0.02 [[-1.03955138e-01 -9.94581987e-01 0.00000000e+00 1.76134275e+02] [ 9.94581987e-01 -1.03955138e-01 0.00000000e+00 1.14544450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90070437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32037174299998 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:176.13, Y:114.54, Z:0.02 [[-1.03562939e-01 -9.94622902e-01 0.00000000e+00 1.76133038e+02] [ 9.94622902e-01 -1.03562939e-01 0.00000000e+00 1.14542450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82476660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35037174299998 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:176.13, Y:114.55, Z:0.02 [[-1.02827354e-01 -9.94699218e-01 0.00000000e+00 1.76131933e+02] [ 9.94699218e-01 -1.02827354e-01 0.00000000e+00 1.14547663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86463448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38037174299998 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:176.13, Y:114.56, Z:0.02 [[-1.02433776e-01 -9.94739826e-01 0.00000000e+00 1.76129220e+02] [ 9.94739826e-01 -1.02433776e-01 0.00000000e+00 1.14561360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73780859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41037174299998 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:176.13, Y:114.55, Z:0.02 [[-1.02134747e-01 -9.94770573e-01 0.00000000e+00 1.76128393e+02] [ 9.94770573e-01 -1.02134747e-01 0.00000000e+00 1.14552725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87232790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.440371743 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:176.13, Y:114.56, Z:0.01 [[-9.08963517e-02 -9.95860358e-01 0.00000000e+00 1.76133215e+02] [ 9.95860358e-01 -9.08963517e-02 0.00000000e+00 1.14562265e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43253536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.470371743 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:176.13, Y:114.55, Z:0.01 [[-8.87326188e-02 -9.96055482e-01 0.00000000e+00 1.76132544e+02] [ 9.96055482e-01 -8.87326188e-02 0.00000000e+00 1.14553551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37905612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.500371743 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:176.12, Y:114.56, Z:0.02 [[-1.00437500e-01 -9.94943370e-01 0.00000000e+00 1.76124767e+02] [ 9.94943370e-01 -1.00437500e-01 0.00000000e+00 1.14557607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76445342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.530371743 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:176.13, Y:114.57, Z:0.02 [[-9.26285460e-02 -9.95700734e-01 0.00000000e+00 1.76127170e+02] [ 9.95700734e-01 -9.26285460e-02 0.00000000e+00 1.14574316e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64758784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.560371743 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:176.13, Y:114.56, Z:0.01 [[-9.16094830e-02 -9.95795010e-01 0.00000000e+00 1.76125384e+02] [ 9.95795010e-01 -9.16094830e-02 0.00000000e+00 1.14563132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43421327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.590371743 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:176.12, Y:114.57, Z:0.01 [[-9.12331943e-02 -9.95829556e-01 0.00000000e+00 1.76123941e+02] [ 9.95829556e-01 -9.12331943e-02 0.00000000e+00 1.14570740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47772928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.620371743 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:176.12, Y:114.57, Z:0.02 [[-9.19309945e-02 -9.95765380e-01 0.00000000e+00 1.76122337e+02] [ 9.95765380e-01 -9.19309945e-02 0.00000000e+00 1.14574461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65157940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65037174299997 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:176.12, Y:114.58, Z:0.02 [[-9.10133702e-02 -9.95849671e-01 0.00000000e+00 1.76120527e+02] [ 9.95849671e-01 -9.10133702e-02 0.00000000e+00 1.14580558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59933719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68037174299997 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:176.12, Y:114.60, Z:0.02 [[-9.21061093e-02 -9.95749198e-01 0.00000000e+00 1.76118713e+02] [ 9.95749198e-01 -9.21061093e-02 0.00000000e+00 1.14596666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81886800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71037174299997 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:176.12, Y:114.59, Z:0.02 [[-9.16353546e-02 -9.95792630e-01 0.00000000e+00 1.76117152e+02] [ 9.95792630e-01 -9.16353546e-02 0.00000000e+00 1.14594609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83885736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74037174299997 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:176.12, Y:114.60, Z:0.02 [[-9.12509401e-02 -9.95827930e-01 0.00000000e+00 1.76116669e+02] [ 9.95827930e-01 -9.12509401e-02 0.00000000e+00 1.14598943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84962003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77037174299997 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:176.12, Y:114.63, Z:0.02 [[-9.18907266e-02 -9.95769097e-01 0.00000000e+00 1.76115207e+02] [ 9.95769097e-01 -9.18907266e-02 0.00000000e+00 1.14634647e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79286357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80037174299997 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:176.12, Y:114.59, Z:0.02 [[-9.16580963e-02 -9.95790537e-01 0.00000000e+00 1.76116158e+02] [ 9.95790537e-01 -9.16580963e-02 0.00000000e+00 1.14587613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66624883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83037174299997 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:176.12, Y:114.61, Z:0.02 [[-9.23901797e-02 -9.95722880e-01 0.00000000e+00 1.76115215e+02] [ 9.95722880e-01 -9.23901797e-02 0.00000000e+00 1.14610604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61389352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86037174299997 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:176.11, Y:114.61, Z:0.02 [[-9.21728442e-02 -9.95743022e-01 0.00000000e+00 1.76114479e+02] [ 9.95743022e-01 -9.21728442e-02 0.00000000e+00 1.14605527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69788967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89037174299997 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:176.11, Y:114.59, Z:0.02 [[-9.18523554e-02 -9.95772637e-01 0.00000000e+00 1.76113886e+02] [ 9.95772637e-01 -9.18523554e-02 0.00000000e+00 1.14594664e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64684101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92037174299998 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:176.11, Y:114.61, Z:0.02 [[-9.17303175e-02 -9.95783887e-01 0.00000000e+00 1.76112405e+02] [ 9.95783887e-01 -9.17303175e-02 0.00000000e+00 1.14610025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67801953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95037174299998 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:176.11, Y:114.61, Z:0.02 [[-8.96697342e-02 -9.95971555e-01 0.00000000e+00 1.76111040e+02] [ 9.95971555e-01 -8.96697342e-02 0.00000000e+00 1.14605958e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76571814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98037174299998 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:176.11, Y:114.61, Z:0.02 [[-8.68791264e-02 -9.96218860e-01 0.00000000e+00 1.76111028e+02] [ 9.96218860e-01 -8.68791264e-02 0.00000000e+00 1.14606607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82234523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01037174299998 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:176.11, Y:114.60, Z:0.02 [[-8.48313581e-02 -9.96395323e-01 0.00000000e+00 1.76110247e+02] [ 9.96395323e-01 -8.48313581e-02 0.00000000e+00 1.14598535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84500408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04037174299998 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:176.11, Y:114.60, Z:0.02 [[-8.35581370e-02 -9.96502904e-01 0.00000000e+00 1.76109594e+02] [ 9.96502904e-01 -8.35581370e-02 0.00000000e+00 1.14604596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80081599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07037174299998 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:176.11, Y:114.60, Z:0.02 [[-8.44615065e-02 -9.96426743e-01 0.00000000e+00 1.76107724e+02] [ 9.96426743e-01 -8.44615065e-02 0.00000000e+00 1.14595484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69512468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10037174299998 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:176.11, Y:114.62, Z:0.02 [[-7.80282038e-02 -9.96951152e-01 0.00000000e+00 1.76109138e+02] [ 9.96951152e-01 -7.80282038e-02 0.00000000e+00 1.14615108e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76196180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13037174299998 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:176.11, Y:114.60, Z:0.02 [[-7.73914041e-02 -9.97000788e-01 0.00000000e+00 1.76108480e+02] [ 9.97000788e-01 -7.73914041e-02 0.00000000e+00 1.14601392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91922552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16037174299998 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:176.11, Y:114.60, Z:0.02 [[-7.67759476e-02 -9.97048371e-01 0.00000000e+00 1.76108181e+02] [ 9.97048371e-01 -7.67759476e-02 0.00000000e+00 1.14600559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96565948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.190371743 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:176.11, Y:114.61, Z:0.02 [[-7.51750602e-02 -9.97170352e-01 0.00000000e+00 1.76109854e+02] [ 9.97170352e-01 -7.51750602e-02 0.00000000e+00 1.14611270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87264294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.220371743 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:176.11, Y:114.61, Z:0.02 [[-7.56388994e-02 -9.97135275e-01 0.00000000e+00 1.76110054e+02] [ 9.97135275e-01 -7.56388994e-02 0.00000000e+00 1.14608915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83019641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.250371743 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:176.11, Y:114.63, Z:0.02 [[-7.46062397e-02 -9.97213071e-01 0.00000000e+00 1.76111757e+02] [ 9.97213071e-01 -7.46062397e-02 0.00000000e+00 1.14633581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66896326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.280371743 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:176.11, Y:114.62, Z:0.01 [[-7.54528029e-02 -9.97149374e-01 0.00000000e+00 1.76113422e+02] [ 9.97149374e-01 -7.54528029e-02 0.00000000e+00 1.14620735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40810259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.310371743 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:176.11, Y:114.63, Z:0.01 [[-7.45698793e-02 -9.97215791e-01 0.00000000e+00 1.76113925e+02] [ 9.97215791e-01 -7.45698793e-02 0.00000000e+00 1.14625774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28452749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.340371743 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:176.11, Y:114.63, Z:0.01 [[-7.34889957e-02 -9.97296028e-01 0.00000000e+00 1.76114669e+02] [ 9.97296028e-01 -7.34889957e-02 0.00000000e+00 1.14625542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13781786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.370371743 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:176.11, Y:114.63, Z:0.01 [[-7.31452528e-02 -9.97321298e-01 0.00000000e+00 1.76114532e+02] [ 9.97321298e-01 -7.31452528e-02 0.00000000e+00 1.14628207e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13781786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40037174299997 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:176.12, Y:114.63, Z:0.01 [[-7.06289723e-02 -9.97502656e-01 0.00000000e+00 1.76115333e+02] [ 9.97502656e-01 -7.06289723e-02 0.00000000e+00 1.14626880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.49117548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43037174299997 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:176.12, Y:114.64, Z:0.01 [[-6.98720818e-02 -9.97555959e-01 0.00000000e+00 1.76115362e+02] [ 9.97555959e-01 -6.98720818e-02 0.00000000e+00 1.14638425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03089543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46037174299997 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:176.11, Y:114.66, Z:0.01 [[-6.84909902e-02 -9.97651735e-01 0.00000000e+00 1.76114782e+02] [ 9.97651735e-01 -6.84909902e-02 0.00000000e+00 1.14655170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02243023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49037174299997 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:176.11, Y:114.65, Z:0.01 [[-6.64939066e-02 -9.97786831e-01 0.00000000e+00 1.76113590e+02] [ 9.97786831e-01 -6.64939066e-02 0.00000000e+00 1.14645049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13096771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52037174299997 meters Centerline goodness : 0.992890 Centerline is valid? [True, True] Translation: X:176.11, Y:114.64, Z:0.01 [[-6.40014357e-02 -9.97949806e-01 0.00000000e+00 1.76113115e+02] [ 9.97949806e-01 -6.40014357e-02 0.00000000e+00 1.14638600e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14683269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55037174299997 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:176.11, Y:114.64, Z:0.01 [[-6.16718974e-02 -9.98096477e-01 0.00000000e+00 1.76112329e+02] [ 9.98096477e-01 -6.16718974e-02 0.00000000e+00 1.14644502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23764270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58037174299997 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:176.11, Y:114.66, Z:0.01 [[-5.90672591e-02 -9.98254005e-01 0.00000000e+00 1.76111176e+02] [ 9.98254005e-01 -5.90672591e-02 0.00000000e+00 1.14663484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31553067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61037174299997 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:176.11, Y:114.65, Z:0.01 [[-6.16216244e-02 -9.98099582e-01 0.00000000e+00 1.76109746e+02] [ 9.98099582e-01 -6.16216244e-02 0.00000000e+00 1.14649829e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48100279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64037174299997 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:176.11, Y:114.65, Z:0.02 [[-6.16099291e-02 -9.98100304e-01 0.00000000e+00 1.76109331e+02] [ 9.98100304e-01 -6.16099291e-02 0.00000000e+00 1.14652477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53165036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67037174299998 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:176.11, Y:114.69, Z:0.01 [[-5.95495195e-02 -9.98225353e-01 0.00000000e+00 1.76110473e+02] [ 9.98225353e-01 -5.95495195e-02 0.00000000e+00 1.14688309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39825833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70037174299998 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:176.11, Y:114.66, Z:0.01 [[-5.84040247e-02 -9.98293028e-01 0.00000000e+00 1.76111623e+02] [ 9.98293028e-01 -5.84040247e-02 0.00000000e+00 1.14659570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28528615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73037174299998 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:176.11, Y:114.67, Z:0.01 [[-5.88741909e-02 -9.98265410e-01 0.00000000e+00 1.76111883e+02] [ 9.98265410e-01 -5.88741909e-02 0.00000000e+00 1.14668824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15841449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76037174299998 meters Centerline goodness : 0.993728 Centerline is valid? [True, True] Translation: X:176.11, Y:114.66, Z:0.01 [[-5.89448792e-02 -9.98261239e-01 0.00000000e+00 1.76112097e+02] [ 9.98261239e-01 -5.89448792e-02 0.00000000e+00 1.14657583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02472246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79037174299998 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:176.11, Y:114.67, Z:0.01 [[-6.10513123e-02 -9.98134629e-01 0.00000000e+00 1.76111146e+02] [ 9.98134629e-01 -6.10513123e-02 0.00000000e+00 1.14665325e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28769610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82037174299998 meters Centerline goodness : 0.993579 Centerline is valid? [True, True] Translation: X:176.11, Y:114.69, Z:0.01 [[-6.05478511e-02 -9.98165296e-01 0.00000000e+00 1.76110920e+02] [ 9.98165296e-01 -6.05478511e-02 0.00000000e+00 1.14689284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13424637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85037174299998 meters Centerline goodness : 0.993723 Centerline is valid? [True, True] Translation: X:176.11, Y:114.68, Z:0.01 [[-5.91859905e-02 -9.98246973e-01 0.00000000e+00 1.76111132e+02] [ 9.98246973e-01 -5.91859905e-02 0.00000000e+00 1.14676515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10332673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88037174299998 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:176.11, Y:114.68, Z:0.01 [[-5.92225514e-02 -9.98244804e-01 0.00000000e+00 1.76110778e+02] [ 9.98244804e-01 -5.92225514e-02 0.00000000e+00 1.14676857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21285909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91037174299998 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:176.11, Y:114.68, Z:0.01 [[-5.78860702e-02 -9.98323196e-01 0.00000000e+00 1.76110895e+02] [ 9.98323196e-01 -5.78860702e-02 0.00000000e+00 1.14681839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26533600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.940371743 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:176.11, Y:114.68, Z:0.01 [[-5.77777201e-02 -9.98329472e-01 0.00000000e+00 1.76110839e+02] [ 9.98329472e-01 -5.77777201e-02 0.00000000e+00 1.14681917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35193601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.970371743 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:176.11, Y:114.69, Z:0.01 [[-5.86577023e-02 -9.98278155e-01 0.00000000e+00 1.76110303e+02] [ 9.98278155e-01 -5.86577023e-02 0.00000000e+00 1.14691035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40085976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.000371743 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:176.11, Y:114.70, Z:0.01 [[-5.77248013e-02 -9.98332533e-01 0.00000000e+00 1.76110399e+02] [ 9.98332533e-01 -5.77248013e-02 0.00000000e+00 1.14697154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28654187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.030371743 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:176.11, Y:114.69, Z:0.01 [[-5.75020090e-02 -9.98345391e-01 0.00000000e+00 1.76110127e+02] [ 9.98345391e-01 -5.75020090e-02 0.00000000e+00 1.14689961e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22425333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.060371743 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:176.11, Y:114.70, Z:0.01 [[-5.52306599e-02 -9.98473622e-01 0.00000000e+00 1.76110188e+02] [ 9.98473622e-01 -5.52306599e-02 0.00000000e+00 1.14698634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02130530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.090371743 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:176.11, Y:114.70, Z:0.01 [[-5.55850042e-02 -9.98453959e-01 0.00000000e+00 1.76109879e+02] [ 9.98453959e-01 -5.55850042e-02 0.00000000e+00 1.14695983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51100218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.120371743 meters Centerline goodness : 0.994152 Centerline is valid? [True, True] Translation: X:176.10, Y:114.70, Z:0.01 [[-7.31963978e-02 -9.97317546e-01 0.00000000e+00 1.76099481e+02] [ 9.97317546e-01 -7.31963978e-02 0.00000000e+00 1.14702278e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38191758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15037174299997 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:176.10, Y:114.75, Z:0.01 [[-7.37594944e-02 -9.97276059e-01 0.00000000e+00 1.76098466e+02] [ 9.97276059e-01 -7.37594944e-02 0.00000000e+00 1.14754281e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35359973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18037174299997 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:176.11, Y:114.70, Z:0.01 [[-5.80434505e-02 -9.98314058e-01 0.00000000e+00 1.76108275e+02] [ 9.98314058e-01 -5.80434505e-02 0.00000000e+00 1.14700616e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40206161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21037174299997 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:176.11, Y:114.70, Z:0.01 [[-6.23777186e-02 -9.98052614e-01 0.00000000e+00 1.76106397e+02] [ 9.98052614e-01 -6.23777186e-02 0.00000000e+00 1.14703534e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13931597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24037174299997 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:176.11, Y:114.71, Z:0.01 [[-6.22972813e-02 -9.98057638e-01 0.00000000e+00 1.76106724e+02] [ 9.98057638e-01 -6.22972813e-02 0.00000000e+00 1.14706643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17339505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27037174299997 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:176.11, Y:114.71, Z:0.01 [[-6.29174247e-02 -9.98018736e-01 0.00000000e+00 1.76106108e+02] [ 9.98018736e-01 -6.29174247e-02 0.00000000e+00 1.14713460e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15114125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30037174299997 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:176.11, Y:114.72, Z:0.01 [[-6.24485714e-02 -9.98048183e-01 0.00000000e+00 1.76105393e+02] [ 9.98048183e-01 -6.24485714e-02 0.00000000e+00 1.14723147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32311833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33037174299997 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:176.11, Y:114.72, Z:0.01 [[-6.19948900e-02 -9.98076467e-01 0.00000000e+00 1.76105022e+02] [ 9.98076467e-01 -6.19948900e-02 0.00000000e+00 1.14715828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47048135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36037174299997 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:176.10, Y:114.73, Z:0.02 [[-6.10113262e-02 -9.98137074e-01 0.00000000e+00 1.76104771e+02] [ 9.98137074e-01 -6.10113262e-02 0.00000000e+00 1.14730448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52015414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39037174299997 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:176.10, Y:114.74, Z:0.02 [[-5.99894098e-02 -9.98199014e-01 0.00000000e+00 1.76104692e+02] [ 9.98199014e-01 -5.99894098e-02 0.00000000e+00 1.14735888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52548781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42037174299998 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:176.10, Y:114.74, Z:0.01 [[-5.94799140e-02 -9.98229503e-01 0.00000000e+00 1.76104349e+02] [ 9.98229503e-01 -5.94799140e-02 0.00000000e+00 1.14743179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47574031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45037174299998 meters Centerline goodness : 0.994470 Centerline is valid? [True, True] Translation: X:176.10, Y:114.73, Z:0.01 [[-5.94897208e-02 -9.98228918e-01 0.00000000e+00 1.76103950e+02] [ 9.98228918e-01 -5.94897208e-02 0.00000000e+00 1.14733658e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33485804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48037174299998 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:176.10, Y:114.74, Z:0.01 [[-5.97658018e-02 -9.98212427e-01 0.00000000e+00 1.76102412e+02] [ 9.98212427e-01 -5.97658018e-02 0.00000000e+00 1.14736129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21022650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51037174299998 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:176.10, Y:114.75, Z:0.01 [[-5.80846767e-02 -9.98311660e-01 0.00000000e+00 1.76101724e+02] [ 9.98311660e-01 -5.80846767e-02 0.00000000e+00 1.14751646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15985128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54037174299998 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:176.10, Y:114.75, Z:0.01 [[-5.54310864e-02 -9.98462515e-01 0.00000000e+00 1.76100424e+02] [ 9.98462515e-01 -5.54310864e-02 0.00000000e+00 1.14746964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14748272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57037174299998 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:176.10, Y:114.72, Z:0.01 [[-5.14548776e-02 -9.98675320e-01 0.00000000e+00 1.76100634e+02] [ 9.98675320e-01 -5.14548776e-02 0.00000000e+00 1.14718320e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22788942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60037174299998 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:176.10, Y:114.72, Z:0.01 [[-4.93815831e-02 -9.98779985e-01 0.00000000e+00 1.76100202e+02] [ 9.98779985e-01 -4.93815831e-02 0.00000000e+00 1.14718158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19661423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63037174299998 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:176.10, Y:114.75, Z:0.01 [[-4.85633501e-02 -9.98820104e-01 0.00000000e+00 1.76099969e+02] [ 9.98820104e-01 -4.85633501e-02 0.00000000e+00 1.14747544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37403494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66037174299998 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:176.10, Y:114.76, Z:0.01 [[-4.58174517e-02 -9.98949829e-01 0.00000000e+00 1.76099414e+02] [ 9.98949829e-01 -4.58174517e-02 0.00000000e+00 1.14758500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48314747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.690371743 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:176.10, Y:114.79, Z:0.01 [[-4.45848898e-02 -9.99005599e-01 0.00000000e+00 1.76100068e+02] [ 9.99005599e-01 -4.45848898e-02 0.00000000e+00 1.14788554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34275378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.720371743 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:176.10, Y:114.79, Z:0.01 [[-4.26794458e-02 -9.99088817e-01 0.00000000e+00 1.76100364e+02] [ 9.99088817e-01 -4.26794458e-02 0.00000000e+00 1.14792761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20271705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.750371743 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:176.10, Y:114.82, Z:0.01 [[-4.19225763e-02 -9.99120862e-01 0.00000000e+00 1.76100982e+02] [ 9.99120862e-01 -4.19225763e-02 0.00000000e+00 1.14821626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12867207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.780371743 meters Centerline goodness : 0.994015 Centerline is valid? [True, True] Translation: X:176.10, Y:114.83, Z:0.01 [[-4.18100243e-02 -9.99125579e-01 0.00000000e+00 1.76100347e+02] [ 9.99125579e-01 -4.18100243e-02 0.00000000e+00 1.14828416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12388046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.810371743 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:176.10, Y:114.83, Z:0.01 [[-4.08904018e-02 -9.99163638e-01 0.00000000e+00 1.76100342e+02] [ 9.99163638e-01 -4.08904018e-02 0.00000000e+00 1.14833029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01495648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.840371743 meters Centerline goodness : 0.993976 Centerline is valid? [True, True] Translation: X:176.10, Y:114.85, Z:0.01 [[-4.04875462e-02 -9.99180043e-01 0.00000000e+00 1.76100656e+02] [ 9.99180043e-01 -4.04875462e-02 0.00000000e+00 1.14846391e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69780691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.870371743 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:176.10, Y:114.87, Z:0.01 [[-4.20079795e-02 -9.99117275e-01 0.00000000e+00 1.76100011e+02] [ 9.99117275e-01 -4.20079795e-02 0.00000000e+00 1.14873983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86451418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90037174299997 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:176.10, Y:114.88, Z:0.01 [[-4.41601257e-02 -9.99024466e-01 0.00000000e+00 1.76099890e+02] [ 9.99024466e-01 -4.41601257e-02 0.00000000e+00 1.14875975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.25252997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93037174299997 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:176.09, Y:114.88, Z:0.01 [[-6.05121767e-02 -9.98167459e-01 0.00000000e+00 1.76090529e+02] [ 9.98167459e-01 -6.05121767e-02 0.00000000e+00 1.14878388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41553317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96037174299997 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:176.09, Y:114.89, Z:0.01 [[-6.00135572e-02 -9.98197562e-01 0.00000000e+00 1.76090341e+02] [ 9.98197562e-01 -6.00135572e-02 0.00000000e+00 1.14891742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35230699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99037174299997 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:176.09, Y:114.92, Z:0.01 [[-5.88989952e-02 -9.98263947e-01 0.00000000e+00 1.76089802e+02] [ 9.98263947e-01 -5.88989952e-02 0.00000000e+00 1.14921278e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26157319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02037174299997 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:176.09, Y:114.89, Z:0.01 [[-5.55393638e-02 -9.98456498e-01 0.00000000e+00 1.76088671e+02] [ 9.98456498e-01 -5.55393638e-02 0.00000000e+00 1.14890549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06008373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05037174299997 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:176.09, Y:114.89, Z:0.01 [[-5.28652988e-02 -9.98601652e-01 0.00000000e+00 1.76087828e+02] [ 9.98601652e-01 -5.28652988e-02 0.00000000e+00 1.14886109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17283872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08037174299997 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:176.09, Y:114.90, Z:0.01 [[-4.97326702e-02 -9.98762565e-01 0.00000000e+00 1.76086777e+02] [ 9.98762565e-01 -4.97326702e-02 0.00000000e+00 1.14899117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17355451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11037174299997 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:176.09, Y:114.88, Z:0.01 [[-4.61789401e-02 -9.98933184e-01 0.00000000e+00 1.76086042e+02] [ 9.98933184e-01 -4.61789401e-02 0.00000000e+00 1.14883939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28047814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14037174299997 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:176.08, Y:114.91, Z:0.01 [[-3.95225587e-02 -9.99218678e-01 0.00000000e+00 1.76084049e+02] [ 9.99218678e-01 -3.95225587e-02 0.00000000e+00 1.14906973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40595426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17037174299998 meters Centerline goodness : 0.993971 Centerline is valid? [True, True] Translation: X:176.09, Y:114.91, Z:0.01 [[-2.06958924e-02 -9.99785817e-01 0.00000000e+00 1.76092428e+02] [ 9.99785817e-01 -2.06958924e-02 0.00000000e+00 1.14906555e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16210595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20037174299998 meters Centerline goodness : 0.993069 Centerline is valid? [True, True] Translation: X:176.09, Y:114.93, Z:0.02 [[-1.71256850e-02 -9.99853345e-01 0.00000000e+00 1.76090525e+02] [ 9.99853345e-01 -1.71256850e-02 0.00000000e+00 1.14933168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54588443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23037174299998 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:176.09, Y:114.96, Z:0.01 [[-1.41115310e-02 -9.99900427e-01 0.00000000e+00 1.76092527e+02] [ 9.99900427e-01 -1.41115310e-02 0.00000000e+00 1.14963750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25309409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26037174299998 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:176.09, Y:114.99, Z:0.02 [[-1.59441009e-02 -9.99872885e-01 0.00000000e+00 1.76090361e+02] [ 9.99872885e-01 -1.59441009e-02 0.00000000e+00 1.14990328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66767884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29037174299998 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:176.09, Y:114.99, Z:0.02 [[-1.55729211e-02 -9.99878735e-01 0.00000000e+00 1.76090255e+02] [ 9.99878735e-01 -1.55729211e-02 0.00000000e+00 1.14993847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66767884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32037174299998 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:176.09, Y:115.02, Z:0.01 [[-1.19952213e-02 -9.99928055e-01 0.00000000e+00 1.76094748e+02] [ 9.99928055e-01 -1.19952213e-02 0.00000000e+00 1.15015703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26508041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35037174299998 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:176.10, Y:115.04, Z:0.01 [[-1.38639224e-02 -9.99903891e-01 0.00000000e+00 1.76095036e+02] [ 9.99903891e-01 -1.38639224e-02 0.00000000e+00 1.15042956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30667284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38037174299998 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:176.10, Y:115.02, Z:0.01 [[-1.12856722e-02 -9.99936315e-01 0.00000000e+00 1.76098513e+02] [ 9.99936315e-01 -1.12856722e-02 0.00000000e+00 1.15023418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14186183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41037174299998 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:176.10, Y:115.05, Z:0.01 [[-1.43288789e-02 -9.99897336e-01 0.00000000e+00 1.76101839e+02] [ 9.99897336e-01 -1.43288789e-02 0.00000000e+00 1.15051282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10104233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.440371743 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:176.09, Y:115.07, Z:0.02 [[-2.56706725e-02 -9.99670454e-01 0.00000000e+00 1.76090437e+02] [ 9.99670454e-01 -2.56706725e-02 0.00000000e+00 1.15068136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78295569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.470371743 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:176.10, Y:115.11, Z:0.01 [[-1.77574125e-02 -9.99842325e-01 0.00000000e+00 1.76104959e+02] [ 9.99842325e-01 -1.77574125e-02 0.00000000e+00 1.15107739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14925847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.500371743 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:176.11, Y:115.11, Z:0.01 [[-1.87245148e-02 -9.99824681e-01 0.00000000e+00 1.76106817e+02] [ 9.99824681e-01 -1.87245148e-02 0.00000000e+00 1.15111007e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12856987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.530371743 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:176.10, Y:115.13, Z:0.02 [[-2.96005911e-02 -9.99561806e-01 0.00000000e+00 1.76097943e+02] [ 9.99561806e-01 -2.96005911e-02 0.00000000e+00 1.15127222e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57465226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.560371743 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:176.10, Y:115.15, Z:0.02 [[-3.09722791e-02 -9.99520244e-01 0.00000000e+00 1.76099628e+02] [ 9.99520244e-01 -3.09722791e-02 0.00000000e+00 1.15154879e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52707992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.590371743 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:176.10, Y:115.18, Z:0.01 [[-3.35988063e-02 -9.99435401e-01 0.00000000e+00 1.76102877e+02] [ 9.99435401e-01 -3.35988063e-02 0.00000000e+00 1.15182275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48835863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.620371743 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:176.10, Y:115.18, Z:0.01 [[-3.41805395e-02 -9.99415675e-01 0.00000000e+00 1.76104624e+02] [ 9.99415675e-01 -3.41805395e-02 0.00000000e+00 1.15184365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47962339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65037174299997 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:176.12, Y:115.22, Z:0.01 [[-2.97292099e-02 -9.99557989e-01 0.00000000e+00 1.76118758e+02] [ 9.99557989e-01 -2.97292099e-02 0.00000000e+00 1.15222583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22156550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68037174299997 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:176.12, Y:115.23, Z:0.01 [[-2.79860598e-02 -9.99608314e-01 0.00000000e+00 1.76122106e+02] [ 9.99608314e-01 -2.79860598e-02 0.00000000e+00 1.15233915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02722172e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71037174299997 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:176.12, Y:115.26, Z:0.01 [[-2.96745687e-02 -9.99559613e-01 0.00000000e+00 1.76123466e+02] [ 9.99559613e-01 -2.96745687e-02 0.00000000e+00 1.15261078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00966344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74037174299997 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:176.12, Y:115.29, Z:0.01 [[-3.28799052e-02 -9.99459310e-01 0.00000000e+00 1.76122880e+02] [ 9.99459310e-01 -3.28799052e-02 0.00000000e+00 1.15288170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19905265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77037174299997 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:176.13, Y:115.29, Z:0.01 [[-3.45103341e-02 -9.99404341e-01 0.00000000e+00 1.76126852e+02] [ 9.99404341e-01 -3.45103341e-02 0.00000000e+00 1.15291507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14357530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80037174299997 meters Centerline goodness : 0.995506 Centerline is valid? [True, True] Translation: X:176.12, Y:115.31, Z:0.01 [[-4.36200443e-02 -9.99048193e-01 0.00000000e+00 1.76117729e+02] [ 9.99048193e-01 -4.36200443e-02 0.00000000e+00 1.15308313e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38394879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83037174299997 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:176.12, Y:115.34, Z:0.01 [[-4.70217868e-02 -9.98893864e-01 0.00000000e+00 1.76121793e+02] [ 9.98893864e-01 -4.70217868e-02 0.00000000e+00 1.15336701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38630844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86037174299997 meters Centerline goodness : 0.995021 Centerline is valid? [True, True] Translation: X:176.12, Y:115.36, Z:0.01 [[-4.89663550e-02 -9.98800429e-01 0.00000000e+00 1.76123379e+02] [ 9.98800429e-01 -4.89663550e-02 0.00000000e+00 1.15364400e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36805751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89037174299997 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:176.14, Y:115.40, Z:0.01 [[-4.58174401e-02 -9.98949830e-01 0.00000000e+00 1.76136209e+02] [ 9.98949830e-01 -4.58174401e-02 0.00000000e+00 1.15402598e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32046221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92037174299998 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:176.14, Y:115.41, Z:0.01 [[-4.74302022e-02 -9.98874555e-01 0.00000000e+00 1.76137688e+02] [ 9.98874555e-01 -4.74302022e-02 0.00000000e+00 1.15410545e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27744521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95037174299998 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:176.13, Y:115.43, Z:0.01 [[-5.64788520e-02 -9.98403796e-01 0.00000000e+00 1.76128868e+02] [ 9.98403796e-01 -5.64788520e-02 0.00000000e+00 1.15427415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34915957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98037174299998 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:176.13, Y:115.41, Z:0.01 [[-5.82352279e-02 -9.98302889e-01 0.00000000e+00 1.76131091e+02] [ 9.98302889e-01 -5.82352279e-02 0.00000000e+00 1.15412426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17714804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01037174299998 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:176.14, Y:115.45, Z:0.01 [[-5.10543988e-02 -9.98695874e-01 0.00000000e+00 1.76141992e+02] [ 9.98695874e-01 -5.10543988e-02 0.00000000e+00 1.15447387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13467872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04037174299998 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:176.14, Y:115.48, Z:0.01 [[-5.32883846e-02 -9.98579165e-01 0.00000000e+00 1.76143446e+02] [ 9.98579165e-01 -5.32883846e-02 0.00000000e+00 1.15476274e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15425013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07037174299998 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:176.14, Y:115.48, Z:0.01 [[-5.28139426e-02 -9.98604370e-01 0.00000000e+00 1.76143863e+02] [ 9.98604370e-01 -5.28139426e-02 0.00000000e+00 1.15484709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20671980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10037174299998 meters Centerline goodness : 0.995188 Centerline is valid? [True, True] Translation: X:176.14, Y:115.51, Z:0.01 [[-5.41735958e-02 -9.98531533e-01 0.00000000e+00 1.76143670e+02] [ 9.98531533e-01 -5.41735958e-02 0.00000000e+00 1.15510962e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24636419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13037174299998 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:176.14, Y:115.54, Z:0.01 [[-5.42469954e-02 -9.98527548e-01 0.00000000e+00 1.76144438e+02] [ 9.98527548e-01 -5.42469954e-02 0.00000000e+00 1.15540284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31478134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16037174299998 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:176.15, Y:115.57, Z:0.01 [[-5.49935698e-02 -9.98486709e-01 0.00000000e+00 1.76145912e+02] [ 9.98486709e-01 -5.49935698e-02 0.00000000e+00 1.15569501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35545676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.190371743 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:176.15, Y:115.56, Z:0.01 [[-5.56743611e-02 -9.98448980e-01 0.00000000e+00 1.76146472e+02] [ 9.98448980e-01 -5.56743611e-02 0.00000000e+00 1.15557878e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36123095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.220371743 meters Centerline goodness : 0.996110 Centerline is valid? [True, True] Translation: X:176.14, Y:115.57, Z:0.01 [[-7.36029309e-02 -9.97287626e-01 0.00000000e+00 1.76135710e+02] [ 9.97287626e-01 -7.36029309e-02 0.00000000e+00 1.15567578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23136473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.250371743 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:176.15, Y:115.56, Z:0.01 [[-5.66917773e-02 -9.98391728e-01 0.00000000e+00 1.76146493e+02] [ 9.98391728e-01 -5.66917773e-02 0.00000000e+00 1.15563746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91194621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.280371743 meters Centerline goodness : 0.995886 Centerline is valid? [True, True] Translation: X:176.13, Y:115.58, Z:0.01 [[-6.67058962e-02 -9.97772681e-01 0.00000000e+00 1.76133637e+02] [ 9.97772681e-01 -6.67058962e-02 0.00000000e+00 1.15578163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14631863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.310371743 meters Centerline goodness : 0.996048 Centerline is valid? [True, True] Translation: X:176.13, Y:115.61, Z:0.01 [[-6.79898377e-02 -9.97686014e-01 0.00000000e+00 1.76133768e+02] [ 9.97686014e-01 -6.79898377e-02 0.00000000e+00 1.15606288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14160231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.340371743 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:176.15, Y:115.65, Z:0.01 [[-6.19019375e-02 -9.98082236e-01 0.00000000e+00 1.76146616e+02] [ 9.98082236e-01 -6.19019375e-02 0.00000000e+00 1.15647979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77908012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.370371743 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:176.15, Y:115.67, Z:0.01 [[-6.10551334e-02 -9.98134395e-01 0.00000000e+00 1.76145938e+02] [ 9.98134395e-01 -6.10551334e-02 0.00000000e+00 1.15671742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66855834e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40037174299997 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:176.15, Y:115.70, Z:0.01 [[-6.71971646e-02 -9.97739716e-01 0.00000000e+00 1.76146117e+02] [ 9.97739716e-01 -6.71971646e-02 0.00000000e+00 1.15703876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56870029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43037174299997 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:176.15, Y:115.73, Z:0.01 [[-6.77636529e-02 -9.97701402e-01 0.00000000e+00 1.76146301e+02] [ 9.97701402e-01 -6.77636529e-02 0.00000000e+00 1.15732171e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88161248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46037174299997 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:176.15, Y:115.76, Z:0.01 [[-6.84637453e-02 -9.97653605e-01 0.00000000e+00 1.76145260e+02] [ 9.97653605e-01 -6.84637453e-02 0.00000000e+00 1.15759501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.34152311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49037174299997 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:176.14, Y:115.76, Z:0.01 [[-6.71037902e-02 -9.97746000e-01 0.00000000e+00 1.76143540e+02] [ 9.97746000e-01 -6.71037902e-02 0.00000000e+00 1.15756813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26349737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52037174299997 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:176.13, Y:115.75, Z:0.01 [[-7.78549046e-02 -9.96964700e-01 0.00000000e+00 1.76129963e+02] [ 9.96964700e-01 -7.78549046e-02 0.00000000e+00 1.15749003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09834117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55037174299997 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:176.14, Y:115.77, Z:0.01 [[-5.87493382e-02 -9.98272766e-01 0.00000000e+00 1.76137774e+02] [ 9.98272766e-01 -5.87493382e-02 0.00000000e+00 1.15771283e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.65677161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58037174299997 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:176.12, Y:115.79, Z:0.01 [[-6.28559038e-02 -9.98022613e-01 0.00000000e+00 1.76124619e+02] [ 9.98022613e-01 -6.28559038e-02 0.00000000e+00 1.15788187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26443715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61037174299997 meters Centerline goodness : 0.993693 Centerline is valid? [True, True] Translation: X:176.13, Y:115.82, Z:0.01 [[-4.85817984e-02 -9.98819207e-01 0.00000000e+00 1.76134861e+02] [ 9.98819207e-01 -4.85817984e-02 0.00000000e+00 1.15822347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00793184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64037174299997 meters Centerline goodness : 0.993174 Centerline is valid? [True, True] Translation: X:176.13, Y:115.82, Z:0.01 [[-3.96942721e-02 -9.99211872e-01 0.00000000e+00 1.76130842e+02] [ 9.99211872e-01 -3.96942721e-02 0.00000000e+00 1.15817297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17383255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67037174299998 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:176.13, Y:115.82, Z:0.01 [[-3.40922274e-02 -9.99418691e-01 0.00000000e+00 1.76128799e+02] [ 9.99418691e-01 -3.40922274e-02 0.00000000e+00 1.15816340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10902752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70037174299998 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:176.13, Y:115.85, Z:0.01 [[-2.75872429e-02 -9.99619400e-01 0.00000000e+00 1.76125668e+02] [ 9.99619400e-01 -2.75872429e-02 0.00000000e+00 1.15848811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62993852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73037174299998 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:176.12, Y:115.88, Z:0.01 [[-2.47178084e-02 -9.99694468e-01 0.00000000e+00 1.76123558e+02] [ 9.99694468e-01 -2.47178084e-02 0.00000000e+00 1.15876107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02923557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76037174299998 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:176.12, Y:115.88, Z:0.01 [[-2.35456330e-02 -9.99722763e-01 0.00000000e+00 1.76120378e+02] [ 9.99722763e-01 -2.35456330e-02 0.00000000e+00 1.15881453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51764594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79037174299998 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:176.12, Y:115.87, Z:0.01 [[-1.58949430e-02 -9.99873667e-01 0.00000000e+00 1.76118931e+02] [ 9.99873667e-01 -1.58949430e-02 0.00000000e+00 1.15874080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.13998149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82037174299998 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:176.12, Y:115.86, Z:0.01 [[-1.08478316e-02 -9.99941161e-01 0.00000000e+00 1.76119543e+02] [ 9.99941161e-01 -1.08478316e-02 0.00000000e+00 1.15860357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99432432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85037174299998 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:176.12, Y:115.86, Z:0.01 [[-7.01459413e-03 -9.99975397e-01 0.00000000e+00 1.76116844e+02] [ 9.99975397e-01 -7.01459413e-03 0.00000000e+00 1.15861052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98376678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88037174299998 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:176.12, Y:115.86, Z:0.01 [[-2.27063329e-03 -9.99997422e-01 0.00000000e+00 1.76117757e+02] [ 9.99997422e-01 -2.27063329e-03 0.00000000e+00 1.15860053e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.81279729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91037174299998 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:176.12, Y:115.86, Z:0.01 [[-1.29065697e-03 -9.99999167e-01 0.00000000e+00 1.76117734e+02] [ 9.99999167e-01 -1.29065697e-03 0.00000000e+00 1.15864072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.59285451e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.940371743 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:176.11, Y:115.87, Z:0.01 [[-1.71121703e-02 -9.99853576e-01 0.00000000e+00 1.76108431e+02] [ 9.99853576e-01 -1.71121703e-02 0.00000000e+00 1.15870925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13003173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.970371743 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:176.12, Y:115.86, Z:0.01 [[ 3.40533269e-03 -9.99994202e-01 0.00000000e+00 1.76122461e+02] [ 9.99994202e-01 3.40533269e-03 0.00000000e+00 1.15856571e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45028683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.000371743 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:176.12, Y:115.88, Z:0.00 [[ 8.99910789e-04 -9.99999595e-01 0.00000000e+00 1.76122953e+02] [ 9.99999595e-01 8.99910789e-04 0.00000000e+00 1.15884215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17088933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.030371743 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:176.13, Y:115.91, Z:0.00 [[-1.33967425e-03 -9.99999103e-01 0.00000000e+00 1.76126177e+02] [ 9.99999103e-01 -1.33967425e-03 0.00000000e+00 1.15913600e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17986010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.060371743 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:176.13, Y:115.94, Z:0.01 [[-3.90228510e-03 -9.99992386e-01 0.00000000e+00 1.76127009e+02] [ 9.99992386e-01 -3.90228510e-03 0.00000000e+00 1.15941146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71052990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.090371743 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:176.13, Y:115.93, Z:0.01 [[-5.80727156e-03 -9.99983138e-01 0.00000000e+00 1.76129042e+02] [ 9.99983138e-01 -5.80727156e-03 0.00000000e+00 1.15933341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23517716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.120371743 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:176.13, Y:115.94, Z:0.01 [[-1.23293577e-02 -9.99923991e-01 0.00000000e+00 1.76132985e+02] [ 9.99923991e-01 -1.23293577e-02 0.00000000e+00 1.15939220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99833979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15037174299997 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:176.14, Y:115.94, Z:0.00 [[-1.35251173e-02 -9.99908531e-01 0.00000000e+00 1.76135415e+02] [ 9.99908531e-01 -1.35251173e-02 0.00000000e+00 1.15941480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81305243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18037174299997 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:176.14, Y:115.97, Z:0.00 [[-1.41644372e-02 -9.99899679e-01 0.00000000e+00 1.76135164e+02] [ 9.99899679e-01 -1.41644372e-02 0.00000000e+00 1.15969567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.81305243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21037174299997 meters Centerline goodness : 0.993745 Centerline is valid? [True, True] Translation: X:176.14, Y:116.00, Z:0.01 [[-1.71751585e-02 -9.99852496e-01 0.00000000e+00 1.76136876e+02] [ 9.99852496e-01 -1.71751585e-02 0.00000000e+00 1.15995824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41038464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24037174299997 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:176.14, Y:116.02, Z:0.01 [[-2.23247375e-02 -9.99750772e-01 0.00000000e+00 1.76139801e+02] [ 9.99750772e-01 -2.23247375e-02 0.00000000e+00 1.16018993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19243874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27037174299997 meters Centerline goodness : 0.993869 Centerline is valid? [True, True] Translation: X:176.14, Y:116.05, Z:0.01 [[-2.95847787e-02 -9.99562275e-01 0.00000000e+00 1.76139689e+02] [ 9.99562275e-01 -2.95847787e-02 0.00000000e+00 1.16045313e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.61328040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30037174299997 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:176.14, Y:116.07, Z:0.00 [[-3.72500929e-02 -9.99305974e-01 0.00000000e+00 1.76143789e+02] [ 9.99305974e-01 -3.72500929e-02 0.00000000e+00 1.16072188e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87842798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33037174299997 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:176.15, Y:116.11, Z:0.00 [[-4.27124160e-02 -9.99087408e-01 0.00000000e+00 1.76146373e+02] [ 9.99087408e-01 -4.27124160e-02 0.00000000e+00 1.16105002e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.59786369e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36037174299997 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:176.15, Y:116.12, Z:0.00 [[-4.91316186e-02 -9.98792313e-01 0.00000000e+00 1.76148348e+02] [ 9.98792313e-01 -4.91316186e-02 0.00000000e+00 1.16115996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75437182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39037174299997 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:176.15, Y:116.12, Z:0.00 [[-4.94811107e-02 -9.98775060e-01 0.00000000e+00 1.76150466e+02] [ 9.98775060e-01 -4.94811107e-02 0.00000000e+00 1.16118688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.54909321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42037174299998 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:176.16, Y:116.12, Z:0.00 [[-5.50215015e-02 -9.98485170e-01 0.00000000e+00 1.76155126e+02] [ 9.98485170e-01 -5.50215015e-02 0.00000000e+00 1.16116953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99406515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45037174299998 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:176.16, Y:116.12, Z:0.01 [[-5.76638405e-02 -9.98336056e-01 0.00000000e+00 1.76155512e+02] [ 9.98336056e-01 -5.76638405e-02 0.00000000e+00 1.16123053e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80460776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48037174299998 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:176.16, Y:116.13, Z:0.00 [[-6.20103035e-02 -9.98075509e-01 0.00000000e+00 1.76155278e+02] [ 9.98075509e-01 -6.20103035e-02 0.00000000e+00 1.16132933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47347183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51037174299998 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:176.16, Y:116.16, Z:0.00 [[-6.27734256e-02 -9.98027804e-01 0.00000000e+00 1.76156452e+02] [ 9.98027804e-01 -6.27734256e-02 0.00000000e+00 1.16162778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34977077e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54037174299998 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:176.16, Y:116.17, Z:0.00 [[-6.20688244e-02 -9.98071872e-01 0.00000000e+00 1.76157886e+02] [ 9.98071872e-01 -6.20688244e-02 0.00000000e+00 1.16165358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97418391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57037174299998 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:176.16, Y:116.17, Z:0.01 [[-6.11302958e-02 -9.98129795e-01 0.00000000e+00 1.76157939e+02] [ 9.98129795e-01 -6.11302958e-02 0.00000000e+00 1.16169820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10321812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60037174299998 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:176.16, Y:116.20, Z:0.01 [[-6.02954996e-02 -9.98180571e-01 0.00000000e+00 1.76157476e+02] [ 9.98180571e-01 -6.02954996e-02 0.00000000e+00 1.16197701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50306492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63037174299998 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:176.16, Y:116.20, Z:0.01 [[-5.76752574e-02 -9.98335397e-01 0.00000000e+00 1.76156894e+02] [ 9.98335397e-01 -5.76752574e-02 0.00000000e+00 1.16200926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81901167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66037174299998 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:176.16, Y:116.23, Z:0.01 [[-5.45593026e-02 -9.98510532e-01 0.00000000e+00 1.76155429e+02] [ 9.98510532e-01 -5.45593026e-02 0.00000000e+00 1.16230039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.61503972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.690371743 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:176.15, Y:116.23, Z:0.01 [[-5.26028917e-02 -9.98615509e-01 0.00000000e+00 1.76154658e+02] [ 9.98615509e-01 -5.26028917e-02 0.00000000e+00 1.16228536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52998133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.720371743 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:176.15, Y:116.23, Z:0.01 [[-5.18042417e-02 -9.98657259e-01 0.00000000e+00 1.76153965e+02] [ 9.98657259e-01 -5.18042417e-02 0.00000000e+00 1.16232030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69694513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.750371743 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:176.15, Y:116.23, Z:0.01 [[-4.89485120e-02 -9.98801303e-01 0.00000000e+00 1.76152069e+02] [ 9.98801303e-01 -4.89485120e-02 0.00000000e+00 1.16229626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.54952272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.780371743 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:176.15, Y:116.26, Z:0.01 [[-4.88551462e-02 -9.98805874e-01 0.00000000e+00 1.76151168e+02] [ 9.98805874e-01 -4.88551462e-02 0.00000000e+00 1.16256993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82069601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.810371743 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:176.15, Y:116.29, Z:0.01 [[-5.11131757e-02 -9.98692867e-01 0.00000000e+00 1.76149429e+02] [ 9.98692867e-01 -5.11131757e-02 0.00000000e+00 1.16286781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.85491882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.840371743 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:176.14, Y:116.30, Z:0.01 [[-6.34855533e-02 -9.97982758e-01 0.00000000e+00 1.76142571e+02] [ 9.97982758e-01 -6.34855533e-02 0.00000000e+00 1.16295975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02030929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.870371743 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:176.15, Y:116.29, Z:0.01 [[-5.30974684e-02 -9.98589334e-01 0.00000000e+00 1.76148506e+02] [ 9.98589334e-01 -5.30974684e-02 0.00000000e+00 1.16291569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10562496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90037174299997 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:176.15, Y:116.30, Z:0.01 [[-5.65583955e-02 -9.98399293e-01 0.00000000e+00 1.76148331e+02] [ 9.98399293e-01 -5.65583955e-02 0.00000000e+00 1.16299580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01398713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93037174299997 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:176.15, Y:116.33, Z:0.00 [[-5.88509232e-02 -9.98266782e-01 0.00000000e+00 1.76148349e+02] [ 9.98266782e-01 -5.88509232e-02 0.00000000e+00 1.16328169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53330367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96037174299997 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:176.15, Y:116.33, Z:0.00 [[-6.03476023e-02 -9.98177423e-01 0.00000000e+00 1.76147963e+02] [ 9.98177423e-01 -6.03476023e-02 0.00000000e+00 1.16329748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27821273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99037174299997 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:176.15, Y:116.36, Z:0.00 [[-6.45137458e-02 -9.97916818e-01 0.00000000e+00 1.76147257e+02] [ 9.97916818e-01 -6.45137458e-02 0.00000000e+00 1.16358663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.68564015e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02037174299997 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:176.15, Y:116.36, Z:0.00 [[-6.63580055e-02 -9.97795878e-01 0.00000000e+00 1.76146395e+02] [ 9.97795878e-01 -6.63580055e-02 0.00000000e+00 1.16357516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52455229e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05037174299997 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:176.15, Y:116.37, Z:0.00 [[-6.66472505e-02 -9.97776600e-01 0.00000000e+00 1.76145593e+02] [ 9.97776600e-01 -6.66472505e-02 0.00000000e+00 1.16370176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05732053e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08037174299997 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:176.14, Y:116.37, Z:0.00 [[-8.02395731e-02 -9.96775607e-01 0.00000000e+00 1.76136538e+02] [ 9.96775607e-01 -8.02395731e-02 0.00000000e+00 1.16365036e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.44789863e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11037174299997 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:176.14, Y:116.36, Z:0.00 [[-6.99882737e-02 -9.97547814e-01 0.00000000e+00 1.76141531e+02] [ 9.97547814e-01 -6.99882737e-02 0.00000000e+00 1.16355535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93183009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14037174299997 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:176.14, Y:116.37, Z:0.00 [[-8.02375594e-02 -9.96775769e-01 0.00000000e+00 1.76135172e+02] [ 9.96775769e-01 -8.02375594e-02 0.00000000e+00 1.16371755e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18959931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17037174299998 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:176.14, Y:116.37, Z:0.00 [[-6.83029526e-02 -9.97664626e-01 0.00000000e+00 1.76139205e+02] [ 9.97664626e-01 -6.83029526e-02 0.00000000e+00 1.16370030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20920673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20037174299998 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:176.14, Y:116.40, Z:0.00 [[-6.87688558e-02 -9.97632620e-01 0.00000000e+00 1.76137541e+02] [ 9.97632620e-01 -6.87688558e-02 0.00000000e+00 1.16396594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97780937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23037174299998 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:176.14, Y:116.42, Z:0.00 [[-6.95663507e-02 -9.97577327e-01 0.00000000e+00 1.76135191e+02] [ 9.97577327e-01 -6.95663507e-02 0.00000000e+00 1.16424112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19649183e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26037174299998 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:176.13, Y:116.45, Z:0.00 [[-7.00426460e-02 -9.97543998e-01 0.00000000e+00 1.76134033e+02] [ 9.97543998e-01 -7.00426460e-02 0.00000000e+00 1.16453245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55007789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29037174299998 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:176.13, Y:116.45, Z:0.00 [[-6.71404543e-02 -9.97743534e-01 0.00000000e+00 1.76132488e+02] [ 9.97743534e-01 -6.71404543e-02 0.00000000e+00 1.16445045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30244810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32037174299998 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:176.13, Y:116.47, Z:0.00 [[-6.35183175e-02 -9.97980673e-01 0.00000000e+00 1.76130902e+02] [ 9.97980673e-01 -6.35183175e-02 0.00000000e+00 1.16466599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70625874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35037174299998 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:176.13, Y:116.50, Z:0.00 [[-6.31234208e-02 -9.98005728e-01 0.00000000e+00 1.76128831e+02] [ 9.98005728e-01 -6.31234208e-02 0.00000000e+00 1.16495990e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06943361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38037174299998 meters Centerline goodness : 0.993174 Centerline is valid? [True, True] Translation: X:176.13, Y:116.52, Z:0.00 [[-6.27763886e-02 -9.98027617e-01 0.00000000e+00 1.76127247e+02] [ 9.98027617e-01 -6.27763886e-02 0.00000000e+00 1.16524485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47211797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41037174299998 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:176.13, Y:116.53, Z:0.00 [[-6.19347048e-02 -9.98080203e-01 0.00000000e+00 1.76125283e+02] [ 9.98080203e-01 -6.19347048e-02 0.00000000e+00 1.16527105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73319107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.440371743 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:176.12, Y:116.56, Z:0.00 [[-6.30289633e-02 -9.98011698e-01 0.00000000e+00 1.76122372e+02] [ 9.98011698e-01 -6.30289633e-02 0.00000000e+00 1.16558738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10477421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.470371743 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:176.12, Y:116.56, Z:0.00 [[-6.16077264e-02 -9.98100440e-01 0.00000000e+00 1.76120820e+02] [ 9.98100440e-01 -6.16077264e-02 0.00000000e+00 1.16562555e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32490864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.500371743 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:176.12, Y:116.56, Z:0.00 [[-5.78568935e-02 -9.98324887e-01 0.00000000e+00 1.76118401e+02] [ 9.98324887e-01 -5.78568935e-02 0.00000000e+00 1.16559578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25605153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.530371743 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:176.12, Y:116.59, Z:0.00 [[-5.63678045e-02 -9.98410071e-01 0.00000000e+00 1.76117221e+02] [ 9.98410071e-01 -5.63678045e-02 0.00000000e+00 1.16587852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74641197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.560371743 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:176.12, Y:116.59, Z:0.00 [[-5.42064344e-02 -9.98529750e-01 0.00000000e+00 1.76116120e+02] [ 9.98529750e-01 -5.42064344e-02 0.00000000e+00 1.16588720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72540627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.590371743 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:176.12, Y:116.58, Z:0.00 [[-4.99672551e-02 -9.98750857e-01 0.00000000e+00 1.76115553e+02] [ 9.98750857e-01 -4.99672551e-02 0.00000000e+00 1.16580531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75300396e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.620371743 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:176.11, Y:116.61, Z:0.00 [[-4.41780506e-02 -9.99023673e-01 0.00000000e+00 1.76113339e+02] [ 9.99023673e-01 -4.41780506e-02 0.00000000e+00 1.16607262e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16438691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65037174299997 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:176.11, Y:116.63, Z:0.00 [[-4.27029049e-02 -9.99087815e-01 0.00000000e+00 1.76111192e+02] [ 9.99087815e-01 -4.27029049e-02 0.00000000e+00 1.16634571e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09615437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68037174299997 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:176.11, Y:116.66, Z:0.00 [[-4.02554369e-02 -9.99189421e-01 0.00000000e+00 1.76110057e+02] [ 9.99189421e-01 -4.02554369e-02 0.00000000e+00 1.16664327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40751931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71037174299997 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:176.10, Y:116.67, Z:0.00 [[-4.85378744e-02 -9.98821343e-01 0.00000000e+00 1.76100623e+02] [ 9.98821343e-01 -4.85378744e-02 0.00000000e+00 1.16673455e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28944372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74037174299997 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:176.11, Y:116.69, Z:-0.00 [[-3.22900178e-02 -9.99478541e-01 0.00000000e+00 1.76108188e+02] [ 9.99478541e-01 -3.22900178e-02 0.00000000e+00 1.16692288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43591363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77037174299997 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:176.10, Y:116.71, Z:0.00 [[-3.65462936e-02 -9.99331961e-01 0.00000000e+00 1.76097832e+02] [ 9.99331961e-01 -3.65462936e-02 0.00000000e+00 1.16711345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18099705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80037174299997 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:176.10, Y:116.72, Z:0.00 [[-3.48450281e-02 -9.99392728e-01 0.00000000e+00 1.76097779e+02] [ 9.99392728e-01 -3.48450281e-02 0.00000000e+00 1.16721306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05909545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83037174299997 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:176.11, Y:116.70, Z:-0.00 [[-1.72434537e-02 -9.99851321e-01 0.00000000e+00 1.76106475e+02] [ 9.99851321e-01 -1.72434537e-02 0.00000000e+00 1.16702155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.73213621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86037174299997 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:176.11, Y:116.73, Z:-0.00 [[-1.69619686e-02 -9.99856135e-01 0.00000000e+00 1.76106290e+02] [ 9.99856135e-01 -1.69619686e-02 0.00000000e+00 1.16730370e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29000269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89037174299997 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:176.11, Y:116.76, Z:-0.00 [[-1.56312655e-02 -9.99877824e-01 0.00000000e+00 1.76106837e+02] [ 9.99877824e-01 -1.56312655e-02 0.00000000e+00 1.16760774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.44029932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92037174299998 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:176.11, Y:116.79, Z:-0.00 [[-1.42310485e-02 -9.99898734e-01 0.00000000e+00 1.76107810e+02] [ 9.99898734e-01 -1.42310485e-02 0.00000000e+00 1.16789668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.72213357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95037174299998 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:176.11, Y:116.82, Z:-0.00 [[-1.46009331e-02 -9.99893401e-01 0.00000000e+00 1.76107513e+02] [ 9.99893401e-01 -1.46009331e-02 0.00000000e+00 1.16816615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69188880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98037174299998 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:176.11, Y:116.85, Z:-0.00 [[-1.55927759e-02 -9.99878425e-01 0.00000000e+00 1.76108106e+02] [ 9.99878425e-01 -1.55927759e-02 0.00000000e+00 1.16845348e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90184771e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01037174299998 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:176.09, Y:116.86, Z:0.01 [[-2.61512043e-02 -9.99657999e-01 0.00000000e+00 1.76094352e+02] [ 9.99657999e-01 -2.61512043e-02 0.00000000e+00 1.16857211e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.79178692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04037174299998 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:176.10, Y:116.89, Z:0.01 [[-2.88238538e-02 -9.99584506e-01 0.00000000e+00 1.76095116e+02] [ 9.99584506e-01 -2.88238538e-02 0.00000000e+00 1.16885501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57576846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07037174299998 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:176.10, Y:116.91, Z:0.01 [[-3.10113555e-02 -9.99519032e-01 0.00000000e+00 1.76095876e+02] [ 9.99519032e-01 -3.10113555e-02 0.00000000e+00 1.16912588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32957628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10037174299998 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:176.10, Y:116.94, Z:0.01 [[-3.12717866e-02 -9.99510918e-01 0.00000000e+00 1.76095881e+02] [ 9.99510918e-01 -3.12717866e-02 0.00000000e+00 1.16940963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.32957628e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13037174299998 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:176.10, Y:116.97, Z:0.01 [[-3.40793916e-02 -9.99419129e-01 0.00000000e+00 1.76096476e+02] [ 9.99419129e-01 -3.40793916e-02 0.00000000e+00 1.16968935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.27466040e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16037174299998 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:176.10, Y:117.00, Z:0.01 [[-4.05982785e-02 -9.99175550e-01 0.00000000e+00 1.76098732e+02] [ 9.99175550e-01 -4.05982785e-02 0.00000000e+00 1.16996849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06067820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.190371743 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:176.10, Y:117.03, Z:0.01 [[-4.48263763e-02 -9.98994793e-01 0.00000000e+00 1.76100280e+02] [ 9.98994793e-01 -4.48263763e-02 0.00000000e+00 1.17025223e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28443233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.220371743 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:176.11, Y:117.07, Z:-0.00 [[-4.06230489e-02 -9.99174543e-01 0.00000000e+00 1.76112847e+02] [ 9.99174543e-01 -4.06230489e-02 0.00000000e+00 1.17065071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93963021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.250371743 meters Centerline goodness : 0.994370 Centerline is valid? [True, True] Translation: X:176.11, Y:117.09, Z:-0.00 [[-4.96008261e-02 -9.98769121e-01 0.00000000e+00 1.76114619e+02] [ 9.98769121e-01 -4.96008261e-02 0.00000000e+00 1.17092309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.00365343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.280371743 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:176.12, Y:117.12, Z:-0.00 [[-5.35504610e-02 -9.98565145e-01 0.00000000e+00 1.76115047e+02] [ 9.98565145e-01 -5.35504610e-02 0.00000000e+00 1.17119327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.28792058e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.310371743 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:176.12, Y:117.15, Z:-0.00 [[-5.70132082e-02 -9.98373424e-01 0.00000000e+00 1.76115066e+02] [ 9.98373424e-01 -5.70132082e-02 0.00000000e+00 1.17146678e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02479591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.340371743 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:176.11, Y:117.17, Z:0.00 [[-6.28481988e-02 -9.98023098e-01 0.00000000e+00 1.76113357e+02] [ 9.98023098e-01 -6.28481988e-02 0.00000000e+00 1.17173974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86057475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.370371743 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:176.11, Y:117.20, Z:-0.00 [[-6.31777523e-02 -9.98002290e-01 0.00000000e+00 1.76114371e+02] [ 9.98002290e-01 -6.31777523e-02 0.00000000e+00 1.17204749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.33522071e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40037174299997 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:176.11, Y:117.22, Z:0.00 [[-6.41320995e-02 -9.97941418e-01 0.00000000e+00 1.76113427e+02] [ 9.97941418e-01 -6.41320995e-02 0.00000000e+00 1.17215042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59124515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43037174299997 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:176.11, Y:117.22, Z:0.00 [[-6.32518222e-02 -9.97997599e-01 0.00000000e+00 1.76112669e+02] [ 9.97997599e-01 -6.32518222e-02 0.00000000e+00 1.17220481e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15434958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46037174299997 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:176.11, Y:117.23, Z:0.00 [[-6.30939610e-02 -9.98007591e-01 0.00000000e+00 1.76112089e+02] [ 9.98007591e-01 -6.30939610e-02 0.00000000e+00 1.17226951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76775352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49037174299997 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:176.10, Y:117.23, Z:0.01 [[-7.65652435e-02 -9.97064573e-01 0.00000000e+00 1.76103548e+02] [ 9.97064573e-01 -7.65652435e-02 0.00000000e+00 1.17225582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14712616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52037174299997 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:176.11, Y:117.22, Z:0.00 [[-6.30347103e-02 -9.98011335e-01 0.00000000e+00 1.76112346e+02] [ 9.98011335e-01 -6.30347103e-02 0.00000000e+00 1.17223950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87469877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55037174299997 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:176.10, Y:117.24, Z:0.01 [[-7.09674359e-02 -9.97478633e-01 0.00000000e+00 1.76102529e+02] [ 9.97478633e-01 -7.09674359e-02 0.00000000e+00 1.17240906e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19547426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58037174299997 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:176.11, Y:117.28, Z:-0.00 [[-6.68493006e-02 -9.97763084e-01 0.00000000e+00 1.76113614e+02] [ 9.97763084e-01 -6.68493006e-02 0.00000000e+00 1.17279162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35823619e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61037174299997 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:176.11, Y:117.31, Z:-0.00 [[-6.95151662e-02 -9.97580895e-01 0.00000000e+00 1.76114096e+02] [ 9.97580895e-01 -6.95151662e-02 0.00000000e+00 1.17306557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45452952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64037174299997 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:176.11, Y:117.31, Z:-0.00 [[-7.40266260e-02 -9.97256265e-01 0.00000000e+00 1.76114473e+02] [ 9.97256265e-01 -7.40266260e-02 0.00000000e+00 1.17314259e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.40807960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67037174299998 meters Centerline goodness : 0.995440 Centerline is valid? [True, True] Translation: X:176.11, Y:117.31, Z:-0.00 [[-7.60311861e-02 -9.97105440e-01 0.00000000e+00 1.76114604e+02] [ 9.97105440e-01 -7.60311861e-02 0.00000000e+00 1.17311724e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.13869961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70037174299998 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:176.11, Y:117.34, Z:-0.00 [[-7.90088932e-02 -9.96873911e-01 0.00000000e+00 1.76113657e+02] [ 9.96873911e-01 -7.90088932e-02 0.00000000e+00 1.17340075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03140240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73037174299998 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:176.11, Y:117.32, Z:-0.00 [[-7.99964329e-02 -9.96795150e-01 0.00000000e+00 1.76112227e+02] [ 9.96795150e-01 -7.99964329e-02 0.00000000e+00 1.17322979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.96349200e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76037174299998 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:176.11, Y:117.34, Z:0.00 [[-7.84264748e-02 -9.96919901e-01 0.00000000e+00 1.76111450e+02] [ 9.96919901e-01 -7.84264748e-02 0.00000000e+00 1.17339279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38538842e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79037174299998 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:176.11, Y:117.36, Z:0.00 [[-7.84656687e-02 -9.96916816e-01 0.00000000e+00 1.76110082e+02] [ 9.96916816e-01 -7.84656687e-02 0.00000000e+00 1.17355891e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34225793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82037174299998 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:176.11, Y:117.35, Z:0.00 [[-7.52494878e-02 -9.97164738e-01 0.00000000e+00 1.76108378e+02] [ 9.97164738e-01 -7.52494878e-02 0.00000000e+00 1.17345710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98421809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85037174299998 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:176.11, Y:117.34, Z:0.00 [[-7.26412920e-02 -9.97358132e-01 0.00000000e+00 1.76107463e+02] [ 9.97358132e-01 -7.26412920e-02 0.00000000e+00 1.17336558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73037404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88037174299998 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:176.11, Y:117.35, Z:0.00 [[-7.02126469e-02 -9.97532047e-01 0.00000000e+00 1.76106644e+02] [ 9.97532047e-01 -7.02126469e-02 0.00000000e+00 1.17346063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30179914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91037174299998 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:176.11, Y:117.34, Z:0.00 [[-6.65636658e-02 -9.97782180e-01 0.00000000e+00 1.76105862e+02] [ 9.97782180e-01 -6.65636658e-02 0.00000000e+00 1.17337435e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51263532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.940371743 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:176.10, Y:117.37, Z:0.00 [[-6.32010535e-02 -9.98000815e-01 0.00000000e+00 1.76104942e+02] [ 9.98000815e-01 -6.32010535e-02 0.00000000e+00 1.17367102e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21671483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.970371743 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:176.10, Y:117.40, Z:0.00 [[-6.31339968e-02 -9.98005059e-01 0.00000000e+00 1.76103946e+02] [ 9.98005059e-01 -6.31339968e-02 0.00000000e+00 1.17395209e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34660362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.000371743 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:176.10, Y:117.39, Z:-0.00 [[-6.03067373e-02 -9.98179892e-01 0.00000000e+00 1.76104453e+02] [ 9.98179892e-01 -6.03067373e-02 0.00000000e+00 1.17385339e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.50859678e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.030371743 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:176.10, Y:117.41, Z:-0.00 [[-6.13231437e-02 -9.98117965e-01 0.00000000e+00 1.76104746e+02] [ 9.98117965e-01 -6.13231437e-02 0.00000000e+00 1.17414889e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90507110e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.060371743 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:176.10, Y:117.43, Z:0.00 [[-6.32824273e-02 -9.97995659e-01 0.00000000e+00 1.76104354e+02] [ 9.97995659e-01 -6.32824273e-02 0.00000000e+00 1.17429546e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98456143e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.090371743 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:176.10, Y:117.44, Z:0.00 [[-6.68699392e-02 -9.97761701e-01 0.00000000e+00 1.76104475e+02] [ 9.97761701e-01 -6.68699392e-02 0.00000000e+00 1.17438960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25133519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.120371743 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:176.10, Y:117.43, Z:0.00 [[-6.80806268e-02 -9.97679823e-01 0.00000000e+00 1.76104654e+02] [ 9.97679823e-01 -6.80806268e-02 0.00000000e+00 1.17426195e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76319980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15037174299997 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:176.11, Y:117.43, Z:0.00 [[-7.03881871e-02 -9.97519676e-01 0.00000000e+00 1.76105482e+02] [ 9.97519676e-01 -7.03881871e-02 0.00000000e+00 1.17425568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48349754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18037174299997 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:176.11, Y:117.43, Z:0.00 [[-7.09008506e-02 -9.97483368e-01 0.00000000e+00 1.76106422e+02] [ 9.97483368e-01 -7.09008506e-02 0.00000000e+00 1.17429468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90599275e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21037174299997 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:176.11, Y:117.45, Z:-0.00 [[-7.07646070e-02 -9.97493043e-01 0.00000000e+00 1.76106861e+02] [ 9.97493043e-01 -7.07646070e-02 0.00000000e+00 1.17452128e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.19738563e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24037174299997 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:176.11, Y:117.44, Z:-0.00 [[-7.02763803e-02 -9.97527559e-01 0.00000000e+00 1.76107398e+02] [ 9.97527559e-01 -7.02763803e-02 0.00000000e+00 1.17442095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.20985756e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27037174299997 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:176.11, Y:117.46, Z:0.00 [[-7.23237641e-02 -9.97381208e-01 0.00000000e+00 1.76106639e+02] [ 9.97381208e-01 -7.23237641e-02 0.00000000e+00 1.17457266e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71154923e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30037174299997 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:176.11, Y:117.45, Z:0.00 [[-7.19137380e-02 -9.97410855e-01 0.00000000e+00 1.76106514e+02] [ 9.97410855e-01 -7.19137380e-02 0.00000000e+00 1.17454296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36858041e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33037174299997 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:176.11, Y:117.45, Z:-0.00 [[-7.09872557e-02 -9.97477223e-01 0.00000000e+00 1.76106571e+02] [ 9.97477223e-01 -7.09872557e-02 0.00000000e+00 1.17447398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71769583e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36037174299997 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:176.11, Y:117.47, Z:-0.00 [[-7.02317416e-02 -9.97530703e-01 0.00000000e+00 1.76106658e+02] [ 9.97530703e-01 -7.02317416e-02 0.00000000e+00 1.17474945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64167466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39037174299997 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:176.11, Y:117.50, Z:-0.00 [[-6.95069180e-02 -9.97581470e-01 0.00000000e+00 1.76107032e+02] [ 9.97581470e-01 -6.95069180e-02 0.00000000e+00 1.17504049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76235589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42037174299998 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:176.11, Y:117.50, Z:-0.00 [[-6.70919909e-02 -9.97746794e-01 0.00000000e+00 1.76107406e+02] [ 9.97746794e-01 -6.70919909e-02 0.00000000e+00 1.17502262e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67304857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45037174299998 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:176.11, Y:117.53, Z:-0.00 [[-6.59665915e-02 -9.97821832e-01 0.00000000e+00 1.76105956e+02] [ 9.97821832e-01 -6.59665915e-02 0.00000000e+00 1.17529645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10499891e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48037174299998 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:176.11, Y:117.53, Z:-0.00 [[-6.42700373e-02 -9.97932544e-01 0.00000000e+00 1.76105727e+02] [ 9.97932544e-01 -6.42700373e-02 0.00000000e+00 1.17534216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27747235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51037174299998 meters Centerline goodness : 0.995809 Centerline is valid? [True, True] Translation: X:176.10, Y:117.56, Z:0.00 [[-7.77967823e-02 -9.96969238e-01 0.00000000e+00 1.76095515e+02] [ 9.96969238e-01 -7.77967823e-02 0.00000000e+00 1.17556787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46424616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54037174299998 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:176.10, Y:117.54, Z:-0.00 [[-6.11005461e-02 -9.98131616e-01 0.00000000e+00 1.76103806e+02] [ 9.98131616e-01 -6.11005461e-02 0.00000000e+00 1.17541226e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98836759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57037174299998 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:176.10, Y:117.54, Z:-0.00 [[-5.93088825e-02 -9.98239679e-01 0.00000000e+00 1.76103496e+02] [ 9.98239679e-01 -5.93088825e-02 0.00000000e+00 1.17538430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24578402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60037174299998 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:176.10, Y:117.57, Z:-0.00 [[-5.84898340e-02 -9.98288004e-01 0.00000000e+00 1.76102857e+02] [ 9.98288004e-01 -5.84898340e-02 0.00000000e+00 1.17565919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.05761927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63037174299998 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:176.10, Y:117.59, Z:-0.00 [[-5.81567054e-02 -9.98307466e-01 0.00000000e+00 1.76102142e+02] [ 9.98307466e-01 -5.81567054e-02 0.00000000e+00 1.17593376e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.40893438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66037174299998 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:176.10, Y:117.62, Z:-0.00 [[-5.80153249e-02 -9.98315693e-01 0.00000000e+00 1.76102668e+02] [ 9.98315693e-01 -5.80153249e-02 0.00000000e+00 1.17622682e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.92772274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.690371743 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:176.10, Y:117.63, Z:-0.00 [[-5.71600300e-02 -9.98365029e-01 0.00000000e+00 1.76102499e+02] [ 9.98365029e-01 -5.71600300e-02 0.00000000e+00 1.17632085e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.67857340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.720371743 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:176.10, Y:117.66, Z:-0.00 [[-5.73202586e-02 -9.98355842e-01 0.00000000e+00 1.76102376e+02] [ 9.98355842e-01 -5.73202586e-02 0.00000000e+00 1.17660716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18289005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.750371743 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:176.10, Y:117.68, Z:-0.00 [[-5.78559750e-02 -9.98324940e-01 0.00000000e+00 1.76101739e+02] [ 9.98324940e-01 -5.78559750e-02 0.00000000e+00 1.17677650e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07613786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.780371743 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:176.10, Y:117.67, Z:-0.00 [[-5.51724294e-02 -9.98476842e-01 0.00000000e+00 1.76102640e+02] [ 9.98476842e-01 -5.51724294e-02 0.00000000e+00 1.17667830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26913517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.810371743 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:176.10, Y:117.67, Z:0.00 [[-5.57424759e-02 -9.98445179e-01 0.00000000e+00 1.76101784e+02] [ 9.98445179e-01 -5.57424759e-02 0.00000000e+00 1.17670007e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85965776e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.840371743 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:176.10, Y:117.66, Z:0.00 [[-5.54653881e-02 -9.98460611e-01 0.00000000e+00 1.76101458e+02] [ 9.98460611e-01 -5.54653881e-02 0.00000000e+00 1.17664790e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11453064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.870371743 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:176.10, Y:117.67, Z:0.00 [[-5.46996237e-02 -9.98502855e-01 0.00000000e+00 1.76101318e+02] [ 9.98502855e-01 -5.46996237e-02 0.00000000e+00 1.17668834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48896980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90037174299997 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:176.10, Y:117.67, Z:0.00 [[-5.44345661e-02 -9.98517340e-01 0.00000000e+00 1.76101481e+02] [ 9.98517340e-01 -5.44345661e-02 0.00000000e+00 1.17672011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.61117137e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93037174299997 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:176.10, Y:117.70, Z:0.00 [[-5.52269658e-02 -9.98473827e-01 0.00000000e+00 1.76101114e+02] [ 9.98473827e-01 -5.52269658e-02 0.00000000e+00 1.17698602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14534257e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96037174299997 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:176.10, Y:117.73, Z:-0.00 [[-5.65529854e-02 -9.98399599e-01 0.00000000e+00 1.76101129e+02] [ 9.98399599e-01 -5.65529854e-02 0.00000000e+00 1.17726102e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95303305e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99037174299997 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:176.10, Y:117.75, Z:-0.00 [[-5.72080734e-02 -9.98362277e-01 0.00000000e+00 1.76100831e+02] [ 9.98362277e-01 -5.72080734e-02 0.00000000e+00 1.17754324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95303305e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02037174299997 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:176.10, Y:117.78, Z:0.00 [[-5.94047100e-02 -9.98233981e-01 0.00000000e+00 1.76100425e+02] [ 9.98233981e-01 -5.94047100e-02 0.00000000e+00 1.17782078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13448796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05037174299997 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:176.10, Y:117.79, Z:-0.00 [[-5.86980874e-02 -9.98275781e-01 0.00000000e+00 1.76102289e+02] [ 9.98275781e-01 -5.86980874e-02 0.00000000e+00 1.17787438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95843012e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08037174299997 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:176.10, Y:117.79, Z:0.00 [[-5.92853644e-02 -9.98241076e-01 0.00000000e+00 1.76102372e+02] [ 9.98241076e-01 -5.92853644e-02 0.00000000e+00 1.17794945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67615306e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11037174299997 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:176.10, Y:117.80, Z:-0.00 [[-5.87889974e-02 -9.98270431e-01 0.00000000e+00 1.76103089e+02] [ 9.98270431e-01 -5.87889974e-02 0.00000000e+00 1.17796604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81901044e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14037174299997 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:176.10, Y:117.83, Z:-0.00 [[-5.68924428e-02 -9.98380313e-01 0.00000000e+00 1.76104211e+02] [ 9.98380313e-01 -5.68924428e-02 0.00000000e+00 1.17826240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.35245602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17037174299998 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:176.10, Y:117.83, Z:0.00 [[-5.61503843e-02 -9.98422323e-01 0.00000000e+00 1.76103527e+02] [ 9.98422323e-01 -5.61503843e-02 0.00000000e+00 1.17826778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18657765e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20037174299998 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:176.10, Y:117.82, Z:0.00 [[-5.48745707e-02 -9.98493256e-01 0.00000000e+00 1.76103253e+02] [ 9.98493256e-01 -5.48745707e-02 0.00000000e+00 1.17820242e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76562645e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23037174299998 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:176.10, Y:117.81, Z:0.00 [[-5.37222921e-02 -9.98555915e-01 0.00000000e+00 1.76101833e+02] [ 9.98555915e-01 -5.37222921e-02 0.00000000e+00 1.17814233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58380619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26037174299998 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:176.10, Y:117.81, Z:0.01 [[-5.41546144e-02 -9.98532562e-01 0.00000000e+00 1.76100428e+02] [ 9.98532562e-01 -5.41546144e-02 0.00000000e+00 1.17812899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77310033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29037174299998 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:176.10, Y:117.83, Z:0.00 [[-4.95222592e-02 -9.98773020e-01 0.00000000e+00 1.76101146e+02] [ 9.98773020e-01 -4.95222592e-02 0.00000000e+00 1.17832387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69602868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32037174299998 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:176.10, Y:117.82, Z:0.00 [[-4.53738684e-02 -9.98970076e-01 0.00000000e+00 1.76102012e+02] [ 9.98970076e-01 -4.53738684e-02 0.00000000e+00 1.17822405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80360248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35037174299998 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:176.09, Y:117.83, Z:0.01 [[-5.97207202e-02 -9.98215125e-01 0.00000000e+00 1.76092293e+02] [ 9.98215125e-01 -5.97207202e-02 0.00000000e+00 1.17829413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96452559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38037174299998 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:176.09, Y:117.84, Z:0.01 [[-5.76391364e-02 -9.98337483e-01 0.00000000e+00 1.76091373e+02] [ 9.98337483e-01 -5.76391364e-02 0.00000000e+00 1.17841570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67522980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41037174299998 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:176.10, Y:117.83, Z:0.00 [[-3.98510898e-02 -9.99205630e-01 0.00000000e+00 1.76098439e+02] [ 9.99205630e-01 -3.98510898e-02 0.00000000e+00 1.17829431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22112818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.440371743 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:176.10, Y:117.86, Z:0.00 [[-3.83184963e-02 -9.99265577e-01 0.00000000e+00 1.76098255e+02] [ 9.99265577e-01 -3.83184963e-02 0.00000000e+00 1.17858954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72495063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.470371743 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:176.09, Y:117.86, Z:0.01 [[-5.18964963e-02 -9.98652469e-01 0.00000000e+00 1.76088986e+02] [ 9.98652469e-01 -5.18964963e-02 0.00000000e+00 1.17863738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66437190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.500371743 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:176.09, Y:117.86, Z:0.01 [[-5.08605898e-02 -9.98705763e-01 0.00000000e+00 1.76088596e+02] [ 9.98705763e-01 -5.08605898e-02 0.00000000e+00 1.17859874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98713929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.530371743 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:176.10, Y:117.85, Z:0.00 [[-3.54963957e-02 -9.99369804e-01 0.00000000e+00 1.76097117e+02] [ 9.99369804e-01 -3.54963957e-02 0.00000000e+00 1.17852572e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91294342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.560371743 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:176.10, Y:117.88, Z:0.00 [[-3.57590284e-02 -9.99360441e-01 0.00000000e+00 1.76098226e+02] [ 9.99360441e-01 -3.57590284e-02 0.00000000e+00 1.17882191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75379067e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.590371743 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:176.10, Y:117.88, Z:0.00 [[-3.35589545e-02 -9.99436740e-01 0.00000000e+00 1.76099335e+02] [ 9.99436740e-01 -3.35589545e-02 0.00000000e+00 1.17884485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73384931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.620371743 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:176.10, Y:117.89, Z:0.00 [[-3.14576514e-02 -9.99505086e-01 0.00000000e+00 1.76101145e+02] [ 9.99505086e-01 -3.14576514e-02 0.00000000e+00 1.17893826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32513958e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65037174299997 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:176.09, Y:117.91, Z:0.00 [[-3.96066348e-02 -9.99215349e-01 0.00000000e+00 1.76088983e+02] [ 9.99215349e-01 -3.96066348e-02 0.00000000e+00 1.17906417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.93204276e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68037174299997 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:176.10, Y:117.95, Z:0.00 [[-3.25630567e-02 -9.99469683e-01 0.00000000e+00 1.76101097e+02] [ 9.99469683e-01 -3.25630567e-02 0.00000000e+00 1.17948462e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27449879e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71037174299997 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:176.10, Y:117.98, Z:0.00 [[-3.36185951e-02 -9.99434735e-01 0.00000000e+00 1.76101050e+02] [ 9.99434735e-01 -3.36185951e-02 0.00000000e+00 1.17975418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.65744690e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74037174299997 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:176.10, Y:118.00, Z:0.00 [[-3.58782612e-02 -9.99356168e-01 0.00000000e+00 1.76100004e+02] [ 9.99356168e-01 -3.58782612e-02 0.00000000e+00 1.18003292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26683585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77037174299997 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:176.10, Y:118.01, Z:0.00 [[-3.61976803e-02 -9.99344649e-01 0.00000000e+00 1.76100354e+02] [ 9.99344649e-01 -3.61976803e-02 0.00000000e+00 1.18007472e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29721968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80037174299997 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:176.09, Y:118.01, Z:0.01 [[-5.24156569e-02 -9.98625355e-01 0.00000000e+00 1.76091453e+02] [ 9.98625355e-01 -5.24156569e-02 0.00000000e+00 1.18007696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.51160411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83037174299997 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:176.10, Y:118.01, Z:0.00 [[-3.66633042e-02 -9.99327675e-01 0.00000000e+00 1.76100411e+02] [ 9.99327675e-01 -3.66633042e-02 0.00000000e+00 1.18009617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36506804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86037174299997 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:176.10, Y:118.02, Z:0.00 [[-3.46525805e-02 -9.99399419e-01 0.00000000e+00 1.76100734e+02] [ 9.99399419e-01 -3.46525805e-02 0.00000000e+00 1.18021927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24892956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89037174299997 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:176.09, Y:118.01, Z:0.01 [[-4.90839208e-02 -9.98794658e-01 0.00000000e+00 1.76091926e+02] [ 9.98794658e-01 -4.90839208e-02 0.00000000e+00 1.18013467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.06192775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92037174299998 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:176.10, Y:118.02, Z:0.00 [[-3.16640996e-02 -9.99498567e-01 0.00000000e+00 1.76100718e+02] [ 9.99498567e-01 -3.16640996e-02 0.00000000e+00 1.18019818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.67795772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95037174299998 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:176.10, Y:118.02, Z:0.00 [[-2.90100754e-02 -9.99579119e-01 0.00000000e+00 1.76101484e+02] [ 9.99579119e-01 -2.90100754e-02 0.00000000e+00 1.18022006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88427812e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98037174299998 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:176.10, Y:118.05, Z:0.00 [[-2.89264614e-02 -9.99581542e-01 0.00000000e+00 1.76101379e+02] [ 9.99581542e-01 -2.89264614e-02 0.00000000e+00 1.18050542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89074402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01037174299998 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:176.10, Y:118.08, Z:0.00 [[-2.92592499e-02 -9.99571856e-01 0.00000000e+00 1.76102060e+02] [ 9.99571856e-01 -2.92592499e-02 0.00000000e+00 1.18076874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61308933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04037174299998 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:176.09, Y:118.10, Z:0.01 [[-3.73415475e-02 -9.99302561e-01 0.00000000e+00 1.76092390e+02] [ 9.99302561e-01 -3.73415475e-02 0.00000000e+00 1.18095216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52660701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07037174299998 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:176.09, Y:118.12, Z:0.01 [[-4.08869046e-02 -9.99163781e-01 0.00000000e+00 1.76093975e+02] [ 9.99163781e-01 -4.08869046e-02 0.00000000e+00 1.18123442e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64294847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10037174299998 meters Centerline goodness : 0.995717 Centerline is valid? [True, True] Translation: X:176.09, Y:118.13, Z:0.01 [[-4.26262489e-02 -9.99091088e-01 0.00000000e+00 1.76094886e+02] [ 9.99091088e-01 -4.26262489e-02 0.00000000e+00 1.18130303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13715185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13037174299998 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:176.11, Y:118.17, Z:0.00 [[-3.96520218e-02 -9.99213549e-01 0.00000000e+00 1.76106732e+02] [ 9.99213549e-01 -3.96520218e-02 0.00000000e+00 1.18169860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16845982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16037174299998 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:176.11, Y:118.18, Z:0.00 [[-4.10484286e-02 -9.99157158e-01 0.00000000e+00 1.76108090e+02] [ 9.99157158e-01 -4.10484286e-02 0.00000000e+00 1.18181398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29419193e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.190371743 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:176.10, Y:118.20, Z:0.00 [[-5.13270631e-02 -9.98681898e-01 0.00000000e+00 1.76098745e+02] [ 9.98681898e-01 -5.13270631e-02 0.00000000e+00 1.18198046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41294266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.220371743 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:176.11, Y:118.24, Z:0.00 [[-4.61981012e-02 -9.98932298e-01 0.00000000e+00 1.76108955e+02] [ 9.98932298e-01 -4.61981012e-02 0.00000000e+00 1.18237100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24005188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.250371743 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:176.11, Y:118.24, Z:0.00 [[-4.69085063e-02 -9.98899190e-01 0.00000000e+00 1.76109608e+02] [ 9.98899190e-01 -4.69085063e-02 0.00000000e+00 1.18236699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54817302e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.280371743 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:176.11, Y:118.27, Z:0.00 [[-4.76040842e-02 -9.98866283e-01 0.00000000e+00 1.76110091e+02] [ 9.98866283e-01 -4.76040842e-02 0.00000000e+00 1.18266057e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29017377e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.310371743 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:176.11, Y:118.29, Z:0.00 [[-5.22447637e-02 -9.98634310e-01 0.00000000e+00 1.76108524e+02] [ 9.98634310e-01 -5.22447637e-02 0.00000000e+00 1.18287720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04186710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.340371743 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:176.11, Y:118.28, Z:0.01 [[-5.47383387e-02 -9.98500733e-01 0.00000000e+00 1.76107475e+02] [ 9.98500733e-01 -5.47383387e-02 0.00000000e+00 1.18282214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76533704e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.370371743 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:176.11, Y:118.30, Z:0.00 [[-5.21797513e-02 -9.98637709e-01 0.00000000e+00 1.76108708e+02] [ 9.98637709e-01 -5.21797513e-02 0.00000000e+00 1.18299154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55467587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40037174299997 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:176.10, Y:118.30, Z:0.01 [[-6.42367835e-02 -9.97934685e-01 0.00000000e+00 1.76099826e+02] [ 9.97934685e-01 -6.42367835e-02 0.00000000e+00 1.18297310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.53057149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43037174299997 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:176.11, Y:118.31, Z:0.00 [[-5.15674551e-02 -9.98669514e-01 0.00000000e+00 1.76105720e+02] [ 9.98669514e-01 -5.15674551e-02 0.00000000e+00 1.18306753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25076664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46037174299997 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:176.10, Y:118.30, Z:0.00 [[-5.09591604e-02 -9.98700738e-01 0.00000000e+00 1.76103047e+02] [ 9.98700738e-01 -5.09591604e-02 0.00000000e+00 1.18304838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13265099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49037174299997 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:176.10, Y:118.30, Z:0.01 [[-6.06233560e-02 -9.98160713e-01 0.00000000e+00 1.76095112e+02] [ 9.98160713e-01 -6.06233560e-02 0.00000000e+00 1.18302931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66311512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52037174299997 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:176.09, Y:118.30, Z:0.01 [[-5.92816809e-02 -9.98241295e-01 0.00000000e+00 1.76093876e+02] [ 9.98241295e-01 -5.92816809e-02 0.00000000e+00 1.18303774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23055341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55037174299997 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:176.10, Y:118.32, Z:0.00 [[-4.60104365e-02 -9.98940959e-01 0.00000000e+00 1.76099749e+02] [ 9.98940959e-01 -4.60104365e-02 0.00000000e+00 1.18318729e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.98190503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58037174299997 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:176.09, Y:118.34, Z:0.01 [[-5.12545103e-02 -9.98685624e-01 0.00000000e+00 1.76088908e+02] [ 9.98685624e-01 -5.12545103e-02 0.00000000e+00 1.18338327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.76464026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61037174299997 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:176.09, Y:118.37, Z:0.01 [[-4.64629117e-02 -9.98920016e-01 0.00000000e+00 1.76094332e+02] [ 9.98920016e-01 -4.64629117e-02 0.00000000e+00 1.18373042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.56304207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64037174299997 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:176.09, Y:118.38, Z:0.01 [[-5.45510977e-02 -9.98510980e-01 0.00000000e+00 1.76086854e+02] [ 9.98510980e-01 -5.45510977e-02 0.00000000e+00 1.18379816e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.36860372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67037174299998 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:176.09, Y:118.39, Z:0.01 [[-5.38042513e-02 -9.98551502e-01 0.00000000e+00 1.76086178e+02] [ 9.98551502e-01 -5.38042513e-02 0.00000000e+00 1.18389774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99275770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70037174299998 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:176.09, Y:118.38, Z:0.01 [[-4.38681460e-02 -9.99037330e-01 0.00000000e+00 1.76091104e+02] [ 9.99037330e-01 -4.38681460e-02 0.00000000e+00 1.18376163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86522462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73037174299998 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:176.09, Y:118.41, Z:0.00 [[-4.20883075e-02 -9.99113895e-01 0.00000000e+00 1.76091158e+02] [ 9.99113895e-01 -4.20883075e-02 0.00000000e+00 1.18407960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56897193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76037174299998 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:176.09, Y:118.44, Z:0.01 [[-4.39265404e-02 -9.99034764e-01 0.00000000e+00 1.76089370e+02] [ 9.99034764e-01 -4.39265404e-02 0.00000000e+00 1.18435653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31706338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79037174299998 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:176.09, Y:118.46, Z:0.01 [[-4.52845067e-02 -9.98974131e-01 0.00000000e+00 1.76089952e+02] [ 9.98974131e-01 -4.52845067e-02 0.00000000e+00 1.18464858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65459029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82037174299998 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:176.09, Y:118.47, Z:0.01 [[-4.67151970e-02 -9.98908249e-01 0.00000000e+00 1.76089479e+02] [ 9.98908249e-01 -4.67151970e-02 0.00000000e+00 1.18468476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49113139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85037174299998 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:176.09, Y:118.50, Z:0.00 [[-4.91973301e-02 -9.98789078e-01 0.00000000e+00 1.76089482e+02] [ 9.98789078e-01 -4.91973301e-02 0.00000000e+00 1.18497115e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94103094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88037174299998 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:176.09, Y:118.49, Z:0.01 [[-5.52852203e-02 -9.98470603e-01 0.00000000e+00 1.76088852e+02] [ 9.98470603e-01 -5.52852203e-02 0.00000000e+00 1.18488511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46877648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91037174299998 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:176.09, Y:118.49, Z:0.01 [[-5.49182968e-02 -9.98490852e-01 0.00000000e+00 1.76088756e+02] [ 9.98490852e-01 -5.49182968e-02 0.00000000e+00 1.18491180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46877648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.940371743 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:176.09, Y:118.49, Z:0.00 [[-5.35926818e-02 -9.98562880e-01 0.00000000e+00 1.76089830e+02] [ 9.98562880e-01 -5.35926818e-02 0.00000000e+00 1.18494280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25674402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.970371743 meters Centerline goodness : 0.995592 Centerline is valid? [True, True] Translation: X:176.08, Y:118.50, Z:0.00 [[-6.51941617e-02 -9.97872598e-01 0.00000000e+00 1.76082876e+02] [ 9.97872598e-01 -6.51941617e-02 0.00000000e+00 1.18501218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23394657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.000371743 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:176.09, Y:118.50, Z:0.00 [[-5.37259381e-02 -9.98555719e-01 0.00000000e+00 1.76087383e+02] [ 9.98555719e-01 -5.37259381e-02 0.00000000e+00 1.18500444e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60661917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.030371743 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:176.08, Y:118.52, Z:0.00 [[-5.66048670e-02 -9.98396659e-01 0.00000000e+00 1.76079696e+02] [ 9.98396659e-01 -5.66048670e-02 0.00000000e+00 1.18520206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09957863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.060371743 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:176.08, Y:118.55, Z:0.01 [[-5.42378897e-02 -9.98528042e-01 0.00000000e+00 1.76078618e+02] [ 9.98528042e-01 -5.42378897e-02 0.00000000e+00 1.18547341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.21141613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.090371743 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:176.08, Y:118.58, Z:0.01 [[-4.27546212e-02 -9.99085603e-01 0.00000000e+00 1.76083824e+02] [ 9.99085603e-01 -4.27546212e-02 0.00000000e+00 1.18584540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17591159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.120371743 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:176.08, Y:118.59, Z:0.01 [[-3.96590153e-02 -9.99213272e-01 0.00000000e+00 1.76082715e+02] [ 9.99213272e-01 -3.96590153e-02 0.00000000e+00 1.18585302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.03994639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15037174299997 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:176.08, Y:118.61, Z:0.01 [[-3.37895002e-02 -9.99428972e-01 0.00000000e+00 1.76081875e+02] [ 9.99428972e-01 -3.37895002e-02 0.00000000e+00 1.18614478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14648829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18037174299997 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:176.07, Y:118.63, Z:0.01 [[-4.51500319e-02 -9.98980217e-01 0.00000000e+00 1.76074243e+02] [ 9.98980217e-01 -4.51500319e-02 0.00000000e+00 1.18627602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03703177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21037174299997 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:176.08, Y:118.63, Z:0.01 [[-2.98827685e-02 -9.99553410e-01 0.00000000e+00 1.76081127e+02] [ 9.99553410e-01 -2.98827685e-02 0.00000000e+00 1.18634864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10111916e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24037174299997 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:176.08, Y:118.62, Z:0.01 [[-2.87804639e-02 -9.99585757e-01 0.00000000e+00 1.76082171e+02] [ 9.99585757e-01 -2.87804639e-02 0.00000000e+00 1.18622223e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83130291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27037174299997 meters Centerline goodness : 0.995068 Centerline is valid? [True, True] Translation: X:176.08, Y:118.65, Z:0.01 [[-3.14329389e-02 -9.99505863e-01 0.00000000e+00 1.76082566e+02] [ 9.99505863e-01 -3.14329389e-02 0.00000000e+00 1.18650079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56610364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30037174299997 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:176.07, Y:118.67, Z:0.01 [[-3.91823092e-02 -9.99232078e-01 0.00000000e+00 1.76074316e+02] [ 9.99232078e-01 -3.91823092e-02 0.00000000e+00 1.18669459e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.66195799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33037174299997 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:176.08, Y:118.70, Z:0.01 [[-4.02027379e-02 -9.99191543e-01 0.00000000e+00 1.76081656e+02] [ 9.99191543e-01 -4.02027379e-02 0.00000000e+00 1.18703590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.16043815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36037174299997 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:176.08, Y:118.71, Z:0.00 [[-3.92206496e-02 -9.99230574e-01 0.00000000e+00 1.76083491e+02] [ 9.99230574e-01 -3.92206496e-02 0.00000000e+00 1.18706811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23437065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39037174299997 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:176.08, Y:118.73, Z:0.01 [[-5.04070444e-02 -9.98728757e-01 0.00000000e+00 1.76077039e+02] [ 9.98728757e-01 -5.04070444e-02 0.00000000e+00 1.18726047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.66417688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42037174299998 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:176.08, Y:118.75, Z:0.01 [[-5.30092039e-02 -9.98594024e-01 0.00000000e+00 1.76077900e+02] [ 9.98594024e-01 -5.30092039e-02 0.00000000e+00 1.18753761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16148678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45037174299998 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:176.08, Y:118.78, Z:0.00 [[-5.56315068e-02 -9.98451369e-01 0.00000000e+00 1.76078450e+02] [ 9.98451369e-01 -5.56315068e-02 0.00000000e+00 1.18781985e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.84763574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48037174299998 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:176.08, Y:118.81, Z:0.00 [[-6.00538017e-02 -9.98195142e-01 0.00000000e+00 1.76079275e+02] [ 9.98195142e-01 -6.00538017e-02 0.00000000e+00 1.18810070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48181405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51037174299998 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:176.08, Y:118.84, Z:0.00 [[-5.80701538e-02 -9.98312505e-01 0.00000000e+00 1.76084803e+02] [ 9.98312505e-01 -5.80701538e-02 0.00000000e+00 1.18843706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.63327391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54037174299998 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:176.08, Y:118.87, Z:0.00 [[-6.00870821e-02 -9.98193139e-01 0.00000000e+00 1.76084154e+02] [ 9.98193139e-01 -6.00870821e-02 0.00000000e+00 1.18871088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01831350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57037174299998 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:176.08, Y:118.90, Z:0.01 [[-6.11070520e-02 -9.98131218e-01 0.00000000e+00 1.76083298e+02] [ 9.98131218e-01 -6.11070520e-02 0.00000000e+00 1.18897595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46634596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60037174299998 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:176.08, Y:118.93, Z:0.01 [[-6.06561570e-02 -9.98158720e-01 0.00000000e+00 1.76083424e+02] [ 9.98158720e-01 -6.06561570e-02 0.00000000e+00 1.18925598e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80779004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63037174299998 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:176.08, Y:118.95, Z:0.01 [[-6.07417139e-02 -9.98153517e-01 0.00000000e+00 1.76082724e+02] [ 9.98153517e-01 -6.07417139e-02 0.00000000e+00 1.18953032e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96658475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66037174299998 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:176.08, Y:118.93, Z:0.01 [[-5.55236489e-02 -9.98457372e-01 0.00000000e+00 1.76082709e+02] [ 9.98457372e-01 -5.55236489e-02 0.00000000e+00 1.18929792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19419863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.690371743 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:176.08, Y:118.96, Z:0.01 [[-5.44446207e-02 -9.98516792e-01 0.00000000e+00 1.76081867e+02] [ 9.98516792e-01 -5.44446207e-02 0.00000000e+00 1.18956624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38563390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.720371743 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:176.08, Y:118.98, Z:0.01 [[-5.19320593e-02 -9.98650620e-01 0.00000000e+00 1.76081452e+02] [ 9.98650620e-01 -5.19320593e-02 0.00000000e+00 1.18983607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07497846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.750371743 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:176.08, Y:119.01, Z:0.01 [[-5.11599797e-02 -9.98690471e-01 0.00000000e+00 1.76081865e+02] [ 9.98690471e-01 -5.11599797e-02 0.00000000e+00 1.19013522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.94171940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.780371743 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:176.08, Y:119.01, Z:0.01 [[-4.71644696e-02 -9.98887137e-01 0.00000000e+00 1.76082832e+02] [ 9.98887137e-01 -4.71644696e-02 0.00000000e+00 1.19013039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69767177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.810371743 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:176.08, Y:119.04, Z:0.00 [[-4.66315686e-02 -9.98912157e-01 0.00000000e+00 1.76082590e+02] [ 9.98912157e-01 -4.66315686e-02 0.00000000e+00 1.19039811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99280355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.840371743 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:176.07, Y:119.06, Z:0.01 [[-5.32297459e-02 -9.98582292e-01 0.00000000e+00 1.76072978e+02] [ 9.98582292e-01 -5.32297459e-02 0.00000000e+00 1.19056121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.96409752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.870371743 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:176.08, Y:119.10, Z:0.00 [[-4.69223018e-02 -9.98898542e-01 0.00000000e+00 1.76082128e+02] [ 9.98898542e-01 -4.69223018e-02 0.00000000e+00 1.19095347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92895021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90037174299997 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:176.08, Y:119.12, Z:0.00 [[-4.90430838e-02 -9.98796664e-01 0.00000000e+00 1.76081115e+02] [ 9.98796664e-01 -4.90430838e-02 0.00000000e+00 1.19121580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52357132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93037174299997 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:176.08, Y:119.15, Z:0.00 [[-5.04210108e-02 -9.98728052e-01 0.00000000e+00 1.76081076e+02] [ 9.98728052e-01 -5.04210108e-02 0.00000000e+00 1.19149957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32926797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96037174299997 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:176.08, Y:119.18, Z:0.00 [[-5.19484897e-02 -9.98649766e-01 0.00000000e+00 1.76080248e+02] [ 9.98649766e-01 -5.19484897e-02 0.00000000e+00 1.19176932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52248755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99037174299997 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:176.08, Y:119.21, Z:0.01 [[-5.46892547e-02 -9.98503423e-01 0.00000000e+00 1.76078968e+02] [ 9.98503423e-01 -5.46892547e-02 0.00000000e+00 1.19205690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71237285e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02037174299997 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:176.08, Y:119.20, Z:0.01 [[-5.67646434e-02 -9.98387588e-01 0.00000000e+00 1.76078865e+02] [ 9.98387588e-01 -5.67646434e-02 0.00000000e+00 1.19200861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10868079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05037174299997 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:176.08, Y:119.22, Z:0.01 [[-5.70048675e-02 -9.98373900e-01 0.00000000e+00 1.76079217e+02] [ 9.98373900e-01 -5.70048675e-02 0.00000000e+00 1.19218942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45580731e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08037174299997 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:176.08, Y:119.19, Z:0.01 [[-5.85072420e-02 -9.98286984e-01 0.00000000e+00 1.76080086e+02] [ 9.98286984e-01 -5.85072420e-02 0.00000000e+00 1.19192804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07312552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11037174299997 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:176.08, Y:119.20, Z:0.00 [[-6.03982428e-02 -9.98174360e-01 0.00000000e+00 1.76079574e+02] [ 9.98174360e-01 -6.03982428e-02 0.00000000e+00 1.19201151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.76771601e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14037174299997 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:176.08, Y:119.20, Z:0.00 [[-6.15625113e-02 -9.98103230e-01 0.00000000e+00 1.76080284e+02] [ 9.98103230e-01 -6.15625113e-02 0.00000000e+00 1.19199923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28140923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17037174299998 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:176.08, Y:119.23, Z:0.00 [[-6.25747389e-02 -9.98040281e-01 0.00000000e+00 1.76080485e+02] [ 9.98040281e-01 -6.25747389e-02 0.00000000e+00 1.19228608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03294381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20037174299998 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:176.07, Y:119.23, Z:0.01 [[-7.55098557e-02 -9.97145055e-01 0.00000000e+00 1.76072782e+02] [ 9.97145055e-01 -7.55098557e-02 0.00000000e+00 1.19227240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84668909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23037174299998 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:176.07, Y:119.23, Z:0.01 [[-7.43763093e-02 -9.97230247e-01 0.00000000e+00 1.76072423e+02] [ 9.97230247e-01 -7.43763093e-02 0.00000000e+00 1.19229728e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.31710341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26037174299998 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:176.08, Y:119.23, Z:0.01 [[-6.13364008e-02 -9.98117150e-01 0.00000000e+00 1.76079614e+02] [ 9.98117150e-01 -6.13364008e-02 0.00000000e+00 1.19229219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22640414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29037174299998 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:176.08, Y:119.26, Z:0.00 [[-5.99080125e-02 -9.98203902e-01 0.00000000e+00 1.76079976e+02] [ 9.98203902e-01 -5.99080125e-02 0.00000000e+00 1.19259355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07253922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32037174299998 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:176.08, Y:119.29, Z:0.00 [[-5.90373054e-02 -9.98255777e-01 0.00000000e+00 1.76079485e+02] [ 9.98255777e-01 -5.90373054e-02 0.00000000e+00 1.19285300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27922170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35037174299998 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:176.08, Y:119.26, Z:0.00 [[-5.79294223e-02 -9.98320681e-01 0.00000000e+00 1.76079469e+02] [ 9.98320681e-01 -5.79294223e-02 0.00000000e+00 1.19259641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36007288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38037174299998 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:176.08, Y:119.27, Z:0.00 [[-5.42233084e-02 -9.98528834e-01 0.00000000e+00 1.76079345e+02] [ 9.98528834e-01 -5.42233084e-02 0.00000000e+00 1.19265687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51011071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41037174299998 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:176.08, Y:119.26, Z:0.00 [[-5.24723259e-02 -9.98622379e-01 0.00000000e+00 1.76078605e+02] [ 9.98622379e-01 -5.24723259e-02 0.00000000e+00 1.19261286e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42035505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.440371743 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:176.08, Y:119.29, Z:0.00 [[-5.05511712e-02 -9.98721472e-01 0.00000000e+00 1.76078425e+02] [ 9.98721472e-01 -5.05511712e-02 0.00000000e+00 1.19290267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20837261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.470371743 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:176.08, Y:119.30, Z:0.01 [[-5.00827194e-02 -9.98745073e-01 0.00000000e+00 1.76076311e+02] [ 9.98745073e-01 -5.00827194e-02 0.00000000e+00 1.19300130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.93432687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.500371743 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:176.08, Y:119.29, Z:0.01 [[-4.49689653e-02 -9.98988384e-01 0.00000000e+00 1.76077069e+02] [ 9.98988384e-01 -4.49689653e-02 0.00000000e+00 1.19286261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21682641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.530371743 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:176.08, Y:119.29, Z:0.01 [[-4.13728513e-02 -9.99143777e-01 0.00000000e+00 1.76077061e+02] [ 9.99143777e-01 -4.13728513e-02 0.00000000e+00 1.19286439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65929039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.560371743 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:176.07, Y:119.29, Z:0.01 [[-4.85798575e-02 -9.98819302e-01 0.00000000e+00 1.76069055e+02] [ 9.98819302e-01 -4.85798575e-02 0.00000000e+00 1.19293159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.96553611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.590371743 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:176.08, Y:119.28, Z:0.01 [[-3.13559007e-02 -9.99508283e-01 0.00000000e+00 1.76076966e+02] [ 9.99508283e-01 -3.13559007e-02 0.00000000e+00 1.19281947e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41015809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.620371743 meters Centerline goodness : 0.994833 Centerline is valid? [True, True] Translation: X:176.08, Y:119.31, Z:0.01 [[-2.68236973e-02 -9.99640180e-01 0.00000000e+00 1.76075882e+02] [ 9.99640180e-01 -2.68236973e-02 0.00000000e+00 1.19308896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.11661094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65037174299997 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:176.07, Y:119.32, Z:0.01 [[-3.42293490e-02 -9.99414004e-01 0.00000000e+00 1.76069752e+02] [ 9.99414004e-01 -3.42293490e-02 0.00000000e+00 1.19320695e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.61937797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68037174299997 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:176.08, Y:119.31, Z:0.01 [[-1.97287778e-02 -9.99805369e-01 0.00000000e+00 1.76076415e+02] [ 9.99805369e-01 -1.97287778e-02 0.00000000e+00 1.19311936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.69860358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71037174299997 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:176.08, Y:119.34, Z:0.00 [[-1.58784194e-02 -9.99873930e-01 0.00000000e+00 1.76078520e+02] [ 9.99873930e-01 -1.58784194e-02 0.00000000e+00 1.19342225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14627143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74037174299997 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:176.08, Y:119.35, Z:0.00 [[-9.92028384e-03 -9.99950793e-01 0.00000000e+00 1.76080422e+02] [ 9.99950793e-01 -9.92028384e-03 0.00000000e+00 1.19349117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.86771526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77037174299997 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:176.07, Y:119.37, Z:0.01 [[-1.52180792e-02 -9.99884198e-01 0.00000000e+00 1.76071773e+02] [ 9.99884198e-01 -1.52180792e-02 0.00000000e+00 1.19368063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.48312164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80037174299997 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:176.07, Y:119.40, Z:0.01 [[-1.55040251e-02 -9.99879805e-01 0.00000000e+00 1.76071717e+02] [ 9.99879805e-01 -1.55040251e-02 0.00000000e+00 1.19396426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.48312164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83037174299997 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:176.08, Y:119.42, Z:0.01 [[-1.29158599e-02 -9.99916587e-01 0.00000000e+00 1.76075595e+02] [ 9.99916587e-01 -1.29158599e-02 0.00000000e+00 1.19424219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42484088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86037174299997 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:176.08, Y:119.45, Z:0.01 [[-1.31407568e-02 -9.99913657e-01 0.00000000e+00 1.76077649e+02] [ 9.99913657e-01 -1.31407568e-02 0.00000000e+00 1.19452473e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.63667813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89037174299997 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:176.08, Y:119.46, Z:0.01 [[-1.28623706e-02 -9.99917276e-01 0.00000000e+00 1.76080146e+02] [ 9.99917276e-01 -1.28623706e-02 0.00000000e+00 1.19463373e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.20211929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92037174299998 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:176.10, Y:119.50, Z:0.01 [[-9.11212023e-03 -9.99958484e-01 0.00000000e+00 1.76095238e+02] [ 9.99958484e-01 -9.11212023e-03 0.00000000e+00 1.19500409e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.21922709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95037174299998 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:176.10, Y:119.50, Z:0.00 [[-7.41682973e-03 -9.99972495e-01 0.00000000e+00 1.76100113e+02] [ 9.99972495e-01 -7.41682973e-03 0.00000000e+00 1.19501510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98326464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98037174299998 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:176.10, Y:119.53, Z:0.00 [[-9.02737485e-03 -9.99959252e-01 0.00000000e+00 1.76104067e+02] [ 9.99959252e-01 -9.02737485e-03 0.00000000e+00 1.19528079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00518210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01037174299998 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:176.10, Y:119.54, Z:0.01 [[-2.04871046e-02 -9.99790117e-01 0.00000000e+00 1.76096245e+02] [ 9.99790117e-01 -2.04871046e-02 0.00000000e+00 1.19544959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04315483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04037174299998 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:176.12, Y:119.59, Z:0.00 [[-1.64416558e-02 -9.99864827e-01 0.00000000e+00 1.76116047e+02] [ 9.99864827e-01 -1.64416558e-02 0.00000000e+00 1.19586578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73456325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07037174299998 meters Centerline goodness : 0.995000 Centerline is valid? [True, True] Translation: X:176.12, Y:119.60, Z:0.00 [[-1.81694924e-02 -9.99834921e-01 0.00000000e+00 1.76119358e+02] [ 9.99834921e-01 -1.81694924e-02 0.00000000e+00 1.19598363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34681232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10037174299998 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:176.11, Y:119.61, Z:0.01 [[-3.13272040e-02 -9.99509183e-01 0.00000000e+00 1.76113754e+02] [ 9.99509183e-01 -3.13272040e-02 0.00000000e+00 1.19612498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.11242151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13037174299998 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:176.13, Y:119.65, Z:0.00 [[-2.61265680e-02 -9.99658643e-01 0.00000000e+00 1.76127694e+02] [ 9.99658643e-01 -2.61265680e-02 0.00000000e+00 1.19651678e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53825680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16037174299998 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:176.12, Y:119.66, Z:0.01 [[-4.59660436e-02 -9.98943003e-01 0.00000000e+00 1.76124241e+02] [ 9.98943003e-01 -4.59660436e-02 0.00000000e+00 1.19656746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85945386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.190371743 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:176.13, Y:119.66, Z:0.01 [[-4.75248391e-02 -9.98870056e-01 0.00000000e+00 1.76126877e+02] [ 9.98870056e-01 -4.75248391e-02 0.00000000e+00 1.19662203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35635376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.220371743 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:176.13, Y:119.67, Z:0.01 [[-4.88975344e-02 -9.98803800e-01 0.00000000e+00 1.76129775e+02] [ 9.98803800e-01 -4.88975344e-02 0.00000000e+00 1.19666897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49230352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.250371743 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:176.14, Y:119.67, Z:0.00 [[-3.85880719e-02 -9.99255203e-01 0.00000000e+00 1.76142893e+02] [ 9.99255203e-01 -3.85880719e-02 0.00000000e+00 1.19672197e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60859490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.280371743 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:176.14, Y:119.67, Z:0.01 [[-5.55414597e-02 -9.98456382e-01 0.00000000e+00 1.76135766e+02] [ 9.98456382e-01 -5.55414597e-02 0.00000000e+00 1.19674091e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.35111298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.310371743 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:176.15, Y:119.68, Z:0.00 [[-4.34170394e-02 -9.99057036e-01 0.00000000e+00 1.76146029e+02] [ 9.99057036e-01 -4.34170394e-02 0.00000000e+00 1.19682320e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71222318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.340371743 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:176.15, Y:119.71, Z:0.00 [[-4.61098467e-02 -9.98936375e-01 0.00000000e+00 1.76148473e+02] [ 9.98936375e-01 -4.61098467e-02 0.00000000e+00 1.19710199e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85855981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.370371743 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:176.14, Y:119.73, Z:0.01 [[-5.93390015e-02 -9.98237889e-01 0.00000000e+00 1.76141138e+02] [ 9.98237889e-01 -5.93390015e-02 0.00000000e+00 1.19726778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18364974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40037174299997 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:176.14, Y:119.75, Z:0.01 [[-6.14465720e-02 -9.98110374e-01 0.00000000e+00 1.76142275e+02] [ 9.98110374e-01 -6.14465720e-02 0.00000000e+00 1.19752915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18012022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43037174299997 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:176.15, Y:119.79, Z:0.00 [[-6.07645979e-02 -9.98152124e-01 0.00000000e+00 1.76154795e+02] [ 9.98152124e-01 -6.07645979e-02 0.00000000e+00 1.19793229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41940258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46037174299997 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:176.16, Y:119.82, Z:0.00 [[-6.44733289e-02 -9.97919431e-01 0.00000000e+00 1.76155096e+02] [ 9.97919431e-01 -6.44733289e-02 0.00000000e+00 1.19819306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12342175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49037174299997 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:176.16, Y:119.85, Z:0.00 [[-6.73890548e-02 -9.97726774e-01 0.00000000e+00 1.76156151e+02] [ 9.97726774e-01 -6.73890548e-02 0.00000000e+00 1.19848249e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63445448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52037174299997 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:176.16, Y:119.84, Z:0.00 [[-7.20808935e-02 -9.97398789e-01 0.00000000e+00 1.76156552e+02] [ 9.97398789e-01 -7.20808935e-02 0.00000000e+00 1.19843432e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74264917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55037174299997 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:176.16, Y:119.85, Z:0.00 [[-7.30537079e-02 -9.97328008e-01 0.00000000e+00 1.76156269e+02] [ 9.97328008e-01 -7.30537079e-02 0.00000000e+00 1.19845116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70817201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58037174299997 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:176.16, Y:119.84, Z:0.00 [[-7.33296860e-02 -9.97307754e-01 0.00000000e+00 1.76156200e+02] [ 9.97307754e-01 -7.33296860e-02 0.00000000e+00 1.19844142e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21421863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61037174299997 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:176.16, Y:119.84, Z:0.00 [[-7.41925456e-02 -9.97243935e-01 0.00000000e+00 1.76155830e+02] [ 9.97243935e-01 -7.41925456e-02 0.00000000e+00 1.19843465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24560182e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64037174299997 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:176.16, Y:119.85, Z:0.00 [[-7.39379214e-02 -9.97262846e-01 0.00000000e+00 1.76155123e+02] [ 9.97262846e-01 -7.39379214e-02 0.00000000e+00 1.19845231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01286108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67037174299998 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:176.16, Y:119.84, Z:-0.00 [[-6.76747893e-02 -9.97707434e-01 0.00000000e+00 1.76155328e+02] [ 9.97707434e-01 -6.76747893e-02 0.00000000e+00 1.19836129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23400998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70037174299998 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:176.14, Y:119.85, Z:0.00 [[-7.63758767e-02 -9.97079097e-01 0.00000000e+00 1.76142232e+02] [ 9.97079097e-01 -7.63758767e-02 0.00000000e+00 1.19850549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77903193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73037174299998 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:176.15, Y:119.89, Z:0.00 [[-6.83995442e-02 -9.97658009e-01 0.00000000e+00 1.76151546e+02] [ 9.97658009e-01 -6.83995442e-02 0.00000000e+00 1.19889791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53985250e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76037174299998 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:176.14, Y:119.91, Z:0.00 [[-7.60507055e-02 -9.97103952e-01 0.00000000e+00 1.76139313e+02] [ 9.97103952e-01 -7.60507055e-02 0.00000000e+00 1.19905462e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90874630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79037174299998 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:176.14, Y:119.93, Z:0.01 [[-7.52916655e-02 -9.97161554e-01 0.00000000e+00 1.76137190e+02] [ 9.97161554e-01 -7.52916655e-02 0.00000000e+00 1.19933291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01485727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82037174299998 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:176.14, Y:119.96, Z:0.01 [[-7.51924432e-02 -9.97169041e-01 0.00000000e+00 1.76135711e+02] [ 9.97169041e-01 -7.51924432e-02 0.00000000e+00 1.19960903e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06486212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85037174299998 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:176.13, Y:119.99, Z:0.01 [[-7.49244732e-02 -9.97189211e-01 0.00000000e+00 1.76133773e+02] [ 9.97189211e-01 -7.49244732e-02 0.00000000e+00 1.19987424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14543650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88037174299998 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:176.13, Y:120.01, Z:0.01 [[-7.49857507e-02 -9.97184605e-01 0.00000000e+00 1.76131760e+02] [ 9.97184605e-01 -7.49857507e-02 0.00000000e+00 1.20014788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02501952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91037174299998 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:176.13, Y:120.04, Z:0.00 [[-7.56484242e-02 -9.97134553e-01 0.00000000e+00 1.76129005e+02] [ 9.97134553e-01 -7.56484242e-02 0.00000000e+00 1.20043010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42982203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.940371743 meters Centerline goodness : 0.989222 Centerline is valid? [True, True] Translation: X:176.13, Y:120.07, Z:0.00 [[-7.65429456e-02 -9.97066285e-01 0.00000000e+00 1.76127404e+02] [ 9.97066285e-01 -7.65429456e-02 0.00000000e+00 1.20068877e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31003693e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.970371743 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:176.13, Y:120.10, Z:0.00 [[-7.93413079e-02 -9.96847509e-01 0.00000000e+00 1.76125354e+02] [ 9.96847509e-01 -7.93413079e-02 0.00000000e+00 1.20096804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51501919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.000371743 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:176.14, Y:120.14, Z:-0.00 [[-7.10618403e-02 -9.97471912e-01 0.00000000e+00 1.76136072e+02] [ 9.97471912e-01 -7.10618403e-02 0.00000000e+00 1.20140397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.43815851e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.030371743 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:176.13, Y:120.16, Z:0.00 [[-8.19350792e-02 -9.96637669e-01 0.00000000e+00 1.76130536e+02] [ 9.96637669e-01 -8.19350792e-02 0.00000000e+00 1.20164941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55518231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.060371743 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:176.13, Y:120.18, Z:0.00 [[-8.27368489e-02 -9.96571429e-01 0.00000000e+00 1.76127976e+02] [ 9.96571429e-01 -8.27368489e-02 0.00000000e+00 1.20175430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47680756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.090371743 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:176.13, Y:120.17, Z:0.01 [[-8.32407071e-02 -9.96529470e-01 0.00000000e+00 1.76126354e+02] [ 9.96529470e-01 -8.32407071e-02 0.00000000e+00 1.20171966e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.43823376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.120371743 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:176.13, Y:120.16, Z:0.00 [[-7.82188393e-02 -9.96936213e-01 0.00000000e+00 1.76126208e+02] [ 9.96936213e-01 -7.82188393e-02 0.00000000e+00 1.20161653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82571802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15037174299997 meters Centerline goodness : 0.995862 Centerline is valid? [True, True] Translation: X:176.12, Y:120.17, Z:0.00 [[-7.85483881e-02 -9.96910302e-01 0.00000000e+00 1.76122323e+02] [ 9.96910302e-01 -7.85483881e-02 0.00000000e+00 1.20174264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65363343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18037174299997 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:176.12, Y:120.18, Z:0.01 [[-8.28451099e-02 -9.96562435e-01 0.00000000e+00 1.76119823e+02] [ 9.96562435e-01 -8.28451099e-02 0.00000000e+00 1.20176504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.78985456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21037174299997 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:176.12, Y:120.18, Z:0.01 [[-8.18931484e-02 -9.96641115e-01 0.00000000e+00 1.76116916e+02] [ 9.96641115e-01 -8.18931484e-02 0.00000000e+00 1.20183656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33266874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24037174299997 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:176.11, Y:120.19, Z:0.01 [[-9.17703668e-02 -9.95780197e-01 0.00000000e+00 1.76110301e+02] [ 9.95780197e-01 -9.17703668e-02 0.00000000e+00 1.20192934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32611677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27037174299997 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:176.11, Y:120.19, Z:0.01 [[-8.16372946e-02 -9.96662105e-01 0.00000000e+00 1.76114711e+02] [ 9.96662105e-01 -8.16372946e-02 0.00000000e+00 1.20186996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.49308925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30037174299997 meters Centerline goodness : 0.995805 Centerline is valid? [True, True] Translation: X:176.11, Y:120.18, Z:0.01 [[-8.20521666e-02 -9.96628036e-01 0.00000000e+00 1.76113640e+02] [ 9.96628036e-01 -8.20521666e-02 0.00000000e+00 1.20182432e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.51159897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33037174299997 meters Centerline goodness : 0.995844 Centerline is valid? [True, True] Translation: X:176.11, Y:120.19, Z:0.01 [[-8.34362561e-02 -9.96513116e-01 0.00000000e+00 1.76112454e+02] [ 9.96513116e-01 -8.34362561e-02 0.00000000e+00 1.20186067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60061260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36037174299997 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:176.11, Y:120.19, Z:0.01 [[-8.38292945e-02 -9.96480130e-01 0.00000000e+00 1.76111770e+02] [ 9.96480130e-01 -8.38292945e-02 0.00000000e+00 1.20194674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86353268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39037174299997 meters Centerline goodness : 0.995405 Centerline is valid? [True, True] Translation: X:176.11, Y:120.19, Z:0.01 [[-8.29833833e-02 -9.96550931e-01 0.00000000e+00 1.76110264e+02] [ 9.96550931e-01 -8.29833833e-02 0.00000000e+00 1.20194496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.20088337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42037174299998 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:176.11, Y:120.18, Z:0.01 [[-8.37435640e-02 -9.96487338e-01 0.00000000e+00 1.76108202e+02] [ 9.96487338e-01 -8.37435640e-02 0.00000000e+00 1.20183984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48786779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45037174299998 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:176.11, Y:120.18, Z:0.01 [[-8.25017637e-02 -9.96590919e-01 0.00000000e+00 1.76107396e+02] [ 9.96590919e-01 -8.25017637e-02 0.00000000e+00 1.20180824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02819214e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48037174299998 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:176.10, Y:120.21, Z:0.00 [[-8.77123031e-02 -9.96145849e-01 0.00000000e+00 1.76101984e+02] [ 9.96145849e-01 -8.77123031e-02 0.00000000e+00 1.20206173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03258353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51037174299998 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:176.10, Y:120.20, Z:0.00 [[-7.98159264e-02 -9.96809620e-01 0.00000000e+00 1.76104564e+02] [ 9.96809620e-01 -7.98159264e-02 0.00000000e+00 1.20204752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27340151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54037174299998 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:176.10, Y:120.21, Z:0.00 [[-7.51478985e-02 -9.97172399e-01 0.00000000e+00 1.76101302e+02] [ 9.97172399e-01 -7.51478985e-02 0.00000000e+00 1.20206787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47699887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57037174299998 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:176.10, Y:120.23, Z:0.00 [[-7.84191015e-02 -9.96920481e-01 0.00000000e+00 1.76095329e+02] [ 9.96920481e-01 -7.84191015e-02 0.00000000e+00 1.20232097e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82196634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60037174299998 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:176.10, Y:120.21, Z:0.01 [[-7.00181114e-02 -9.97545720e-01 0.00000000e+00 1.76096770e+02] [ 9.97545720e-01 -7.00181114e-02 0.00000000e+00 1.20213604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38794471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63037174299998 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:176.09, Y:120.22, Z:0.01 [[-6.68688312e-02 -9.97761775e-01 0.00000000e+00 1.76094632e+02] [ 9.97761775e-01 -6.68688312e-02 0.00000000e+00 1.20216628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.89007656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66037174299998 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:176.09, Y:120.21, Z:0.01 [[-5.98075263e-02 -9.98209928e-01 0.00000000e+00 1.76090718e+02] [ 9.98209928e-01 -5.98075263e-02 0.00000000e+00 1.20212533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80956276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.690371743 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:176.09, Y:120.21, Z:0.01 [[-5.39081456e-02 -9.98545899e-01 0.00000000e+00 1.76090729e+02] [ 9.98545899e-01 -5.39081456e-02 0.00000000e+00 1.20214601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47558974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.720371743 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:176.09, Y:120.22, Z:0.01 [[-5.35359634e-02 -9.98565922e-01 0.00000000e+00 1.76090636e+02] [ 9.98565922e-01 -5.35359634e-02 0.00000000e+00 1.20217266e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47558974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.750371743 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:176.09, Y:120.21, Z:0.01 [[-4.99778352e-02 -9.98750327e-01 0.00000000e+00 1.76089029e+02] [ 9.98750327e-01 -4.99778352e-02 0.00000000e+00 1.20211499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75589833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.780371743 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:176.08, Y:120.21, Z:0.01 [[-4.58159778e-02 -9.98949897e-01 0.00000000e+00 1.76084613e+02] [ 9.98949897e-01 -4.58159778e-02 0.00000000e+00 1.20209192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12206840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.810371743 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:176.08, Y:120.21, Z:0.01 [[-4.26852268e-02 -9.99088570e-01 0.00000000e+00 1.76082976e+02] [ 9.99088570e-01 -4.26852268e-02 0.00000000e+00 1.20209244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06027408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.840371743 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:176.08, Y:120.24, Z:0.01 [[-3.95229574e-02 -9.99218663e-01 0.00000000e+00 1.76081862e+02] [ 9.99218663e-01 -3.95229574e-02 0.00000000e+00 1.20237860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01657823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.870371743 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:176.08, Y:120.27, Z:0.01 [[-4.10242849e-02 -9.99158150e-01 0.00000000e+00 1.76080013e+02] [ 9.99158150e-01 -4.10242849e-02 0.00000000e+00 1.20268166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28902886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90037174299997 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:176.08, Y:120.27, Z:0.01 [[-4.00088090e-02 -9.99199327e-01 0.00000000e+00 1.76080202e+02] [ 9.99199327e-01 -4.00088090e-02 0.00000000e+00 1.20272596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15578503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93037174299997 meters Centerline goodness : 0.994936 Centerline is valid? [True, True] Translation: X:176.08, Y:120.29, Z:0.01 [[-4.19151363e-02 -9.99121175e-01 0.00000000e+00 1.76078337e+02] [ 9.99121175e-01 -4.19151363e-02 0.00000000e+00 1.20287705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04708989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96037174299997 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:176.08, Y:120.28, Z:0.01 [[-4.20712753e-02 -9.99114612e-01 0.00000000e+00 1.76077516e+02] [ 9.99114612e-01 -4.20712753e-02 0.00000000e+00 1.20284295e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00974353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99037174299997 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:176.08, Y:120.28, Z:0.01 [[-4.02184913e-02 -9.99190909e-01 0.00000000e+00 1.76077586e+02] [ 9.99190909e-01 -4.02184913e-02 0.00000000e+00 1.20276595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96654832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02037174299997 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:176.07, Y:120.30, Z:0.01 [[-4.49623506e-02 -9.98988682e-01 0.00000000e+00 1.76074408e+02] [ 9.98988682e-01 -4.49623506e-02 0.00000000e+00 1.20302525e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12188686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05037174299997 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:176.07, Y:120.32, Z:0.01 [[-5.23764592e-02 -9.98627411e-01 0.00000000e+00 1.76066138e+02] [ 9.98627411e-01 -5.23764592e-02 0.00000000e+00 1.20321566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18693489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08037174299997 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:176.07, Y:120.35, Z:0.01 [[-4.99060490e-02 -9.98753917e-01 0.00000000e+00 1.76071725e+02] [ 9.98753917e-01 -4.99060490e-02 0.00000000e+00 1.20354815e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97553880e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11037174299997 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:176.06, Y:120.38, Z:0.01 [[-5.66436421e-02 -9.98394460e-01 0.00000000e+00 1.76064152e+02] [ 9.98394460e-01 -5.66436421e-02 0.00000000e+00 1.20376423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.94599785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14037174299997 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:176.07, Y:120.41, Z:0.01 [[-5.44611666e-02 -9.98515889e-01 0.00000000e+00 1.76068993e+02] [ 9.98515889e-01 -5.44611666e-02 0.00000000e+00 1.20409743e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03771615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17037174299998 meters Centerline goodness : 0.994250 Centerline is valid? [True, True] Translation: X:176.07, Y:120.44, Z:0.01 [[-5.62921340e-02 -9.98414341e-01 0.00000000e+00 1.76068594e+02] [ 9.98414341e-01 -5.62921340e-02 0.00000000e+00 1.20438583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30214505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20037174299998 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:176.07, Y:120.47, Z:0.01 [[-5.78119225e-02 -9.98327492e-01 0.00000000e+00 1.76068086e+02] [ 9.98327492e-01 -5.78119225e-02 0.00000000e+00 1.20467154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33519975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23037174299998 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:176.07, Y:120.48, Z:0.01 [[-5.79764804e-02 -9.98317949e-01 0.00000000e+00 1.76068733e+02] [ 9.98317949e-01 -5.79764804e-02 0.00000000e+00 1.20477092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20827018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26037174299998 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:176.07, Y:120.51, Z:0.01 [[-6.18171691e-02 -9.98087490e-01 0.00000000e+00 1.76069408e+02] [ 9.98087490e-01 -6.18171691e-02 0.00000000e+00 1.20505783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05233716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29037174299998 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:176.07, Y:120.52, Z:0.01 [[-6.24081374e-02 -9.98050712e-01 0.00000000e+00 1.76069683e+02] [ 9.98050712e-01 -6.24081374e-02 0.00000000e+00 1.20517169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.45733474e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32037174299998 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:176.07, Y:120.52, Z:0.01 [[-6.40794603e-02 -9.97944799e-01 0.00000000e+00 1.76069188e+02] [ 9.97944799e-01 -6.40794603e-02 0.00000000e+00 1.20523610e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62882394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35037174299998 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:176.07, Y:120.55, Z:0.01 [[-6.48163057e-02 -9.97897212e-01 0.00000000e+00 1.76068308e+02] [ 9.97897212e-01 -6.48163057e-02 0.00000000e+00 1.20552657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33336443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38037174299998 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:176.06, Y:120.57, Z:0.01 [[-7.80443795e-02 -9.96949886e-01 0.00000000e+00 1.76060982e+02] [ 9.96949886e-01 -7.80443795e-02 0.00000000e+00 1.20569440e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15135366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41037174299998 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:176.07, Y:120.54, Z:0.01 [[-6.45427758e-02 -9.97914941e-01 0.00000000e+00 1.76066395e+02] [ 9.97914941e-01 -6.45427758e-02 0.00000000e+00 1.20538499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15667266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.440371743 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:176.06, Y:120.57, Z:0.01 [[-7.45099433e-02 -9.97220271e-01 0.00000000e+00 1.76059978e+02] [ 9.97220271e-01 -7.45099433e-02 0.00000000e+00 1.20573683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21174353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.470371743 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:176.06, Y:120.57, Z:0.01 [[-7.13575939e-02 -9.97450798e-01 0.00000000e+00 1.76058521e+02] [ 9.97450798e-01 -7.13575939e-02 0.00000000e+00 1.20570539e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32610646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.500371743 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:176.06, Y:120.53, Z:0.01 [[-6.20626622e-02 -9.98072255e-01 0.00000000e+00 1.76061765e+02] [ 9.98072255e-01 -6.20626622e-02 0.00000000e+00 1.20531443e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74031008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.530371743 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:176.06, Y:120.56, Z:0.01 [[-5.93430139e-02 -9.98237650e-01 0.00000000e+00 1.76059314e+02] [ 9.98237650e-01 -5.93430139e-02 0.00000000e+00 1.20561360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09374620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.560371743 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:176.06, Y:120.57, Z:0.02 [[-6.27010622e-02 -9.98032353e-01 0.00000000e+00 1.76055686e+02] [ 9.98032353e-01 -6.27010622e-02 0.00000000e+00 1.20567027e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52566126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.590371743 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:176.06, Y:120.58, Z:0.02 [[-6.04424513e-02 -9.98171684e-01 0.00000000e+00 1.76055356e+02] [ 9.98171684e-01 -6.04424513e-02 0.00000000e+00 1.20575480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57838958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.620371743 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:176.06, Y:120.56, Z:0.01 [[-4.96694282e-02 -9.98765712e-01 0.00000000e+00 1.76057071e+02] [ 9.98765712e-01 -4.96694282e-02 0.00000000e+00 1.20564782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44905738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65037174299997 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:176.06, Y:120.58, Z:0.02 [[-4.55219406e-02 -9.98963339e-01 0.00000000e+00 1.76057202e+02] [ 9.98963339e-01 -4.55219406e-02 0.00000000e+00 1.20580360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66468769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68037174299997 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:176.05, Y:120.60, Z:0.02 [[-4.78072907e-02 -9.98856578e-01 0.00000000e+00 1.76051239e+02] [ 9.98856578e-01 -4.78072907e-02 0.00000000e+00 1.20602062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82676057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71037174299997 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:176.06, Y:120.64, Z:0.02 [[-3.77835464e-02 -9.99285947e-01 0.00000000e+00 1.76059371e+02] [ 9.99285947e-01 -3.77835464e-02 0.00000000e+00 1.20642155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55162681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74037174299997 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:176.06, Y:120.64, Z:0.01 [[-3.38066811e-02 -9.99428391e-01 0.00000000e+00 1.76060304e+02] [ 9.99428391e-01 -3.38066811e-02 0.00000000e+00 1.20638028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37425824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77037174299997 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:176.06, Y:120.65, Z:0.02 [[-3.41276949e-02 -9.99417481e-01 0.00000000e+00 1.76058623e+02] [ 9.99417481e-01 -3.41276949e-02 0.00000000e+00 1.20653110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88787342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80037174299997 meters Centerline goodness : 0.996055 Centerline is valid? [True, True] Translation: X:176.06, Y:120.66, Z:0.01 [[-2.88123747e-02 -9.99584837e-01 0.00000000e+00 1.76059734e+02] [ 9.99584837e-01 -2.88123747e-02 0.00000000e+00 1.20664113e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48744703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83037174299997 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:176.06, Y:120.68, Z:0.01 [[-2.74156769e-02 -9.99624120e-01 0.00000000e+00 1.76059552e+02] [ 9.99624120e-01 -2.74156769e-02 0.00000000e+00 1.20682555e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49824809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86037174299997 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:176.06, Y:120.67, Z:0.01 [[-2.03700242e-02 -9.99792510e-01 0.00000000e+00 1.76061515e+02] [ 9.99792510e-01 -2.03700242e-02 0.00000000e+00 1.20669433e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34894359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89037174299997 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:176.06, Y:120.69, Z:0.02 [[-1.55112249e-02 -9.99879694e-01 0.00000000e+00 1.76061446e+02] [ 9.99879694e-01 -1.55112249e-02 0.00000000e+00 1.20692321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60504441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92037174299998 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:176.06, Y:120.72, Z:0.01 [[-1.51825894e-02 -9.99884738e-01 0.00000000e+00 1.76062253e+02] [ 9.99884738e-01 -1.51825894e-02 0.00000000e+00 1.20724077e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36367431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95037174299998 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:176.06, Y:120.75, Z:0.01 [[-1.42798216e-02 -9.99898038e-01 0.00000000e+00 1.76064133e+02] [ 9.99898038e-01 -1.42798216e-02 0.00000000e+00 1.20751553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38297937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98037174299998 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:176.07, Y:120.76, Z:0.01 [[-1.20246111e-02 -9.99927702e-01 0.00000000e+00 1.76066514e+02] [ 9.99927702e-01 -1.20246111e-02 0.00000000e+00 1.20756233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33683005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01037174299998 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:176.07, Y:120.78, Z:0.01 [[-1.71658696e-02 -9.99852656e-01 0.00000000e+00 1.76068230e+02] [ 9.99852656e-01 -1.71658696e-02 0.00000000e+00 1.20781498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37865472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04037174299998 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:176.07, Y:120.81, Z:0.01 [[-1.86813231e-02 -9.99825489e-01 0.00000000e+00 1.76071477e+02] [ 9.99825489e-01 -1.86813231e-02 0.00000000e+00 1.20812045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16810018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07037174299998 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:176.07, Y:120.82, Z:0.01 [[-2.55433181e-02 -9.99673716e-01 0.00000000e+00 1.76071744e+02] [ 9.99673716e-01 -2.55433181e-02 0.00000000e+00 1.20822842e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26607408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10037174299998 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:176.07, Y:120.83, Z:0.01 [[-2.82457568e-02 -9.99601009e-01 0.00000000e+00 1.76073912e+02] [ 9.99601009e-01 -2.82457568e-02 0.00000000e+00 1.20826933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25109447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13037174299998 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:176.08, Y:120.83, Z:0.01 [[-3.45702819e-02 -9.99402269e-01 0.00000000e+00 1.76077662e+02] [ 9.99402269e-01 -3.45702819e-02 0.00000000e+00 1.20828117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14972978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16037174299998 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:176.08, Y:120.83, Z:0.01 [[-4.04421060e-02 -9.99181883e-01 0.00000000e+00 1.76080909e+02] [ 9.99181883e-01 -4.04421060e-02 0.00000000e+00 1.20829925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16929661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.190371743 meters Centerline goodness : 0.995737 Centerline is valid? [True, True] Translation: X:176.08, Y:120.86, Z:0.01 [[-5.09733376e-02 -9.98700014e-01 0.00000000e+00 1.76078015e+02] [ 9.98700014e-01 -5.09733376e-02 0.00000000e+00 1.20857649e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18176246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.220371743 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:176.08, Y:120.85, Z:0.01 [[-4.40710213e-02 -9.99028401e-01 0.00000000e+00 1.76084239e+02] [ 9.99028401e-01 -4.40710213e-02 0.00000000e+00 1.20850213e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16994614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.250371743 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:176.09, Y:120.85, Z:0.01 [[-4.56104359e-02 -9.98959303e-01 0.00000000e+00 1.76087528e+02] [ 9.98959303e-01 -4.56104359e-02 0.00000000e+00 1.20850744e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04561648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.280371743 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:176.09, Y:120.84, Z:0.01 [[-4.28344088e-02 -9.99082186e-01 0.00000000e+00 1.76090473e+02] [ 9.99082186e-01 -4.28344088e-02 0.00000000e+00 1.20837696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21115967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.310371743 meters Centerline goodness : 0.995156 Centerline is valid? [True, True] Translation: X:176.09, Y:120.87, Z:0.01 [[-4.39627132e-02 -9.99033173e-01 0.00000000e+00 1.76094700e+02] [ 9.99033173e-01 -4.39627132e-02 0.00000000e+00 1.20872025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36001414e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.340371743 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:176.09, Y:120.88, Z:0.01 [[-6.25937374e-02 -9.98039089e-01 0.00000000e+00 1.76087681e+02] [ 9.98039089e-01 -6.25937374e-02 0.00000000e+00 1.20882507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13654232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.370371743 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:176.09, Y:120.88, Z:0.01 [[-6.27943523e-02 -9.98026487e-01 0.00000000e+00 1.76088806e+02] [ 9.98026487e-01 -6.27943523e-02 0.00000000e+00 1.20875553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13817759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40037174299997 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:176.09, Y:120.88, Z:0.01 [[-6.29103737e-02 -9.98019181e-01 0.00000000e+00 1.76089873e+02] [ 9.98019181e-01 -6.29103737e-02 0.00000000e+00 1.20879611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13789086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43037174299997 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:176.10, Y:120.88, Z:0.01 [[-5.59668527e-02 -9.98432627e-01 0.00000000e+00 1.76095712e+02] [ 9.98432627e-01 -5.59668527e-02 0.00000000e+00 1.20883107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14046178e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46037174299997 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:176.10, Y:120.88, Z:0.01 [[-5.66116937e-02 -9.98396272e-01 0.00000000e+00 1.76096154e+02] [ 9.98396272e-01 -5.66116937e-02 0.00000000e+00 1.20880740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89556966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49037174299997 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:176.09, Y:121.55, Z:0.01 [[-7.14829437e-02 -9.97441822e-01 0.00000000e+00 1.76087186e+02] [ 9.97441822e-01 -7.14829437e-02 0.00000000e+00 1.21546838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75881102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52037174299997 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:176.09, Y:120.96, Z:0.01 [[-6.97913154e-02 -9.97561613e-01 0.00000000e+00 1.76094916e+02] [ 9.97561613e-01 -6.97913154e-02 0.00000000e+00 1.20960654e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31259916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55037174299997 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:176.10, Y:120.90, Z:0.01 [[-5.11517938e-02 -9.98690890e-01 0.00000000e+00 1.76103179e+02] [ 9.98690890e-01 -5.11517938e-02 0.00000000e+00 1.20896308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92488345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58037174299997 meters Centerline goodness : 0.995763 Centerline is valid? [True, True] Translation: X:176.10, Y:120.90, Z:0.01 [[-5.23749452e-02 -9.98627491e-01 0.00000000e+00 1.76101098e+02] [ 9.98627491e-01 -5.23749452e-02 0.00000000e+00 1.20898993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17576957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61037174299997 meters Centerline goodness : 0.995763 Centerline is valid? [True, True] Translation: X:176.10, Y:120.90, Z:0.01 [[-5.20328779e-02 -9.98645372e-01 0.00000000e+00 1.76100991e+02] [ 9.98645372e-01 -5.20328779e-02 0.00000000e+00 1.20901641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17576957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64037174299997 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:176.09, Y:121.58, Z:0.01 [[-7.57130759e-02 -9.97129646e-01 0.00000000e+00 1.76086295e+02] [ 9.97129646e-01 -7.57130759e-02 0.00000000e+00 1.21580977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.32844988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67037174299998 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:176.10, Y:120.92, Z:0.01 [[-5.68611955e-02 -9.98382093e-01 0.00000000e+00 1.76100629e+02] [ 9.98382093e-01 -5.68611955e-02 0.00000000e+00 1.20918566e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72550100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70037174299998 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:176.10, Y:120.91, Z:0.01 [[-5.45774816e-02 -9.98509539e-01 0.00000000e+00 1.76099600e+02] [ 9.98509539e-01 -5.45774816e-02 0.00000000e+00 1.20911830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33987044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73037174299998 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:176.10, Y:120.93, Z:0.01 [[-5.54410412e-02 -9.98461963e-01 0.00000000e+00 1.76098994e+02] [ 9.98461963e-01 -5.54410412e-02 0.00000000e+00 1.20932591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52817884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76037174299998 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:176.10, Y:120.92, Z:0.01 [[-5.81601413e-02 -9.98307266e-01 0.00000000e+00 1.76095413e+02] [ 9.98307266e-01 -5.81601413e-02 0.00000000e+00 1.20923908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.90670588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79037174299998 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:176.09, Y:120.94, Z:0.01 [[-5.75101009e-02 -9.98344925e-01 0.00000000e+00 1.76094591e+02] [ 9.98344925e-01 -5.75101009e-02 0.00000000e+00 1.20938095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38549370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82037174299998 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:176.09, Y:120.94, Z:0.01 [[-5.58304735e-02 -9.98440263e-01 0.00000000e+00 1.76093918e+02] [ 9.98440263e-01 -5.58304735e-02 0.00000000e+00 1.20938656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.44179573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85037174299998 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:176.09, Y:120.93, Z:0.01 [[-5.61075073e-02 -9.98424733e-01 0.00000000e+00 1.76092682e+02] [ 9.98424733e-01 -5.61075073e-02 0.00000000e+00 1.20927903e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50485154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88037174299998 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:176.09, Y:120.93, Z:0.01 [[-5.55334807e-02 -9.98456826e-01 0.00000000e+00 1.76092375e+02] [ 9.98456826e-01 -5.55334807e-02 0.00000000e+00 1.20931344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.94957872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91037174299998 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:176.09, Y:120.93, Z:0.01 [[-5.38292119e-02 -9.98550157e-01 0.00000000e+00 1.76091780e+02] [ 9.98550157e-01 -5.38292119e-02 0.00000000e+00 1.20928248e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.44339382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.940371743 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:176.09, Y:120.94, Z:0.01 [[-5.36934884e-02 -9.98557464e-01 0.00000000e+00 1.76090539e+02] [ 9.98557464e-01 -5.36934884e-02 0.00000000e+00 1.20936029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33627000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.970371743 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:176.09, Y:120.94, Z:0.01 [[-5.31126937e-02 -9.98588525e-01 0.00000000e+00 1.76089519e+02] [ 9.98588525e-01 -5.31126937e-02 0.00000000e+00 1.20941168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04174487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.000371743 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:176.09, Y:120.93, Z:0.01 [[-5.00883649e-02 -9.98744790e-01 0.00000000e+00 1.76087627e+02] [ 9.98744790e-01 -5.00883649e-02 0.00000000e+00 1.20934775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52456266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.030371743 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:176.09, Y:120.94, Z:0.01 [[-4.70949597e-02 -9.98890417e-01 0.00000000e+00 1.76087118e+02] [ 9.98890417e-01 -4.70949597e-02 0.00000000e+00 1.20941262e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72469875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.060371743 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:176.09, Y:120.95, Z:0.00 [[-3.67092287e-02 -9.99325989e-01 0.00000000e+00 1.76089666e+02] [ 9.99325989e-01 -3.67092287e-02 0.00000000e+00 1.20947205e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.06223887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.090371743 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:176.09, Y:120.98, Z:0.01 [[-4.02900470e-02 -9.99188026e-01 0.00000000e+00 1.76087466e+02] [ 9.99188026e-01 -4.02900470e-02 0.00000000e+00 1.20976639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.50908405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.120371743 meters Centerline goodness : 0.996695 Centerline is valid? [True, True] Translation: X:176.08, Y:120.97, Z:0.01 [[-4.60221304e-02 -9.98940420e-01 0.00000000e+00 1.76083998e+02] [ 9.98940420e-01 -4.60221304e-02 0.00000000e+00 1.20965727e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01265410e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15037174299997 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:176.08, Y:120.97, Z:0.01 [[-4.49031197e-02 -9.98991346e-01 0.00000000e+00 1.76083258e+02] [ 9.98991346e-01 -4.49031197e-02 0.00000000e+00 1.20966688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24771349e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18037174299997 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:176.08, Y:120.97, Z:0.01 [[-4.75813772e-02 -9.98867365e-01 0.00000000e+00 1.76081837e+02] [ 9.98867365e-01 -4.75813772e-02 0.00000000e+00 1.20969788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14110533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21037174299997 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:176.08, Y:120.98, Z:0.01 [[-4.99696008e-02 -9.98750739e-01 0.00000000e+00 1.76080233e+02] [ 9.98750739e-01 -4.99696008e-02 0.00000000e+00 1.20981567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67392988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24037174299997 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:176.08, Y:120.97, Z:0.01 [[-4.86982079e-02 -9.98813538e-01 0.00000000e+00 1.76081160e+02] [ 9.98813538e-01 -4.86982079e-02 0.00000000e+00 1.20971538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.45091635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27037174299997 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:176.08, Y:121.00, Z:0.01 [[-5.51282977e-02 -9.98479279e-01 0.00000000e+00 1.76080038e+02] [ 9.98479279e-01 -5.51282977e-02 0.00000000e+00 1.20998057e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22490496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30037174299997 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:176.08, Y:121.01, Z:0.01 [[-5.87071772e-02 -9.98275246e-01 0.00000000e+00 1.76080545e+02] [ 9.98275246e-01 -5.87071772e-02 0.00000000e+00 1.21009015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.74722609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33037174299997 meters Centerline goodness : 0.995964 Centerline is valid? [True, True] Translation: X:176.08, Y:121.01, Z:0.01 [[-6.15442266e-02 -9.98104357e-01 0.00000000e+00 1.76080912e+02] [ 9.98104357e-01 -6.15442266e-02 0.00000000e+00 1.21014726e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67988070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36037174299997 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:176.08, Y:121.00, Z:0.01 [[-6.65897458e-02 -9.97780440e-01 0.00000000e+00 1.76080406e+02] [ 9.97780440e-01 -6.65897458e-02 0.00000000e+00 1.21001886e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80964383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39037174299997 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:176.08, Y:121.00, Z:0.01 [[-6.83977102e-02 -9.97658134e-01 0.00000000e+00 1.76080455e+02] [ 9.97658134e-01 -6.83977102e-02 0.00000000e+00 1.21003189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14118586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42037174299998 meters Centerline goodness : 0.996264 Centerline is valid? [True, True] Translation: X:176.08, Y:121.01, Z:0.01 [[-7.22321769e-02 -9.97387845e-01 0.00000000e+00 1.76079599e+02] [ 9.97387845e-01 -7.22321769e-02 0.00000000e+00 1.21006723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94058530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45037174299998 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:176.08, Y:121.01, Z:0.01 [[-7.97943702e-02 -9.96811345e-01 0.00000000e+00 1.76075445e+02] [ 9.96811345e-01 -7.97943702e-02 0.00000000e+00 1.21008739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.20450540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48037174299998 meters Centerline goodness : 0.996763 Centerline is valid? [True, True] Translation: X:176.08, Y:121.01, Z:0.00 [[-7.28240821e-02 -9.97344801e-01 0.00000000e+00 1.76079071e+02] [ 9.97344801e-01 -7.28240821e-02 0.00000000e+00 1.21010164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97497026e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51037174299998 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:176.08, Y:121.04, Z:0.00 [[-7.37766704e-02 -9.97274788e-01 0.00000000e+00 1.76078578e+02] [ 9.97274788e-01 -7.37766704e-02 0.00000000e+00 1.21038712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70585625e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54037174299998 meters Centerline goodness : 0.996654 Centerline is valid? [True, True] Translation: X:176.08, Y:121.04, Z:0.00 [[-7.11012411e-02 -9.97469104e-01 0.00000000e+00 1.76076806e+02] [ 9.97469104e-01 -7.11012411e-02 0.00000000e+00 1.21039012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.84519036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57037174299998 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:176.07, Y:121.07, Z:0.01 [[-7.06360159e-02 -9.97502157e-01 0.00000000e+00 1.76074568e+02] [ 9.97502157e-01 -7.06360159e-02 0.00000000e+00 1.21067151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47095390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60037174299998 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:176.07, Y:121.09, Z:0.00 [[-6.75414824e-02 -9.97716467e-01 0.00000000e+00 1.76074116e+02] [ 9.97716467e-01 -6.75414824e-02 0.00000000e+00 1.21094540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.65867590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63037174299998 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:176.07, Y:121.12, Z:0.00 [[-6.49919991e-02 -9.97885785e-01 0.00000000e+00 1.76070694e+02] [ 9.97885785e-01 -6.49919991e-02 0.00000000e+00 1.21121109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23266341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66037174299998 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:176.07, Y:121.15, Z:0.01 [[-6.43198831e-02 -9.97929332e-01 0.00000000e+00 1.76068769e+02] [ 9.97929332e-01 -6.43198831e-02 0.00000000e+00 1.21149029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.58862783e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.690371743 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:176.06, Y:121.83, Z:0.00 [[-7.66952686e-02 -9.97054580e-01 0.00000000e+00 1.76059440e+02] [ 9.97054580e-01 -7.66952686e-02 0.00000000e+00 1.21825630e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77279416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.720371743 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:176.06, Y:121.18, Z:0.01 [[-6.91562366e-02 -9.97605841e-01 0.00000000e+00 1.76062163e+02] [ 9.97605841e-01 -6.91562366e-02 0.00000000e+00 1.21181614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72245393e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.750371743 meters Centerline goodness : 0.995848 Centerline is valid? [True, True] Translation: X:176.06, Y:121.17, Z:0.01 [[-6.10063220e-02 -9.98137380e-01 0.00000000e+00 1.76064467e+02] [ 9.98137380e-01 -6.10063220e-02 0.00000000e+00 1.21170927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13161879e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.780371743 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:176.06, Y:121.18, Z:0.01 [[-5.81945445e-02 -9.98305261e-01 0.00000000e+00 1.76063358e+02] [ 9.98305261e-01 -5.81945445e-02 0.00000000e+00 1.21180322e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82331575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.810371743 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:176.06, Y:121.20, Z:0.01 [[-5.79385119e-02 -9.98320153e-01 0.00000000e+00 1.76061576e+02] [ 9.98320153e-01 -5.79385119e-02 0.00000000e+00 1.21198908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39718643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.840371743 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:176.06, Y:121.17, Z:0.00 [[-5.06181800e-02 -9.98718078e-01 0.00000000e+00 1.76062700e+02] [ 9.98718078e-01 -5.06181800e-02 0.00000000e+00 1.21172101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85322787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.870371743 meters Centerline goodness : 0.996469 Centerline is valid? [True, True] Translation: X:176.06, Y:121.20, Z:0.00 [[-4.98033625e-02 -9.98759043e-01 0.00000000e+00 1.76059992e+02] [ 9.98759043e-01 -4.98033625e-02 0.00000000e+00 1.21198760e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62159167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90037174299997 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:176.06, Y:121.23, Z:0.00 [[-5.00620350e-02 -9.98746110e-01 0.00000000e+00 1.76058556e+02] [ 9.98746110e-01 -5.00620350e-02 0.00000000e+00 1.21225946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80345014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93037174299997 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:176.06, Y:121.26, Z:0.00 [[-4.96681634e-02 -9.98765775e-01 0.00000000e+00 1.76058209e+02] [ 9.98765775e-01 -4.96681634e-02 0.00000000e+00 1.21255532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24627755e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96037174299997 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:176.05, Y:121.27, Z:0.01 [[-5.50604228e-02 -9.98483024e-01 0.00000000e+00 1.76049674e+02] [ 9.98483024e-01 -5.50604228e-02 0.00000000e+00 1.21273853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39482694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99037174299997 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:176.06, Y:121.31, Z:0.00 [[-5.06455038e-02 -9.98716693e-01 0.00000000e+00 1.76056379e+02] [ 9.98716693e-01 -5.06455038e-02 0.00000000e+00 1.21310198e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85596225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.020371743 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:176.06, Y:121.34, Z:0.00 [[-5.16469502e-02 -9.98665406e-01 0.00000000e+00 1.76055661e+02] [ 9.98665406e-01 -5.16469502e-02 0.00000000e+00 1.21336891e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.04228765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.050371743 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:176.06, Y:121.37, Z:0.00 [[-5.24381487e-02 -9.98624174e-01 0.00000000e+00 1.76055553e+02] [ 9.98624174e-01 -5.24381487e-02 0.00000000e+00 1.21365682e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.44578304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.080371743 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:176.05, Y:121.37, Z:0.00 [[-5.26283235e-02 -9.98614170e-01 0.00000000e+00 1.76054925e+02] [ 9.98614170e-01 -5.26283235e-02 0.00000000e+00 1.21369634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57952836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11037174300003 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:176.05, Y:121.38, Z:0.00 [[-5.20300974e-02 -9.98645517e-01 0.00000000e+00 1.76054934e+02] [ 9.98645517e-01 -5.20300974e-02 0.00000000e+00 1.21378715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26358791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.140371743 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:176.05, Y:121.41, Z:0.00 [[-5.34602233e-02 -9.98569980e-01 0.00000000e+00 1.76054303e+02] [ 9.98569980e-01 -5.34602233e-02 0.00000000e+00 1.21406612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.74260756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17037174300003 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:176.05, Y:121.41, Z:0.00 [[-5.38037117e-02 -9.98551531e-01 0.00000000e+00 1.76054517e+02] [ 9.98551531e-01 -5.38037117e-02 0.00000000e+00 1.21408909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62742581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.200371743 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:176.05, Y:121.44, Z:0.00 [[-6.36238858e-02 -9.97973948e-01 0.00000000e+00 1.76050439e+02] [ 9.97973948e-01 -6.36238858e-02 0.00000000e+00 1.21440438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63000107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23037174300003 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:176.06, Y:121.40, Z:0.01 [[-5.55718653e-02 -9.98454690e-01 0.00000000e+00 1.76055420e+02] [ 9.98454690e-01 -5.55718653e-02 0.00000000e+00 1.21400146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74891092e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.260371743 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:176.06, Y:121.43, Z:0.00 [[-5.68523911e-02 -9.98382595e-01 0.00000000e+00 1.76056419e+02] [ 9.98382595e-01 -5.68523911e-02 0.00000000e+00 1.21427831e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97662272e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.290371743 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:176.06, Y:121.46, Z:0.01 [[-5.87966167e-02 -9.98269982e-01 0.00000000e+00 1.76056813e+02] [ 9.98269982e-01 -5.87966167e-02 0.00000000e+00 1.21456321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.31265646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.320371743 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:176.06, Y:121.48, Z:0.00 [[-5.85455949e-02 -9.98284736e-01 0.00000000e+00 1.76057844e+02] [ 9.98284736e-01 -5.85455949e-02 0.00000000e+00 1.21477606e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.46921998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.350371743 meters Centerline goodness : 0.994426 Centerline is valid? [True, True] Translation: X:176.06, Y:121.47, Z:0.00 [[-5.83134593e-02 -9.98298322e-01 0.00000000e+00 1.76057637e+02] [ 9.98298322e-01 -5.83134593e-02 0.00000000e+00 1.21470834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77046463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.380371743 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:176.06, Y:121.50, Z:0.00 [[-5.76776933e-02 -9.98335256e-01 0.00000000e+00 1.76058920e+02] [ 9.98335256e-01 -5.76776933e-02 0.00000000e+00 1.21499737e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33079639e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.410371743 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:176.06, Y:121.53, Z:0.00 [[-5.80033379e-02 -9.98316389e-01 0.00000000e+00 1.76059078e+02] [ 9.98316389e-01 -5.80033379e-02 0.00000000e+00 1.21527057e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24515355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.440371743 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:176.06, Y:121.54, Z:0.01 [[-5.81239956e-02 -9.98309371e-01 0.00000000e+00 1.76058956e+02] [ 9.98309371e-01 -5.81239956e-02 0.00000000e+00 1.21540807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09477675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.470371743 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:176.06, Y:121.57, Z:0.01 [[-5.93984312e-02 -9.98234354e-01 0.00000000e+00 1.76058885e+02] [ 9.98234354e-01 -5.93984312e-02 0.00000000e+00 1.21568060e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18477456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.500371743 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:176.06, Y:121.56, Z:0.01 [[-5.74913886e-02 -9.98346002e-01 0.00000000e+00 1.76061020e+02] [ 9.98346002e-01 -5.74913886e-02 0.00000000e+00 1.21563421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83591194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.530371743 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:176.06, Y:121.59, Z:0.01 [[-5.79673971e-02 -9.98318477e-01 0.00000000e+00 1.76060772e+02] [ 9.98318477e-01 -5.79673971e-02 0.00000000e+00 1.21590716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.83591194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.560371743 meters Centerline goodness : 0.995249 Centerline is valid? [True, True] Translation: X:176.06, Y:121.59, Z:0.01 [[-5.65334442e-02 -9.98400706e-01 0.00000000e+00 1.76062239e+02] [ 9.98400706e-01 -5.65334442e-02 0.00000000e+00 1.21587908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62457585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.590371743 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:176.06, Y:121.59, Z:0.01 [[-5.64926724e-02 -9.98403014e-01 0.00000000e+00 1.76062794e+02] [ 9.98403014e-01 -5.64926724e-02 0.00000000e+00 1.21591019e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94993458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.620371743 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:176.06, Y:121.59, Z:0.00 [[-5.69385691e-02 -9.98377684e-01 0.00000000e+00 1.76063658e+02] [ 9.98377684e-01 -5.69385691e-02 0.00000000e+00 1.21593077e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60801811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.650371743 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:176.06, Y:121.62, Z:0.00 [[-5.80844184e-02 -9.98311675e-01 0.00000000e+00 1.76064316e+02] [ 9.98311675e-01 -5.80844184e-02 0.00000000e+00 1.21620899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22217289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.680371743 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:176.07, Y:121.62, Z:0.00 [[-5.85746386e-02 -9.98283032e-01 0.00000000e+00 1.76066139e+02] [ 9.98283032e-01 -5.85746386e-02 0.00000000e+00 1.21618309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65884421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.710371743 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:176.07, Y:121.62, Z:0.00 [[-5.79266277e-02 -9.98320843e-01 0.00000000e+00 1.76068006e+02] [ 9.98320843e-01 -5.79266277e-02 0.00000000e+00 1.21622823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10950156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.740371743 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:176.07, Y:121.65, Z:0.00 [[-5.97925554e-02 -9.98210825e-01 0.00000000e+00 1.76068682e+02] [ 9.98210825e-01 -5.97925554e-02 0.00000000e+00 1.21651265e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.82791817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.770371743 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:176.07, Y:121.65, Z:0.00 [[-6.00634089e-02 -9.98194564e-01 0.00000000e+00 1.76071025e+02] [ 9.98194564e-01 -6.00634089e-02 0.00000000e+00 1.21649073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58457545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.800371743 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:176.07, Y:121.66, Z:0.00 [[-6.88280888e-02 -9.97628535e-01 0.00000000e+00 1.76066196e+02] [ 9.97628535e-01 -6.88280888e-02 0.00000000e+00 1.21655671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43735627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.830371743 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:176.07, Y:121.66, Z:0.00 [[-5.77929702e-02 -9.98328589e-01 0.00000000e+00 1.76074356e+02] [ 9.98328589e-01 -5.77929702e-02 0.00000000e+00 1.21663593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14229130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86037174300003 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:176.07, Y:121.91, Z:0.00 [[-6.93008420e-02 -9.97595807e-01 0.00000000e+00 1.76068512e+02] [ 9.97595807e-01 -6.93008420e-02 0.00000000e+00 1.21912847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18699339e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.890371743 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:176.07, Y:121.67, Z:0.00 [[-6.45448453e-02 -9.97914807e-01 0.00000000e+00 1.76070821e+02] [ 9.97914807e-01 -6.45448453e-02 0.00000000e+00 1.21667541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32877637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92037174300003 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:176.08, Y:121.65, Z:0.00 [[-5.01763339e-02 -9.98740374e-01 0.00000000e+00 1.76077382e+02] [ 9.98740374e-01 -5.01763339e-02 0.00000000e+00 1.21649399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95507774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.950371743 meters Centerline goodness : 0.995011 Centerline is valid? [True, True] Translation: X:176.07, Y:121.67, Z:0.00 [[-5.42633807e-02 -9.98526657e-01 0.00000000e+00 1.76069238e+02] [ 9.98526657e-01 -5.42633807e-02 0.00000000e+00 1.21667733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.10299081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98037174300003 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:176.07, Y:121.70, Z:0.00 [[-5.27827779e-02 -9.98606018e-01 0.00000000e+00 1.76069090e+02] [ 9.98606018e-01 -5.27827779e-02 0.00000000e+00 1.21695244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60374319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.010371743 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:176.08, Y:121.73, Z:0.00 [[-4.60671378e-02 -9.98938346e-01 0.00000000e+00 1.76077117e+02] [ 9.98938346e-01 -4.60671378e-02 0.00000000e+00 1.21731569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61776764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.040371743 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:176.07, Y:121.75, Z:0.00 [[-4.82145252e-02 -9.98837003e-01 0.00000000e+00 1.76069702e+02] [ 9.98837003e-01 -4.82145252e-02 0.00000000e+00 1.21751022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12392655e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.070371743 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:176.07, Y:121.78, Z:0.00 [[-4.68968132e-02 -9.98899739e-01 0.00000000e+00 1.76070015e+02] [ 9.98899739e-01 -4.68968132e-02 0.00000000e+00 1.21778811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10389844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.100371743 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:176.08, Y:121.78, Z:0.00 [[-3.37207861e-02 -9.99431293e-01 0.00000000e+00 1.76077179e+02] [ 9.99431293e-01 -3.37207861e-02 0.00000000e+00 1.21776677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17682476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.130371743 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:176.08, Y:121.80, Z:0.00 [[-3.20072156e-02 -9.99487638e-01 0.00000000e+00 1.76078550e+02] [ 9.99487638e-01 -3.20072156e-02 0.00000000e+00 1.21804585e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17259935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.160371743 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:176.08, Y:121.83, Z:0.00 [[-3.12446642e-02 -9.99511766e-01 0.00000000e+00 1.76078740e+02] [ 9.99511766e-01 -3.12446642e-02 0.00000000e+00 1.21831335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01495563e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.190371743 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:176.07, Y:121.85, Z:0.01 [[-3.82790293e-02 -9.99267089e-01 0.00000000e+00 1.76069827e+02] [ 9.99267089e-01 -3.82790293e-02 0.00000000e+00 1.21850862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09817995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.220371743 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:176.08, Y:121.89, Z:0.00 [[-3.24129078e-02 -9.99474564e-01 0.00000000e+00 1.76080654e+02] [ 9.99474564e-01 -3.24129078e-02 0.00000000e+00 1.21887783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20001547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.250371743 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:176.07, Y:121.91, Z:0.00 [[-3.91102859e-02 -9.99234900e-01 0.00000000e+00 1.76073177e+02] [ 9.99234900e-01 -3.91102859e-02 0.00000000e+00 1.21907120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56558330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.280371743 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:176.07, Y:121.94, Z:0.00 [[-3.98641412e-02 -9.99205109e-01 0.00000000e+00 1.76074939e+02] [ 9.99205109e-01 -3.98641412e-02 0.00000000e+00 1.21935058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.42092665e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.310371743 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:176.08, Y:121.96, Z:0.00 [[-4.03742249e-02 -9.99184629e-01 0.00000000e+00 1.76075783e+02] [ 9.99184629e-01 -4.03742249e-02 0.00000000e+00 1.21961691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67904101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.340371743 meters Centerline goodness : 0.995598 Centerline is valid? [True, True] Translation: X:176.08, Y:121.99, Z:0.01 [[-4.09226208e-02 -9.99162319e-01 0.00000000e+00 1.76076605e+02] [ 9.99162319e-01 -4.09226208e-02 0.00000000e+00 1.21989309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01638936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.370371743 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:176.08, Y:122.02, Z:0.00 [[-3.84170137e-02 -9.99261794e-01 0.00000000e+00 1.76083275e+02] [ 9.99261794e-01 -3.84170137e-02 0.00000000e+00 1.22022401e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22193276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.400371743 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:176.08, Y:122.04, Z:0.01 [[-4.25604174e-02 -9.99093895e-01 0.00000000e+00 1.76079600e+02] [ 9.99093895e-01 -4.25604174e-02 0.00000000e+00 1.22044792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.49028355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.430371743 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:176.09, Y:122.08, Z:0.00 [[-3.89978933e-02 -9.99239293e-01 0.00000000e+00 1.76087725e+02] [ 9.99239293e-01 -3.89978933e-02 0.00000000e+00 1.22078897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12984505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.460371743 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:176.08, Y:122.10, Z:0.00 [[-4.60030131e-02 -9.98941301e-01 0.00000000e+00 1.76083494e+02] [ 9.98941301e-01 -4.60030131e-02 0.00000000e+00 1.22100911e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85226156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.490371743 meters Centerline goodness : 0.995695 Centerline is valid? [True, True] Translation: X:176.08, Y:122.13, Z:0.00 [[-4.75636363e-02 -9.98868210e-01 0.00000000e+00 1.76084399e+02] [ 9.98868210e-01 -4.75636363e-02 0.00000000e+00 1.22127683e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53053671e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.520371743 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:176.09, Y:122.15, Z:0.00 [[-5.03572310e-02 -9.98731270e-01 0.00000000e+00 1.76086117e+02] [ 9.98731270e-01 -5.03572310e-02 0.00000000e+00 1.22154786e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43671899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.550371743 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:176.09, Y:122.18, Z:0.00 [[-5.18185284e-02 -9.98656518e-01 0.00000000e+00 1.76087036e+02] [ 9.98656518e-01 -5.18185284e-02 0.00000000e+00 1.22183097e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.73622181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.580371743 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:176.09, Y:122.21, Z:0.00 [[-5.31098054e-02 -9.98588678e-01 0.00000000e+00 1.76087799e+02] [ 9.98588678e-01 -5.31098054e-02 0.00000000e+00 1.22210283e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19002849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61037174300003 meters Centerline goodness : 0.995654 Centerline is valid? [True, True] Translation: X:176.10, Y:122.25, Z:0.00 [[-4.97162196e-02 -9.98763384e-01 0.00000000e+00 1.76095847e+02] [ 9.98763384e-01 -4.97162196e-02 0.00000000e+00 1.22246552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33533243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.640371743 meters Centerline goodness : 0.995699 Centerline is valid? [True, True] Translation: X:176.10, Y:122.28, Z:0.00 [[-5.29007259e-02 -9.98599776e-01 0.00000000e+00 1.76097772e+02] [ 9.98599776e-01 -5.29007259e-02 0.00000000e+00 1.22276114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62322926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67037174300003 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:176.10, Y:122.28, Z:0.00 [[-5.58284942e-02 -9.98440373e-01 0.00000000e+00 1.76096901e+02] [ 9.98440373e-01 -5.58284942e-02 0.00000000e+00 1.22275218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37364809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.700371743 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:176.10, Y:122.28, Z:0.00 [[-5.61061657e-02 -9.98424808e-01 0.00000000e+00 1.76096897e+02] [ 9.98424808e-01 -5.61061657e-02 0.00000000e+00 1.22281475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.11332321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73037174300003 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:176.10, Y:122.28, Z:0.00 [[-5.46778247e-02 -9.98504049e-01 0.00000000e+00 1.76097167e+02] [ 9.98504049e-01 -5.46778247e-02 0.00000000e+00 1.22284403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91474084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.760371743 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:176.10, Y:122.31, Z:0.01 [[-6.03440586e-02 -9.98177637e-01 0.00000000e+00 1.76095107e+02] [ 9.98177637e-01 -6.03440586e-02 0.00000000e+00 1.22309502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10874416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.790371743 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:176.09, Y:122.29, Z:0.01 [[-6.44255049e-02 -9.97922519e-01 0.00000000e+00 1.76091095e+02] [ 9.97922519e-01 -6.44255049e-02 0.00000000e+00 1.22291261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15940792e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.820371743 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:176.09, Y:122.31, Z:0.01 [[-5.91463305e-02 -9.98249323e-01 0.00000000e+00 1.76093108e+02] [ 9.98249323e-01 -5.91463305e-02 0.00000000e+00 1.22305670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81072694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.850371743 meters Centerline goodness : 0.996451 Centerline is valid? [True, True] Translation: X:176.09, Y:122.29, Z:0.01 [[-6.08954803e-02 -9.98144148e-01 0.00000000e+00 1.76089919e+02] [ 9.98144148e-01 -6.08954803e-02 0.00000000e+00 1.22290482e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05641787e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.880371743 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:176.09, Y:122.29, Z:0.01 [[-5.16052530e-02 -9.98667561e-01 0.00000000e+00 1.76090420e+02] [ 9.98667561e-01 -5.16052530e-02 0.00000000e+00 1.22289705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73773822e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.910371743 meters Centerline goodness : 0.995997 Centerline is valid? [True, True] Translation: X:176.09, Y:122.30, Z:0.01 [[-4.82207848e-02 -9.98836701e-01 0.00000000e+00 1.76090580e+02] [ 9.98836701e-01 -4.82207848e-02 0.00000000e+00 1.22303981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30262318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.940371743 meters Centerline goodness : 0.996057 Centerline is valid? [True, True] Translation: X:176.09, Y:122.30, Z:0.01 [[-4.61454641e-02 -9.98934731e-01 0.00000000e+00 1.76089568e+02] [ 9.98934731e-01 -4.61454641e-02 0.00000000e+00 1.22300936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.82646817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.970371743 meters Centerline goodness : 0.996413 Centerline is valid? [True, True] Translation: X:176.09, Y:122.28, Z:0.01 [[-4.12531217e-02 -9.99148728e-01 0.00000000e+00 1.76089604e+02] [ 9.99148728e-01 -4.12531217e-02 0.00000000e+00 1.22284945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88651558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.000371743 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:176.09, Y:122.31, Z:0.01 [[-3.93189947e-02 -9.99226709e-01 0.00000000e+00 1.76089140e+02] [ 9.99226709e-01 -3.93189947e-02 0.00000000e+00 1.22312848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.94068611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.030371743 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:176.08, Y:122.33, Z:0.01 [[-4.31388291e-02 -9.99069087e-01 0.00000000e+00 1.76083328e+02] [ 9.99069087e-01 -4.31388291e-02 0.00000000e+00 1.22333736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.39093728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.060371743 meters Centerline goodness : 0.996001 Centerline is valid? [True, True] Translation: X:176.08, Y:122.36, Z:0.01 [[-4.25885591e-02 -9.99092696e-01 0.00000000e+00 1.76083383e+02] [ 9.99092696e-01 -4.25885591e-02 0.00000000e+00 1.22362073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73025036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.090371743 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:176.08, Y:122.37, Z:0.01 [[-4.14073252e-02 -9.99142349e-01 0.00000000e+00 1.76083545e+02] [ 9.99142349e-01 -4.14073252e-02 0.00000000e+00 1.22372193e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.92702105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.120371743 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:176.09, Y:122.41, Z:0.01 [[-3.71742024e-02 -9.99308800e-01 0.00000000e+00 1.76088132e+02] [ 9.99308800e-01 -3.71742024e-02 0.00000000e+00 1.22406319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.29834097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.150371743 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:176.09, Y:122.40, Z:0.01 [[-3.22182280e-02 -9.99480858e-01 0.00000000e+00 1.76089540e+02] [ 9.99480858e-01 -3.22182280e-02 0.00000000e+00 1.22401915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70520676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.180371743 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:176.08, Y:122.42, Z:0.01 [[-3.58093244e-02 -9.99358640e-01 0.00000000e+00 1.76083988e+02] [ 9.99358640e-01 -3.58093244e-02 0.00000000e+00 1.22422706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82936841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.210371743 meters Centerline goodness : 0.995604 Centerline is valid? [True, True] Translation: X:176.09, Y:122.46, Z:0.01 [[-3.18509296e-02 -9.99492630e-01 0.00000000e+00 1.76089115e+02] [ 9.99492630e-01 -3.18509296e-02 0.00000000e+00 1.22456563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23133184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.240371743 meters Centerline goodness : 0.996236 Centerline is valid? [True, True] Translation: X:176.09, Y:122.48, Z:0.01 [[-3.32083109e-02 -9.99448452e-01 0.00000000e+00 1.76086522e+02] [ 9.99448452e-01 -3.32083109e-02 0.00000000e+00 1.22478103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86992107e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.270371743 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:176.09, Y:122.51, Z:0.01 [[-2.82491593e-02 -9.99600913e-01 0.00000000e+00 1.76093498e+02] [ 9.99600913e-01 -2.82491593e-02 0.00000000e+00 1.22514691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66576304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.300371743 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:176.10, Y:122.52, Z:0.01 [[-2.52454461e-02 -9.99681283e-01 0.00000000e+00 1.76095956e+02] [ 9.99681283e-01 -2.52454461e-02 0.00000000e+00 1.22517608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.73884325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.330371743 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:176.09, Y:122.54, Z:0.01 [[-2.99965485e-02 -9.99550002e-01 0.00000000e+00 1.76090118e+02] [ 9.99550002e-01 -2.99965485e-02 0.00000000e+00 1.22536144e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57069777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36037174300003 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:176.10, Y:122.58, Z:0.01 [[-2.06632686e-02 -9.99786492e-01 0.00000000e+00 1.76103897e+02] [ 9.99786492e-01 -2.06632686e-02 0.00000000e+00 1.22577557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53437115e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.390371743 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:176.11, Y:122.61, Z:0.00 [[-7.23516145e-03 -9.99973826e-01 0.00000000e+00 1.76111437e+02] [ 9.99973826e-01 -7.23516145e-03 0.00000000e+00 1.22608269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13702802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42037174300003 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:176.11, Y:122.63, Z:0.00 [[-9.82070776e-03 -9.99951776e-01 0.00000000e+00 1.76112714e+02] [ 9.99951776e-01 -9.82070776e-03 0.00000000e+00 1.22633627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31675956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.450371743 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:176.11, Y:122.66, Z:0.00 [[-1.07651940e-02 -9.99942054e-01 0.00000000e+00 1.76112419e+02] [ 9.99942054e-01 -1.07651940e-02 0.00000000e+00 1.22661634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31675956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48037174300003 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:176.10, Y:122.67, Z:0.01 [[-2.37424376e-02 -9.99718109e-01 0.00000000e+00 1.76098938e+02] [ 9.99718109e-01 -2.37424376e-02 0.00000000e+00 1.22669735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01434730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.510371743 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:176.10, Y:122.70, Z:0.01 [[-2.40821915e-02 -9.99709982e-01 0.00000000e+00 1.76101706e+02] [ 9.99709982e-01 -2.40821915e-02 0.00000000e+00 1.22696501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05264057e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.540371743 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:176.12, Y:122.75, Z:0.00 [[-1.48153488e-02 -9.99890247e-01 0.00000000e+00 1.76123813e+02] [ 9.99890247e-01 -1.48153488e-02 0.00000000e+00 1.22745135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22369463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.570371743 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:176.11, Y:122.75, Z:0.01 [[-2.93482343e-02 -9.99569248e-01 0.00000000e+00 1.76110213e+02] [ 9.99569248e-01 -2.93482343e-02 0.00000000e+00 1.22751268e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80436964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.600371743 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:176.12, Y:122.78, Z:0.01 [[-3.42137134e-02 -9.99414540e-01 0.00000000e+00 1.76116265e+02] [ 9.99414540e-01 -3.42137134e-02 0.00000000e+00 1.22778811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09252810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.630371743 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:176.13, Y:122.83, Z:0.00 [[-2.62075010e-02 -9.99656524e-01 0.00000000e+00 1.76133905e+02] [ 9.99656524e-01 -2.62075010e-02 0.00000000e+00 1.22826092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28329815e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.660371743 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:176.12, Y:122.83, Z:0.01 [[-3.98780734e-02 -9.99204553e-01 0.00000000e+00 1.76122708e+02] [ 9.99204553e-01 -3.98780734e-02 0.00000000e+00 1.22833702e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.07566104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.690371743 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:176.13, Y:122.86, Z:0.01 [[-4.40301417e-02 -9.99030203e-01 0.00000000e+00 1.76129619e+02] [ 9.99030203e-01 -4.40301417e-02 0.00000000e+00 1.22861798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85377565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.720371743 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:176.13, Y:122.89, Z:0.01 [[-4.52574994e-02 -9.98975354e-01 0.00000000e+00 1.76132654e+02] [ 9.98975354e-01 -4.52574994e-02 0.00000000e+00 1.22888967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36569509e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.750371743 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:176.14, Y:122.93, Z:0.01 [[-4.26096712e-02 -9.99091796e-01 0.00000000e+00 1.76141759e+02] [ 9.99091796e-01 -4.26096712e-02 0.00000000e+00 1.22925945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32725471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.780371743 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:176.15, Y:122.95, Z:0.00 [[-4.41365004e-02 -9.99025510e-01 0.00000000e+00 1.76145142e+02] [ 9.99025510e-01 -4.41365004e-02 0.00000000e+00 1.22952586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77227450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.810371743 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:176.14, Y:122.97, Z:0.00 [[-4.81083837e-02 -9.98842121e-01 0.00000000e+00 1.76140392e+02] [ 9.98842121e-01 -4.81083837e-02 0.00000000e+00 1.22972773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91394173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.840371743 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:176.14, Y:123.00, Z:0.00 [[-4.82040423e-02 -9.98837509e-01 0.00000000e+00 1.76143662e+02] [ 9.98837509e-01 -4.82040423e-02 0.00000000e+00 1.22999369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30858320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.870371743 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:176.15, Y:123.00, Z:0.01 [[-3.66187268e-02 -9.99329310e-01 0.00000000e+00 1.76151651e+02] [ 9.99329310e-01 -3.66187268e-02 0.00000000e+00 1.22997835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15464042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.900371743 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:176.15, Y:123.02, Z:0.00 [[-4.20352562e-02 -9.99116128e-01 0.00000000e+00 1.76145785e+02] [ 9.99116128e-01 -4.20352562e-02 0.00000000e+00 1.23015813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65390759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.930371743 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:176.16, Y:123.05, Z:0.00 [[-4.01893805e-02 -9.99192080e-01 0.00000000e+00 1.76156714e+02] [ 9.99192080e-01 -4.01893805e-02 0.00000000e+00 1.23053333e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99201491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.960371743 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:176.15, Y:123.07, Z:0.00 [[-4.63824166e-02 -9.98923757e-01 0.00000000e+00 1.76149509e+02] [ 9.98923757e-01 -4.63824166e-02 0.00000000e+00 1.23071895e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18191453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.990371743 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:176.16, Y:123.11, Z:0.00 [[-4.26479129e-02 -9.99090164e-01 0.00000000e+00 1.76159301e+02] [ 9.99090164e-01 -4.26479129e-02 0.00000000e+00 1.23110354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87466780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.020371743 meters Centerline goodness : 0.993393 Centerline is valid? [True, True] Translation: X:176.16, Y:123.14, Z:0.01 [[-4.85741647e-02 -9.98819579e-01 0.00000000e+00 1.76158903e+02] [ 9.98819579e-01 -4.85741647e-02 0.00000000e+00 1.23135110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12442081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.050371743 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:176.16, Y:123.16, Z:0.00 [[-4.93197185e-02 -9.98783042e-01 0.00000000e+00 1.76161023e+02] [ 9.98783042e-01 -4.93197185e-02 0.00000000e+00 1.23164889e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75868742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.080371743 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:176.16, Y:123.19, Z:0.00 [[-5.18823294e-02 -9.98653205e-01 0.00000000e+00 1.76162131e+02] [ 9.98653205e-01 -5.18823294e-02 0.00000000e+00 1.23192542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11442156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11037174300003 meters Centerline goodness : 0.993274 Centerline is valid? [True, True] Translation: X:176.16, Y:123.22, Z:0.00 [[-5.52523445e-02 -9.98472422e-01 0.00000000e+00 1.76160517e+02] [ 9.98472422e-01 -5.52523445e-02 0.00000000e+00 1.23219463e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40478636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.140371743 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:176.15, Y:123.24, Z:0.00 [[-6.05094371e-02 -9.98167625e-01 0.00000000e+00 1.76152784e+02] [ 9.98167625e-01 -6.05094371e-02 0.00000000e+00 1.23237989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50850281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17037174300003 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:176.16, Y:123.27, Z:0.00 [[-5.94779511e-02 -9.98229620e-01 0.00000000e+00 1.76160929e+02] [ 9.98229620e-01 -5.94779511e-02 0.00000000e+00 1.23274796e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53107969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.200371743 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:176.16, Y:123.30, Z:0.00 [[-6.24124236e-02 -9.98050444e-01 0.00000000e+00 1.76160574e+02] [ 9.98050444e-01 -6.24124236e-02 0.00000000e+00 1.23302367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.71877237e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23037174300003 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:176.16, Y:123.31, Z:0.00 [[-6.14467000e-02 -9.98110366e-01 0.00000000e+00 1.76161548e+02] [ 9.98110366e-01 -6.14467000e-02 0.00000000e+00 1.23309171e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29600687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.260371743 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:176.16, Y:123.34, Z:-0.00 [[-6.18681979e-02 -9.98084328e-01 0.00000000e+00 1.76161269e+02] [ 9.98084328e-01 -6.18681979e-02 0.00000000e+00 1.23339420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.03257158e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.290371743 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:176.16, Y:123.34, Z:-0.00 [[-6.10363191e-02 -9.98135546e-01 0.00000000e+00 1.76159865e+02] [ 9.98135546e-01 -6.10363191e-02 0.00000000e+00 1.23343949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35441862e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.320371743 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:176.16, Y:123.35, Z:-0.00 [[-5.56956218e-02 -9.98447794e-01 0.00000000e+00 1.76159238e+02] [ 9.98447794e-01 -5.56956218e-02 0.00000000e+00 1.23347230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03233714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.350371743 meters Centerline goodness : 0.993891 Centerline is valid? [True, True] Translation: X:176.15, Y:123.36, Z:0.00 [[-6.17003510e-02 -9.98094718e-01 0.00000000e+00 1.76148720e+02] [ 9.98094718e-01 -6.17003510e-02 0.00000000e+00 1.23363100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99625037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.380371743 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:176.16, Y:123.41, Z:-0.00 [[-5.08187155e-02 -9.98707894e-01 0.00000000e+00 1.76159903e+02] [ 9.98707894e-01 -5.08187155e-02 0.00000000e+00 1.23405491e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13448175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.410371743 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:176.16, Y:123.43, Z:-0.00 [[-4.93643630e-02 -9.98780837e-01 0.00000000e+00 1.76156627e+02] [ 9.98780837e-01 -4.93643630e-02 0.00000000e+00 1.23431416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.89381018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.440371743 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:176.14, Y:123.45, Z:0.00 [[-5.70319924e-02 -9.98372351e-01 0.00000000e+00 1.76144222e+02] [ 9.98372351e-01 -5.70319924e-02 0.00000000e+00 1.23445454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24455971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.470371743 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:176.15, Y:123.49, Z:-0.00 [[-4.80736328e-02 -9.98843795e-01 0.00000000e+00 1.76153871e+02] [ 9.98843795e-01 -4.80736328e-02 0.00000000e+00 1.23488079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56466619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.500371743 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:176.15, Y:123.50, Z:-0.00 [[-4.79116989e-02 -9.98851575e-01 0.00000000e+00 1.76153481e+02] [ 9.98851575e-01 -4.79116989e-02 0.00000000e+00 1.23502758e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.09432558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.530371743 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:176.15, Y:123.50, Z:-0.01 [[-4.88108177e-02 -9.98808042e-01 0.00000000e+00 1.76152376e+02] [ 9.98808042e-01 -4.88108177e-02 0.00000000e+00 1.23496365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.12303014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.560371743 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:176.15, Y:123.50, Z:-0.01 [[-5.02493381e-02 -9.98736704e-01 0.00000000e+00 1.76151633e+02] [ 9.98736704e-01 -5.02493381e-02 0.00000000e+00 1.23501419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.20363986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.590371743 meters Centerline goodness : 0.994104 Centerline is valid? [True, True] Translation: X:176.15, Y:123.51, Z:-0.01 [[-5.03359493e-02 -9.98732343e-01 0.00000000e+00 1.76150838e+02] [ 9.98732343e-01 -5.03359493e-02 0.00000000e+00 1.23508264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.19858084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.620371743 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:176.15, Y:123.54, Z:-0.00 [[-5.22984564e-02 -9.98631499e-01 0.00000000e+00 1.76148078e+02] [ 9.98631499e-01 -5.22984564e-02 0.00000000e+00 1.23537183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.57979854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.650371743 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:176.15, Y:123.54, Z:-0.00 [[-5.01385465e-02 -9.98742272e-01 0.00000000e+00 1.76147573e+02] [ 9.98742272e-01 -5.01385465e-02 0.00000000e+00 1.23535053e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.43454016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.680371743 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:176.15, Y:123.56, Z:-0.00 [[-5.04438372e-02 -9.98726899e-01 0.00000000e+00 1.76146369e+02] [ 9.98726899e-01 -5.04438372e-02 0.00000000e+00 1.23563975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.41368182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.710371743 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:176.15, Y:123.56, Z:-0.00 [[-4.58373021e-02 -9.98948918e-01 0.00000000e+00 1.76145418e+02] [ 9.98948918e-01 -4.58373021e-02 0.00000000e+00 1.23563545e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64344680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.740371743 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:176.14, Y:123.59, Z:-0.00 [[-4.62896720e-02 -9.98928059e-01 0.00000000e+00 1.76143451e+02] [ 9.98928059e-01 -4.62896720e-02 0.00000000e+00 1.23593840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.73737779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.770371743 meters Centerline goodness : 0.994537 Centerline is valid? [True, True] Translation: X:176.14, Y:123.59, Z:-0.00 [[-4.34838225e-02 -9.99054131e-01 0.00000000e+00 1.76141220e+02] [ 9.99054131e-01 -4.34838225e-02 0.00000000e+00 1.23588964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44813838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.800371743 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:176.14, Y:123.59, Z:-0.00 [[-4.01149262e-02 -9.99195072e-01 0.00000000e+00 1.76140719e+02] [ 9.99195072e-01 -4.01149262e-02 0.00000000e+00 1.23590502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.36410516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.830371743 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:176.14, Y:123.62, Z:-0.01 [[-3.46648176e-02 -9.99398995e-01 0.00000000e+00 1.76143381e+02] [ 9.99398995e-01 -3.46648176e-02 0.00000000e+00 1.23624326e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.02312070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86037174300003 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:176.14, Y:123.62, Z:-0.01 [[-4.04771438e-02 -9.99180465e-01 0.00000000e+00 1.76140556e+02] [ 9.99180465e-01 -4.04771438e-02 0.00000000e+00 1.23619349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.22813119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.890371743 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:176.14, Y:123.62, Z:-0.01 [[-4.12518317e-02 -9.99148781e-01 0.00000000e+00 1.76139604e+02] [ 9.99148781e-01 -4.12518317e-02 0.00000000e+00 1.23615452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72344960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92037174300003 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:176.14, Y:123.62, Z:-0.01 [[-4.00512497e-02 -9.99197627e-01 0.00000000e+00 1.76140484e+02] [ 9.99197627e-01 -4.00512497e-02 0.00000000e+00 1.23615813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.20489837e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.950371743 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:176.14, Y:123.63, Z:-0.01 [[-4.37110903e-02 -9.99044214e-01 0.00000000e+00 1.76139455e+02] [ 9.99044214e-01 -4.37110903e-02 0.00000000e+00 1.23625780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.88746232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98037174300003 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:176.14, Y:123.62, Z:-0.01 [[-4.78524905e-02 -9.98854413e-01 0.00000000e+00 1.76138357e+02] [ 9.98854413e-01 -4.78524905e-02 0.00000000e+00 1.23621981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37730328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.010371743 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:176.13, Y:123.63, Z:-0.00 [[-7.29453016e-02 -9.97335943e-01 0.00000000e+00 1.76126871e+02] [ 9.97335943e-01 -7.29453016e-02 0.00000000e+00 1.23627048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.32978630e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.040371743 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:176.14, Y:123.64, Z:-0.01 [[-5.34696609e-02 -9.98569474e-01 0.00000000e+00 1.76138962e+02] [ 9.98569474e-01 -5.34696609e-02 0.00000000e+00 1.23636433e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.80604163e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.070371743 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:176.14, Y:123.65, Z:-0.01 [[-5.59714014e-02 -9.98432372e-01 0.00000000e+00 1.76138711e+02] [ 9.98432372e-01 -5.59714014e-02 0.00000000e+00 1.23646835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52235141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.100371743 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:176.14, Y:123.65, Z:-0.01 [[-5.39333746e-02 -9.98544536e-01 0.00000000e+00 1.76140519e+02] [ 9.98544536e-01 -5.39333746e-02 0.00000000e+00 1.23651029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.39552130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.130371743 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:176.14, Y:123.65, Z:-0.01 [[-6.22440976e-02 -9.98060956e-01 0.00000000e+00 1.76136951e+02] [ 9.98060956e-01 -6.22440976e-02 0.00000000e+00 1.23646998e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.48094596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.160371743 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:176.14, Y:123.65, Z:-0.01 [[-6.26837965e-02 -9.98033437e-01 0.00000000e+00 1.76135666e+02] [ 9.98033437e-01 -6.26837965e-02 0.00000000e+00 1.23646264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.86784626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.190371743 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:176.13, Y:123.66, Z:-0.01 [[-5.97462750e-02 -9.98213596e-01 0.00000000e+00 1.76134369e+02] [ 9.98213596e-01 -5.97462750e-02 0.00000000e+00 1.23655029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.87553862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.220371743 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:176.12, Y:123.65, Z:0.00 [[-8.22059415e-02 -9.96615364e-01 0.00000000e+00 1.76121360e+02] [ 9.96615364e-01 -8.22059415e-02 0.00000000e+00 1.23650367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09686787e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.250371743 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:176.13, Y:123.65, Z:-0.00 [[-6.43789179e-02 -9.97925526e-01 0.00000000e+00 1.76127851e+02] [ 9.97925526e-01 -6.43789179e-02 0.00000000e+00 1.23648859e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.98670381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.280371743 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:176.13, Y:123.65, Z:-0.00 [[-6.30296365e-02 -9.98011656e-01 0.00000000e+00 1.76127533e+02] [ 9.98011656e-01 -6.30296365e-02 0.00000000e+00 1.23650250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.65022469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.310371743 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:176.13, Y:123.66, Z:-0.00 [[-6.20971245e-02 -9.98070111e-01 0.00000000e+00 1.76127534e+02] [ 9.98070111e-01 -6.20971245e-02 0.00000000e+00 1.23663407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06074778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.340371743 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:176.13, Y:123.67, Z:-0.00 [[-6.17558513e-02 -9.98091286e-01 0.00000000e+00 1.76127412e+02] [ 9.98091286e-01 -6.17558513e-02 0.00000000e+00 1.23666039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.06074778e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.370371743 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:176.13, Y:123.66, Z:-0.00 [[-6.22620757e-02 -9.98059835e-01 0.00000000e+00 1.76126950e+02] [ 9.98059835e-01 -6.22620757e-02 0.00000000e+00 1.23656436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41440088e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.400371743 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:176.13, Y:123.66, Z:-0.00 [[-6.19148635e-02 -9.98081434e-01 0.00000000e+00 1.76125545e+02] [ 9.98081434e-01 -6.19148635e-02 0.00000000e+00 1.23662341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92220208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.430371743 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:176.12, Y:123.67, Z:-0.00 [[-6.37306021e-02 -9.97967139e-01 0.00000000e+00 1.76123848e+02] [ 9.97967139e-01 -6.37306021e-02 0.00000000e+00 1.23665665e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.05605765e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.460371743 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:176.12, Y:123.66, Z:-0.00 [[-6.20347877e-02 -9.98073988e-01 0.00000000e+00 1.76123716e+02] [ 9.98073988e-01 -6.20347877e-02 0.00000000e+00 1.23664741e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.14895687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.490371743 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:176.12, Y:123.66, Z:-0.00 [[-6.38740958e-02 -9.97957965e-01 0.00000000e+00 1.76121021e+02] [ 9.97957965e-01 -6.38740958e-02 0.00000000e+00 1.23660149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.89110493e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.520371743 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:176.12, Y:123.67, Z:-0.00 [[-6.46781647e-02 -9.97906175e-01 0.00000000e+00 1.76119765e+02] [ 9.97906175e-01 -6.46781647e-02 0.00000000e+00 1.23668179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.84629596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.550371743 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:176.12, Y:123.68, Z:-0.01 [[-6.60632350e-02 -9.97815438e-01 0.00000000e+00 1.76117077e+02] [ 9.97815438e-01 -6.60632350e-02 0.00000000e+00 1.23676823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34727168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.580371743 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:176.12, Y:123.68, Z:-0.01 [[-6.61136394e-02 -9.97812100e-01 0.00000000e+00 1.76116165e+02] [ 9.97812100e-01 -6.61136394e-02 0.00000000e+00 1.23681933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.76879658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61037174300003 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:176.11, Y:123.68, Z:-0.01 [[-6.78371715e-02 -9.97696406e-01 0.00000000e+00 1.76114321e+02] [ 9.97696406e-01 -6.78371715e-02 0.00000000e+00 1.23676522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.47355329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.640371743 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:176.11, Y:123.69, Z:-0.01 [[-6.99133697e-02 -9.97553067e-01 0.00000000e+00 1.76111857e+02] [ 9.97553067e-01 -6.99133697e-02 0.00000000e+00 1.23685162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.94471516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67037174300003 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:176.11, Y:123.68, Z:-0.01 [[-7.10636347e-02 -9.97471784e-01 0.00000000e+00 1.76110439e+02] [ 9.97471784e-01 -7.10636347e-02 0.00000000e+00 1.23683384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.95838823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.700371743 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:176.11, Y:123.69, Z:-0.01 [[-7.10499080e-02 -9.97472762e-01 0.00000000e+00 1.76108022e+02] [ 9.97472762e-01 -7.10499080e-02 0.00000000e+00 1.23687496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.92436988e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73037174300003 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:176.11, Y:123.69, Z:-0.01 [[-6.98428016e-02 -9.97558010e-01 0.00000000e+00 1.76106726e+02] [ 9.97558010e-01 -6.98428016e-02 0.00000000e+00 1.23687164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.11362367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.760371743 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:176.10, Y:123.70, Z:-0.01 [[-7.01938258e-02 -9.97533371e-01 0.00000000e+00 1.76104762e+02] [ 9.97533371e-01 -7.01938258e-02 0.00000000e+00 1.23696353e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.46624579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.790371743 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:176.10, Y:123.70, Z:-0.00 [[-6.88126038e-02 -9.97629603e-01 0.00000000e+00 1.76100641e+02] [ 9.97629603e-01 -6.88126038e-02 0.00000000e+00 1.23700649e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87813759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.820371743 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:176.10, Y:123.69, Z:-0.00 [[-6.81809503e-02 -9.97672971e-01 0.00000000e+00 1.76098849e+02] [ 9.97672971e-01 -6.81809503e-02 0.00000000e+00 1.23689213e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06391694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.850371743 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:176.10, Y:123.69, Z:-0.00 [[-6.57923543e-02 -9.97833336e-01 0.00000000e+00 1.76098028e+02] [ 9.97833336e-01 -6.57923543e-02 0.00000000e+00 1.23693219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85204813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.880371743 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:176.10, Y:123.70, Z:-0.00 [[-6.25476952e-02 -9.98041976e-01 0.00000000e+00 1.76097793e+02] [ 9.98041976e-01 -6.25476952e-02 0.00000000e+00 1.23696924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.33855809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.910371743 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:176.09, Y:123.72, Z:-0.00 [[-6.49095339e-02 -9.97891153e-01 0.00000000e+00 1.76094912e+02] [ 9.97891153e-01 -6.49095339e-02 0.00000000e+00 1.23722572e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.48625345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.940371743 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:176.09, Y:123.75, Z:-0.00 [[-6.56018611e-02 -9.97845878e-01 0.00000000e+00 1.76093326e+02] [ 9.97845878e-01 -6.56018611e-02 0.00000000e+00 1.23749052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69043050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.970371743 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:176.09, Y:123.78, Z:-0.00 [[-6.70293029e-02 -9.97751007e-01 0.00000000e+00 1.76090772e+02] [ 9.97751007e-01 -6.70293029e-02 0.00000000e+00 1.23777213e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.95606579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.000371743 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:176.09, Y:123.78, Z:-0.01 [[-6.67952857e-02 -9.97766701e-01 0.00000000e+00 1.76089753e+02] [ 9.97766701e-01 -6.67952857e-02 0.00000000e+00 1.23784282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23084638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.030371743 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:176.09, Y:123.78, Z:-0.01 [[-6.76048852e-02 -9.97712173e-01 0.00000000e+00 1.76087155e+02] [ 9.97712173e-01 -6.76048852e-02 0.00000000e+00 1.23784557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.78408914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.060371743 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:176.09, Y:123.78, Z:-0.01 [[-6.73714289e-02 -9.97727964e-01 0.00000000e+00 1.76085770e+02] [ 9.97727964e-01 -6.73714289e-02 0.00000000e+00 1.23780176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.60479094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.090371743 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:176.08, Y:123.79, Z:-0.01 [[-6.77096887e-02 -9.97705066e-01 0.00000000e+00 1.76084077e+02] [ 9.97705066e-01 -6.77096887e-02 0.00000000e+00 1.23790466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03529017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.120371743 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:176.08, Y:123.79, Z:-0.00 [[-6.74262859e-02 -9.97724258e-01 0.00000000e+00 1.76082386e+02] [ 9.97724258e-01 -6.74262859e-02 0.00000000e+00 1.23790099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.20483515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.150371743 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:176.08, Y:123.80, Z:-0.00 [[-6.92904514e-02 -9.97596528e-01 0.00000000e+00 1.76078957e+02] [ 9.97596528e-01 -6.92904514e-02 0.00000000e+00 1.23802483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.26824457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.180371743 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:176.08, Y:123.80, Z:-0.00 [[-6.90761313e-02 -9.97611391e-01 0.00000000e+00 1.76078391e+02] [ 9.97611391e-01 -6.90761313e-02 0.00000000e+00 1.23797870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.29082202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.210371743 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:176.08, Y:123.80, Z:-0.00 [[-7.14293652e-02 -9.97445661e-01 0.00000000e+00 1.76076696e+02] [ 9.97445661e-01 -7.14293652e-02 0.00000000e+00 1.23801123e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02486376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.240371743 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:176.07, Y:123.80, Z:-0.00 [[-7.24242179e-02 -9.97373918e-01 0.00000000e+00 1.76074993e+02] [ 9.97373918e-01 -7.24242179e-02 0.00000000e+00 1.23798553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.81752192e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.270371743 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:176.07, Y:123.81, Z:-0.00 [[-7.43128666e-02 -9.97234976e-01 0.00000000e+00 1.76072870e+02] [ 9.97234976e-01 -7.43128666e-02 0.00000000e+00 1.23807238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21388580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.300371743 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:176.07, Y:123.82, Z:-0.00 [[-7.10046702e-02 -9.97475983e-01 0.00000000e+00 1.76071955e+02] [ 9.97475983e-01 -7.10046702e-02 0.00000000e+00 1.23815071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.48070566e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.330371743 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:176.07, Y:123.82, Z:-0.00 [[-7.06461464e-02 -9.97501440e-01 0.00000000e+00 1.76070799e+02] [ 9.97501440e-01 -7.06461464e-02 0.00000000e+00 1.23816735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.47551076e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36037174300003 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:176.07, Y:123.81, Z:-0.00 [[-7.18159772e-02 -9.97417899e-01 0.00000000e+00 1.76068713e+02] [ 9.97417899e-01 -7.18159772e-02 0.00000000e+00 1.23807773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.52803259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.390371743 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:176.07, Y:123.81, Z:-0.00 [[-6.87465882e-02 -9.97634155e-01 0.00000000e+00 1.76068473e+02] [ 9.97634155e-01 -6.87465882e-02 0.00000000e+00 1.23814551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37565878e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42037174300003 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:176.07, Y:123.84, Z:0.00 [[-6.81040893e-02 -9.97678221e-01 0.00000000e+00 1.76065102e+02] [ 9.97678221e-01 -6.81040893e-02 0.00000000e+00 1.23842406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32963329e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.450371743 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:176.06, Y:123.85, Z:-0.00 [[-6.73962860e-02 -9.97726285e-01 0.00000000e+00 1.76062161e+02] [ 9.97726285e-01 -6.73962860e-02 0.00000000e+00 1.23846120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51526157e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48037174300003 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:176.06, Y:123.84, Z:-0.00 [[-6.60450076e-02 -9.97816645e-01 0.00000000e+00 1.76061388e+02] [ 9.97816645e-01 -6.60450076e-02 0.00000000e+00 1.23838974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07329564e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.510371743 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:176.06, Y:123.84, Z:-0.00 [[-6.49676270e-02 -9.97887372e-01 0.00000000e+00 1.76060514e+02] [ 9.97887372e-01 -6.49676270e-02 0.00000000e+00 1.23840316e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16889701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.540371743 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:176.06, Y:123.83, Z:-0.00 [[-6.16598572e-02 -9.98097221e-01 0.00000000e+00 1.76060305e+02] [ 9.98097221e-01 -6.16598572e-02 0.00000000e+00 1.23831769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.93255207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.570371743 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:176.06, Y:123.86, Z:-0.00 [[-6.38732556e-02 -9.97958019e-01 0.00000000e+00 1.76059522e+02] [ 9.97958019e-01 -6.38732556e-02 0.00000000e+00 1.23859298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58976939e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.600371743 meters Centerline goodness : 0.995734 Centerline is valid? [True, True] Translation: X:176.06, Y:123.89, Z:-0.01 [[-6.57393847e-02 -9.97836827e-01 0.00000000e+00 1.76059900e+02] [ 9.97836827e-01 -6.57393847e-02 0.00000000e+00 1.23888892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.00599754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.630371743 meters Centerline goodness : 0.995412 Centerline is valid? [True, True] Translation: X:176.06, Y:123.89, Z:-0.01 [[-5.52990645e-02 -9.98469836e-01 0.00000000e+00 1.76063963e+02] [ 9.98469836e-01 -5.52990645e-02 0.00000000e+00 1.23892690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.15290796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.660371743 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:176.06, Y:123.91, Z:-0.01 [[-6.25401760e-02 -9.98042447e-01 0.00000000e+00 1.76057991e+02] [ 9.98042447e-01 -6.25401760e-02 0.00000000e+00 1.23914558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.51362791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.690371743 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:176.06, Y:123.94, Z:-0.01 [[-6.37728429e-02 -9.97964441e-01 0.00000000e+00 1.76056954e+02] [ 9.97964441e-01 -6.37728429e-02 0.00000000e+00 1.23942816e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.42503226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.720371743 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:176.06, Y:123.97, Z:-0.01 [[-6.37903565e-02 -9.97963321e-01 0.00000000e+00 1.76056314e+02] [ 9.97963321e-01 -6.37903565e-02 0.00000000e+00 1.23970455e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.97082689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.750371743 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:176.06, Y:124.00, Z:-0.01 [[-6.45645513e-02 -9.97913533e-01 0.00000000e+00 1.76056020e+02] [ 9.97913533e-01 -6.45645513e-02 0.00000000e+00 1.24000542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.63133838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.780371743 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:176.06, Y:124.03, Z:-0.01 [[-6.47021375e-02 -9.97904621e-01 0.00000000e+00 1.76055159e+02] [ 9.97904621e-01 -6.47021375e-02 0.00000000e+00 1.24027730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.23613243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.810371743 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:176.05, Y:124.05, Z:-0.01 [[-6.44653229e-02 -9.97919948e-01 0.00000000e+00 1.76053542e+02] [ 9.97919948e-01 -6.44653229e-02 0.00000000e+00 1.24053799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.51005169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.840371743 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:176.05, Y:124.09, Z:-0.01 [[-6.18390878e-02 -9.98086132e-01 0.00000000e+00 1.76053284e+02] [ 9.98086132e-01 -6.18390878e-02 0.00000000e+00 1.24085267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54242489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.870371743 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:176.05, Y:124.10, Z:-0.01 [[-6.06172283e-02 -9.98161085e-01 0.00000000e+00 1.76052407e+02] [ 9.98161085e-01 -6.06172283e-02 0.00000000e+00 1.24099097e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.62004889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.900371743 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:176.05, Y:124.13, Z:-0.01 [[-5.90788433e-02 -9.98253320e-01 0.00000000e+00 1.76052677e+02] [ 9.98253320e-01 -5.90788433e-02 0.00000000e+00 1.24128924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20305875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.930371743 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:176.05, Y:124.15, Z:-0.01 [[-5.64290964e-02 -9.98406609e-01 0.00000000e+00 1.76052941e+02] [ 9.98406609e-01 -5.64290964e-02 0.00000000e+00 1.24151715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.41818035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.960371743 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:176.05, Y:124.15, Z:-0.00 [[-5.73234031e-02 -9.98355662e-01 0.00000000e+00 1.76052224e+02] [ 9.98355662e-01 -5.73234031e-02 0.00000000e+00 1.24152874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.94725980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.990371743 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:176.05, Y:124.15, Z:-0.01 [[-5.71543744e-02 -9.98365353e-01 0.00000000e+00 1.76052423e+02] [ 9.98365353e-01 -5.71543744e-02 0.00000000e+00 1.24147937e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.13911613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.020371743 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:176.05, Y:124.15, Z:-0.01 [[-6.01753480e-02 -9.98187822e-01 0.00000000e+00 1.76052264e+02] [ 9.98187822e-01 -6.01753480e-02 0.00000000e+00 1.24152608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.23287159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.050371743 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:176.05, Y:124.15, Z:-0.01 [[-6.08122068e-02 -9.98149225e-01 0.00000000e+00 1.76052292e+02] [ 9.98149225e-01 -6.08122068e-02 0.00000000e+00 1.24153986e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.30774684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.080371743 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:176.05, Y:124.16, Z:-0.01 [[-6.64090157e-02 -9.97792485e-01 0.00000000e+00 1.76051644e+02] [ 9.97792485e-01 -6.64090157e-02 0.00000000e+00 1.24155604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.51353152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11037174300003 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:176.05, Y:124.17, Z:-0.01 [[-6.79695557e-02 -9.97687396e-01 0.00000000e+00 1.76052059e+02] [ 9.97687396e-01 -6.79695557e-02 0.00000000e+00 1.24166191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.17019918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.140371743 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:176.05, Y:124.16, Z:-0.01 [[-6.86348867e-02 -9.97641846e-01 0.00000000e+00 1.76053285e+02] [ 9.97641846e-01 -6.86348867e-02 0.00000000e+00 1.24163367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08905133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17037174300003 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:176.05, Y:124.19, Z:-0.01 [[-7.35335667e-02 -9.97292743e-01 0.00000000e+00 1.76052755e+02] [ 9.97292743e-01 -7.35335667e-02 0.00000000e+00 1.24185471e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81560719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.200371743 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:176.05, Y:124.18, Z:-0.01 [[-7.34965969e-02 -9.97295468e-01 0.00000000e+00 1.76053033e+02] [ 9.97295468e-01 -7.34965969e-02 0.00000000e+00 1.24176749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25068862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23037174300003 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:176.05, Y:124.18, Z:-0.01 [[-7.16443883e-02 -9.97430239e-01 0.00000000e+00 1.76052844e+02] [ 9.97430239e-01 -7.16443883e-02 0.00000000e+00 1.24178599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12337611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.260371743 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:176.05, Y:124.18, Z:-0.01 [[-7.12879805e-02 -9.97455775e-01 0.00000000e+00 1.76052735e+02] [ 9.97455775e-01 -7.12879805e-02 0.00000000e+00 1.24181261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12337611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.290371743 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:176.05, Y:124.17, Z:-0.01 [[-6.82265368e-02 -9.97669855e-01 0.00000000e+00 1.76052090e+02] [ 9.97669855e-01 -6.82265368e-02 0.00000000e+00 1.24173238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.12616914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.320371743 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:176.05, Y:124.18, Z:-0.01 [[-6.60355408e-02 -9.97817272e-01 0.00000000e+00 1.76051788e+02] [ 9.97817272e-01 -6.60355408e-02 0.00000000e+00 1.24180122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20668014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.350371743 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:176.05, Y:124.18, Z:-0.01 [[-6.35002109e-02 -9.97981825e-01 0.00000000e+00 1.76049741e+02] [ 9.97981825e-01 -6.35002109e-02 0.00000000e+00 1.24179805e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01573153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.380371743 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:176.05, Y:124.19, Z:-0.01 [[-6.25225164e-02 -9.98043554e-01 0.00000000e+00 1.76048784e+02] [ 9.98043554e-01 -6.25225164e-02 0.00000000e+00 1.24191249e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.98362029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.410371743 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:176.05, Y:124.19, Z:-0.01 [[-6.09406825e-02 -9.98141389e-01 0.00000000e+00 1.76047996e+02] [ 9.98141389e-01 -6.09406825e-02 0.00000000e+00 1.24186281e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.28499714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.440371743 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:176.05, Y:124.19, Z:-0.01 [[-5.91623433e-02 -9.98248374e-01 0.00000000e+00 1.76047829e+02] [ 9.98248374e-01 -5.91623433e-02 0.00000000e+00 1.24188444e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.60173245e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.470371743 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:176.05, Y:124.19, Z:-0.01 [[-5.56019456e-02 -9.98453015e-01 0.00000000e+00 1.76048166e+02] [ 9.98453015e-01 -5.56019456e-02 0.00000000e+00 1.24188414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.03249565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.500371743 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:176.05, Y:124.22, Z:-0.01 [[-5.74164194e-02 -9.98350317e-01 0.00000000e+00 1.76047678e+02] [ 9.98350317e-01 -5.74164194e-02 0.00000000e+00 1.24216142e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.61187767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.530371743 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:176.05, Y:124.23, Z:-0.01 [[-5.49712077e-02 -9.98487940e-01 0.00000000e+00 1.76049066e+02] [ 9.98487940e-01 -5.49712077e-02 0.00000000e+00 1.24232273e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03857025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.560371743 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:176.05, Y:124.26, Z:-0.01 [[-5.47507479e-02 -9.98500053e-01 0.00000000e+00 1.76050387e+02] [ 9.98500053e-01 -5.47507479e-02 0.00000000e+00 1.24260604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25952047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.590371743 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:176.05, Y:124.27, Z:-0.01 [[-5.51216600e-02 -9.98479646e-01 0.00000000e+00 1.76050516e+02] [ 9.98479646e-01 -5.51216600e-02 0.00000000e+00 1.24265023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34101130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.620371743 meters Centerline goodness : 0.995846 Centerline is valid? [True, True] Translation: X:176.05, Y:124.27, Z:-0.01 [[-5.49359056e-02 -9.98489883e-01 0.00000000e+00 1.76050317e+02] [ 9.98489883e-01 -5.49359056e-02 0.00000000e+00 1.24273005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45929774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.650371743 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:176.05, Y:124.27, Z:-0.02 [[-5.27556629e-02 -9.98607450e-01 0.00000000e+00 1.76050690e+02] [ 9.98607450e-01 -5.27556629e-02 0.00000000e+00 1.24265178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.58301002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.680371743 meters Centerline goodness : 0.995844 Centerline is valid? [True, True] Translation: X:176.05, Y:124.27, Z:-0.02 [[-5.18872369e-02 -9.98652950e-01 0.00000000e+00 1.76049849e+02] [ 9.98652950e-01 -5.18872369e-02 0.00000000e+00 1.24271321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.51286851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.710371743 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:176.05, Y:124.26, Z:-0.02 [[-4.58618830e-02 -9.98947790e-01 0.00000000e+00 1.76050301e+02] [ 9.98947790e-01 -4.58618830e-02 0.00000000e+00 1.24255903e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74639140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.740371743 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:176.05, Y:124.28, Z:-0.02 [[-4.40019952e-02 -9.99031443e-01 0.00000000e+00 1.76049721e+02] [ 9.99031443e-01 -4.40019952e-02 0.00000000e+00 1.24284813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.74617905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.770371743 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:176.05, Y:124.31, Z:-0.02 [[-4.00546843e-02 -9.99197489e-01 0.00000000e+00 1.76047835e+02] [ 9.99197489e-01 -4.00546843e-02 0.00000000e+00 1.24314014e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.53307287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.800371743 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:176.05, Y:124.32, Z:-0.01 [[-3.71613367e-02 -9.99309279e-01 0.00000000e+00 1.76046607e+02] [ 9.99309279e-01 -3.71613367e-02 0.00000000e+00 1.24317860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.45423351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.830371743 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:176.05, Y:124.34, Z:-0.01 [[-3.25062752e-02 -9.99471531e-01 0.00000000e+00 1.76046868e+02] [ 9.99471531e-01 -3.25062752e-02 0.00000000e+00 1.24336126e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43477407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86037174300003 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:176.04, Y:124.33, Z:-0.01 [[-3.05996965e-02 -9.99531720e-01 0.00000000e+00 1.76043953e+02] [ 9.99531720e-01 -3.05996965e-02 0.00000000e+00 1.24331185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11653767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.890371743 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:176.04, Y:124.34, Z:-0.01 [[-2.83059487e-02 -9.99599306e-01 0.00000000e+00 1.76043499e+02] [ 9.99599306e-01 -2.83059487e-02 0.00000000e+00 1.24335534e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04078317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92037174300003 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:176.04, Y:124.33, Z:-0.01 [[-2.84128222e-02 -9.99596274e-01 0.00000000e+00 1.76042318e+02] [ 9.99596274e-01 -2.84128222e-02 0.00000000e+00 1.24328339e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28996715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.950371743 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:176.04, Y:124.35, Z:-0.01 [[-3.23976801e-02 -9.99475057e-01 0.00000000e+00 1.76039138e+02] [ 9.99475057e-01 -3.23976801e-02 0.00000000e+00 1.24354949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.37376421e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98037174300003 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:176.04, Y:124.34, Z:-0.01 [[-3.03791683e-02 -9.99538447e-01 0.00000000e+00 1.76040066e+02] [ 9.99538447e-01 -3.03791683e-02 0.00000000e+00 1.24344796e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21319391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.010371743 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:176.04, Y:124.33, Z:-0.01 [[-3.03788129e-02 -9.99538457e-01 0.00000000e+00 1.76040520e+02] [ 9.99538457e-01 -3.03788129e-02 0.00000000e+00 1.24332443e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.65542331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.040371743 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:176.04, Y:124.33, Z:-0.01 [[-2.92090420e-02 -9.99573325e-01 0.00000000e+00 1.76042244e+02] [ 9.99573325e-01 -2.92090420e-02 0.00000000e+00 1.24328340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02753058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.070371743 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:176.04, Y:124.35, Z:-0.01 [[-3.42915801e-02 -9.99411871e-01 0.00000000e+00 1.76039113e+02] [ 9.99411871e-01 -3.42915801e-02 0.00000000e+00 1.24351547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.81462300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.100371743 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:176.04, Y:124.38, Z:-0.01 [[-3.78517693e-02 -9.99283365e-01 0.00000000e+00 1.76039186e+02] [ 9.99283365e-01 -3.78517693e-02 0.00000000e+00 1.24379292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81952453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.130371743 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:176.04, Y:124.41, Z:-0.01 [[-4.10160530e-02 -9.99158488e-01 0.00000000e+00 1.76039011e+02] [ 9.99158488e-01 -4.10160530e-02 0.00000000e+00 1.24407531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.37568872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.160371743 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:176.04, Y:124.40, Z:-0.01 [[-4.33879160e-02 -9.99058301e-01 0.00000000e+00 1.76038856e+02] [ 9.99058301e-01 -4.33879160e-02 0.00000000e+00 1.24404881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.88898896e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.190371743 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:176.04, Y:124.41, Z:-0.01 [[-4.40032098e-02 -9.99031390e-01 0.00000000e+00 1.76039832e+02] [ 9.99031390e-01 -4.40032098e-02 0.00000000e+00 1.24411270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.00482526e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.220371743 meters Centerline goodness : 0.995598 Centerline is valid? [True, True] Translation: X:176.04, Y:124.44, Z:-0.01 [[-4.68724730e-02 -9.98900882e-01 0.00000000e+00 1.76041602e+02] [ 9.98900882e-01 -4.68724730e-02 0.00000000e+00 1.24441725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.31307872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.250371743 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:176.04, Y:124.44, Z:-0.01 [[-4.23091247e-02 -9.99104568e-01 0.00000000e+00 1.76044108e+02] [ 9.99104568e-01 -4.23091247e-02 0.00000000e+00 1.24440404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14502675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.280371743 meters Centerline goodness : 0.995659 Centerline is valid? [True, True] Translation: X:176.04, Y:124.47, Z:-0.01 [[-4.56835671e-02 -9.98955961e-01 0.00000000e+00 1.76043676e+02] [ 9.98955961e-01 -4.56835671e-02 0.00000000e+00 1.24465983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05416933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.310371743 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:176.04, Y:124.49, Z:-0.01 [[-4.71863229e-02 -9.98886105e-01 0.00000000e+00 1.76044559e+02] [ 9.98886105e-01 -4.71863229e-02 0.00000000e+00 1.24494631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09227487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.340371743 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:176.04, Y:124.52, Z:-0.01 [[-5.00226826e-02 -9.98748082e-01 0.00000000e+00 1.76044722e+02] [ 9.98748082e-01 -5.00226826e-02 0.00000000e+00 1.24523040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.76213543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.370371743 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:176.05, Y:124.52, Z:-0.01 [[-5.04417081e-02 -9.98727007e-01 0.00000000e+00 1.76047458e+02] [ 9.98727007e-01 -5.04417081e-02 0.00000000e+00 1.24521936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05999481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.400371743 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:176.05, Y:124.55, Z:-0.01 [[-5.24758999e-02 -9.98622191e-01 0.00000000e+00 1.76047937e+02] [ 9.98622191e-01 -5.24758999e-02 0.00000000e+00 1.24549085e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06610053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.430371743 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:176.05, Y:124.58, Z:-0.01 [[-5.52342879e-02 -9.98473422e-01 0.00000000e+00 1.76049142e+02] [ 9.98473422e-01 -5.52342879e-02 0.00000000e+00 1.24577754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06088689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.460371743 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:176.05, Y:124.58, Z:-0.01 [[-6.09136731e-02 -9.98143038e-01 0.00000000e+00 1.76050544e+02] [ 9.98143038e-01 -6.09136731e-02 0.00000000e+00 1.24582622e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81654227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.490371743 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:176.05, Y:124.60, Z:-0.01 [[-6.20687095e-02 -9.98071879e-01 0.00000000e+00 1.76051808e+02] [ 9.98071879e-01 -6.20687095e-02 0.00000000e+00 1.24597960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05123269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.520371743 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:176.05, Y:124.60, Z:-0.01 [[-6.45973422e-02 -9.97911411e-01 0.00000000e+00 1.76053803e+02] [ 9.97911411e-01 -6.45973422e-02 0.00000000e+00 1.24604979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09139021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.550371743 meters Centerline goodness : 0.995867 Centerline is valid? [True, True] Translation: X:176.06, Y:124.61, Z:-0.01 [[-6.35725953e-02 -9.97977217e-01 0.00000000e+00 1.76055369e+02] [ 9.97977217e-01 -6.35725953e-02 0.00000000e+00 1.24611468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.16967153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.580371743 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:176.06, Y:124.61, Z:-0.01 [[-6.35681537e-02 -9.97977500e-01 0.00000000e+00 1.76055916e+02] [ 9.97977500e-01 -6.35681537e-02 0.00000000e+00 1.24610641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20747660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61037174300003 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:176.06, Y:124.64, Z:-0.01 [[-6.31570210e-02 -9.98003603e-01 0.00000000e+00 1.76056422e+02] [ 9.98003603e-01 -6.31570210e-02 0.00000000e+00 1.24635001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25010620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.640371743 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:176.06, Y:124.63, Z:-0.01 [[-5.93840881e-02 -9.98235208e-01 0.00000000e+00 1.76057029e+02] [ 9.98235208e-01 -5.93840881e-02 0.00000000e+00 1.24626727e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25584806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67037174300003 meters Centerline goodness : 0.996139 Centerline is valid? [True, True] Translation: X:176.05, Y:124.60, Z:-0.01 [[-7.28184729e-02 -9.97345211e-01 0.00000000e+00 1.76048924e+02] [ 9.97345211e-01 -7.28184729e-02 0.00000000e+00 1.24602559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.26694044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.700371743 meters Centerline goodness : 0.996346 Centerline is valid? [True, True] Translation: X:176.05, Y:124.62, Z:-0.01 [[-6.95599536e-02 -9.97577773e-01 0.00000000e+00 1.76049197e+02] [ 9.97577773e-01 -6.95599536e-02 0.00000000e+00 1.24624554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00230903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73037174300003 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:176.06, Y:124.62, Z:-0.01 [[-5.42753509e-02 -9.98526007e-01 0.00000000e+00 1.76056312e+02] [ 9.98526007e-01 -5.42753509e-02 0.00000000e+00 1.24616356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18922937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.760371743 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:176.05, Y:124.61, Z:-0.01 [[-6.52654857e-02 -9.97867935e-01 0.00000000e+00 1.76049226e+02] [ 9.97867935e-01 -6.52654857e-02 0.00000000e+00 1.24613976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.41734087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.790371743 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:176.05, Y:124.61, Z:-0.01 [[-6.39362003e-02 -9.97953988e-01 0.00000000e+00 1.76049106e+02] [ 9.97953988e-01 -6.39362003e-02 0.00000000e+00 1.24607284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.61844751e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.820371743 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:176.06, Y:124.61, Z:-0.01 [[-4.72157173e-02 -9.98884716e-01 0.00000000e+00 1.76057288e+02] [ 9.98884716e-01 -4.72157173e-02 0.00000000e+00 1.24607378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.31379917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.850371743 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:176.06, Y:124.64, Z:-0.01 [[-4.53569414e-02 -9.98970844e-01 0.00000000e+00 1.76058852e+02] [ 9.98970844e-01 -4.53569414e-02 0.00000000e+00 1.24636757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48194886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.880371743 meters Centerline goodness : 0.995804 Centerline is valid? [True, True] Translation: X:176.06, Y:124.66, Z:-0.01 [[-4.93416200e-02 -9.98781960e-01 0.00000000e+00 1.76055342e+02] [ 9.98781960e-01 -4.93416200e-02 0.00000000e+00 1.24659544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88873637e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.910371743 meters Centerline goodness : 0.996187 Centerline is valid? [True, True] Translation: X:176.06, Y:124.69, Z:-0.01 [[-5.25283162e-02 -9.98619435e-01 0.00000000e+00 1.76056464e+02] [ 9.98619435e-01 -5.25283162e-02 0.00000000e+00 1.24688049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01571766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.940371743 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:176.06, Y:124.69, Z:-0.01 [[-5.32411152e-02 -9.98581686e-01 0.00000000e+00 1.76057559e+02] [ 9.98581686e-01 -5.32411152e-02 0.00000000e+00 1.24687949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02455233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.970371743 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:176.06, Y:124.72, Z:-0.01 [[-5.59008593e-02 -9.98436324e-01 0.00000000e+00 1.76058048e+02] [ 9.98436324e-01 -5.59008593e-02 0.00000000e+00 1.24716837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00330905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.000371743 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:176.06, Y:124.72, Z:-0.01 [[-5.91321425e-02 -9.98250164e-01 0.00000000e+00 1.76060058e+02] [ 9.98250164e-01 -5.91321425e-02 0.00000000e+00 1.24716281e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01573578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.030371743 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:176.06, Y:124.74, Z:-0.01 [[-6.18339929e-02 -9.98086448e-01 0.00000000e+00 1.76060216e+02] [ 9.98086448e-01 -6.18339929e-02 0.00000000e+00 1.24742250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.55137607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.060371743 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:176.06, Y:124.77, Z:-0.01 [[-6.36205867e-02 -9.97974158e-01 0.00000000e+00 1.76061883e+02] [ 9.97974158e-01 -6.36205867e-02 0.00000000e+00 1.24771985e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17846375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.090371743 meters Centerline goodness : 0.995849 Centerline is valid? [True, True] Translation: X:176.06, Y:124.77, Z:-0.01 [[-6.49995340e-02 -9.97885294e-01 0.00000000e+00 1.76064031e+02] [ 9.97885294e-01 -6.49995340e-02 0.00000000e+00 1.24767938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.30572416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.120371743 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:176.06, Y:124.78, Z:-0.01 [[-6.62230646e-02 -9.97804844e-01 0.00000000e+00 1.76064529e+02] [ 9.97804844e-01 -6.62230646e-02 0.00000000e+00 1.24783660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25327311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.150371743 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:176.06, Y:124.79, Z:-0.01 [[-6.58720529e-02 -9.97828078e-01 0.00000000e+00 1.76064424e+02] [ 9.97828078e-01 -6.58720529e-02 0.00000000e+00 1.24786313e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25327311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.180371743 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:176.06, Y:124.78, Z:-0.01 [[-8.19044513e-02 -9.96640186e-01 0.00000000e+00 1.76057518e+02] [ 9.96640186e-01 -8.19044513e-02 0.00000000e+00 1.24783042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.14558354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.210371743 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:176.07, Y:124.78, Z:-0.01 [[-6.57584964e-02 -9.97835568e-01 0.00000000e+00 1.76065870e+02] [ 9.97835568e-01 -6.57584964e-02 0.00000000e+00 1.24779795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17390369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.240371743 meters Centerline goodness : 0.996393 Centerline is valid? [True, True] Translation: X:176.07, Y:124.81, Z:-0.01 [[-6.56192353e-02 -9.97844735e-01 0.00000000e+00 1.76065733e+02] [ 9.97844735e-01 -6.56192353e-02 0.00000000e+00 1.24808364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.20359837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.270371743 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:176.06, Y:124.81, Z:-0.01 [[-6.57886303e-02 -9.97833581e-01 0.00000000e+00 1.76064901e+02] [ 9.97833581e-01 -6.57886303e-02 0.00000000e+00 1.24811109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17960886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.300371743 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:176.05, Y:124.83, Z:-0.01 [[-7.17006381e-02 -9.97426197e-01 0.00000000e+00 1.76054155e+02] [ 9.97426197e-01 -7.17006381e-02 0.00000000e+00 1.24827707e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.57396612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.330371743 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:176.06, Y:124.87, Z:-0.01 [[-6.56303519e-02 -9.97844004e-01 0.00000000e+00 1.76063141e+02] [ 9.97844004e-01 -6.56303519e-02 0.00000000e+00 1.24866099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05530433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36037174300003 meters Centerline goodness : 0.996660 Centerline is valid? [True, True] Translation: X:176.06, Y:124.87, Z:-0.01 [[-6.54923299e-02 -9.97853073e-01 0.00000000e+00 1.76062870e+02] [ 9.97853073e-01 -6.54923299e-02 0.00000000e+00 1.24865106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01171365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.390371743 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:176.06, Y:124.86, Z:-0.01 [[-6.65038055e-02 -9.97786171e-01 0.00000000e+00 1.76061770e+02] [ 9.97786171e-01 -6.65038055e-02 0.00000000e+00 1.24862389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.22200432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42037174300003 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:176.06, Y:124.88, Z:-0.01 [[-6.57752018e-02 -9.97834467e-01 0.00000000e+00 1.76061764e+02] [ 9.97834467e-01 -6.57752018e-02 0.00000000e+00 1.24876331e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.94347162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.450371743 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:176.06, Y:124.88, Z:-0.01 [[-6.41169420e-02 -9.97942392e-01 0.00000000e+00 1.76061078e+02] [ 9.97942392e-01 -6.41169420e-02 0.00000000e+00 1.24880262e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08069884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48037174300003 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:176.06, Y:124.91, Z:-0.01 [[-6.52352509e-02 -9.97869912e-01 0.00000000e+00 1.76060383e+02] [ 9.97869912e-01 -6.52352509e-02 0.00000000e+00 1.24909413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.06180095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.510371743 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:176.06, Y:124.90, Z:-0.01 [[-6.48406391e-02 -9.97895632e-01 0.00000000e+00 1.76059946e+02] [ 9.97895632e-01 -6.48406391e-02 0.00000000e+00 1.24901068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.07563819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.540371743 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:176.06, Y:124.90, Z:-0.01 [[-6.57103398e-02 -9.97838740e-01 0.00000000e+00 1.76058406e+02] [ 9.97838740e-01 -6.57103398e-02 0.00000000e+00 1.24904209e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.04526489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.570371743 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:176.06, Y:124.90, Z:-0.01 [[-6.53452229e-02 -9.97862717e-01 0.00000000e+00 1.76057615e+02] [ 9.97862717e-01 -6.53452229e-02 0.00000000e+00 1.24903778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11430587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.600371743 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:176.06, Y:124.93, Z:-0.01 [[-6.62330646e-02 -9.97804180e-01 0.00000000e+00 1.76056127e+02] [ 9.97804180e-01 -6.62330646e-02 0.00000000e+00 1.24931157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05820650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.630371743 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:176.05, Y:124.96, Z:-0.01 [[-6.84819038e-02 -9.97652359e-01 0.00000000e+00 1.76052797e+02] [ 9.97652359e-01 -6.84819038e-02 0.00000000e+00 1.24956625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.12448460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.660371743 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:176.05, Y:124.99, Z:-0.01 [[-6.92813308e-02 -9.97597162e-01 0.00000000e+00 1.76052772e+02] [ 9.97597162e-01 -6.92813308e-02 0.00000000e+00 1.24987275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08380265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.690371743 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:176.05, Y:125.00, Z:-0.01 [[-7.35255916e-02 -9.97293331e-01 0.00000000e+00 1.76049944e+02] [ 9.97293331e-01 -7.35255916e-02 0.00000000e+00 1.24995957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.63951697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.720371743 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:176.05, Y:125.00, Z:-0.01 [[-7.61938671e-02 -9.97093022e-01 0.00000000e+00 1.76048357e+02] [ 9.97093022e-01 -7.61938671e-02 0.00000000e+00 1.24996658e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25480759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.750371743 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:176.05, Y:125.00, Z:-0.00 [[-7.99058003e-02 -9.96802419e-01 0.00000000e+00 1.76046692e+02] [ 9.96802419e-01 -7.99058003e-02 0.00000000e+00 1.25000211e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.47424987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.780371743 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:176.05, Y:125.00, Z:-0.01 [[-7.97105273e-02 -9.96818054e-01 0.00000000e+00 1.76046591e+02] [ 9.96818054e-01 -7.97105273e-02 0.00000000e+00 1.25001380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25454931e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.810371743 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:176.04, Y:125.00, Z:-0.01 [[-8.50805463e-02 -9.96374077e-01 0.00000000e+00 1.76044090e+02] [ 9.96374077e-01 -8.50805463e-02 0.00000000e+00 1.24997106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.10036386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.840371743 meters Centerline goodness : 0.996074 Centerline is valid? [True, True] Translation: X:176.04, Y:125.00, Z:-0.01 [[-8.70030424e-02 -9.96208046e-01 0.00000000e+00 1.76043055e+02] [ 9.96208046e-01 -8.70030424e-02 0.00000000e+00 1.24998712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.87638255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.870371743 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:176.04, Y:125.01, Z:-0.01 [[-8.74537175e-02 -9.96168584e-01 0.00000000e+00 1.76042831e+02] [ 9.96168584e-01 -8.74537175e-02 0.00000000e+00 1.25006607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.20532300e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.900371743 meters Centerline goodness : 0.996371 Centerline is valid? [True, True] Translation: X:176.04, Y:125.00, Z:-0.01 [[-8.66951119e-02 -9.96234891e-01 0.00000000e+00 1.76042782e+02] [ 9.96234891e-01 -8.66951119e-02 0.00000000e+00 1.25001387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.06267973e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.930371743 meters Centerline goodness : 0.996555 Centerline is valid? [True, True] Translation: X:176.04, Y:125.01, Z:-0.01 [[-8.63224984e-02 -9.96267246e-01 0.00000000e+00 1.76042883e+02] [ 9.96267246e-01 -8.63224984e-02 0.00000000e+00 1.25012714e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.01557618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.960371743 meters Centerline goodness : 0.996394 Centerline is valid? [True, True] Translation: X:176.04, Y:125.00, Z:-0.01 [[-8.36830057e-02 -9.96492426e-01 0.00000000e+00 1.76042166e+02] [ 9.96492426e-01 -8.36830057e-02 0.00000000e+00 1.25003795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.90445798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.990371743 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:176.04, Y:125.00, Z:-0.01 [[-8.20793664e-02 -9.96625796e-01 0.00000000e+00 1.76041593e+02] [ 9.96625796e-01 -8.20793664e-02 0.00000000e+00 1.25000702e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.25572928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.020371743 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:176.04, Y:125.01, Z:-0.00 [[-8.07204620e-02 -9.96736779e-01 0.00000000e+00 1.76040740e+02] [ 9.96736779e-01 -8.07204620e-02 0.00000000e+00 1.25007309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96805238e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.050371743 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:176.04, Y:125.04, Z:-0.00 [[-7.89124458e-02 -9.96881551e-01 0.00000000e+00 1.76040356e+02] [ 9.96881551e-01 -7.89124458e-02 0.00000000e+00 1.25036549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17603162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.080371743 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:176.04, Y:125.05, Z:-0.00 [[-7.74045968e-02 -9.96999763e-01 0.00000000e+00 1.76040288e+02] [ 9.96999763e-01 -7.74045968e-02 0.00000000e+00 1.25048586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.48758506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11037174300003 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:176.04, Y:125.05, Z:-0.00 [[-7.53205511e-02 -9.97159373e-01 0.00000000e+00 1.76040596e+02] [ 9.97159373e-01 -7.53205511e-02 0.00000000e+00 1.25050173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.60743139e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.140371743 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:176.04, Y:125.05, Z:-0.00 [[-7.45841326e-02 -9.97214725e-01 0.00000000e+00 1.76039729e+02] [ 9.97214725e-01 -7.45841326e-02 0.00000000e+00 1.25049851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.67445981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17037174300003 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:176.04, Y:125.04, Z:-0.00 [[-7.24132764e-02 -9.97374713e-01 0.00000000e+00 1.76039350e+02] [ 9.97374713e-01 -7.24132764e-02 0.00000000e+00 1.25041568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.08331455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.200371743 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:176.04, Y:125.07, Z:-0.00 [[-7.14476255e-02 -9.97444353e-01 0.00000000e+00 1.76038112e+02] [ 9.97444353e-01 -7.14476255e-02 0.00000000e+00 1.25069811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.41233153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23037174300003 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:176.04, Y:125.10, Z:-0.00 [[-7.12669274e-02 -9.97457280e-01 0.00000000e+00 1.76038077e+02] [ 9.97457280e-01 -7.12669274e-02 0.00000000e+00 1.25098218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.57629760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.260371743 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:176.04, Y:125.12, Z:-0.00 [[-7.03377678e-02 -9.97523232e-01 0.00000000e+00 1.76038064e+02] [ 9.97523232e-01 -7.03377678e-02 0.00000000e+00 1.25116459e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.63439341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.290371743 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:176.04, Y:125.11, Z:-0.00 [[-6.95952637e-02 -9.97575310e-01 0.00000000e+00 1.76038077e+02] [ 9.97575310e-01 -6.95952637e-02 0.00000000e+00 1.25105253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.90241515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.320371743 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:176.04, Y:125.10, Z:-0.00 [[-6.82511537e-02 -9.97668171e-01 0.00000000e+00 1.76038522e+02] [ 9.97668171e-01 -6.82511537e-02 0.00000000e+00 1.25103961e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.11494842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.350371743 meters Centerline goodness : 0.996080 Centerline is valid? [True, True] Translation: X:176.04, Y:125.13, Z:-0.00 [[-6.88350120e-02 -9.97628058e-01 0.00000000e+00 1.76037987e+02] [ 9.97628058e-01 -6.88350120e-02 0.00000000e+00 1.25132553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.20618165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.380371743 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:176.04, Y:125.18, Z:-0.00 [[-6.88364294e-02 -9.97627960e-01 0.00000000e+00 1.76036396e+02] [ 9.97627960e-01 -6.88364294e-02 0.00000000e+00 1.25178403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.94810243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.410371743 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:176.04, Y:125.14, Z:-0.00 [[-6.77939915e-02 -9.97699341e-01 0.00000000e+00 1.76036502e+02] [ 9.97699341e-01 -6.77939915e-02 0.00000000e+00 1.25143445e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.37947881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.440371743 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:176.04, Y:125.18, Z:-0.01 [[-6.48180553e-02 -9.97897099e-01 0.00000000e+00 1.76039227e+02] [ 9.97897099e-01 -6.48180553e-02 0.00000000e+00 1.25175890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.56565100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.470371743 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:176.04, Y:125.18, Z:-0.01 [[-6.59114974e-02 -9.97825473e-01 0.00000000e+00 1.76037682e+02] [ 9.97825473e-01 -6.59114974e-02 0.00000000e+00 1.25184040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.22761054e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.500371743 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:176.04, Y:125.19, Z:-0.01 [[-6.25643869e-02 -9.98040930e-01 0.00000000e+00 1.76038361e+02] [ 9.98040930e-01 -6.25643869e-02 0.00000000e+00 1.25185052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.63822716e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.530371743 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:176.04, Y:125.20, Z:-0.01 [[-6.12008076e-02 -9.98125474e-01 0.00000000e+00 1.76037106e+02] [ 9.98125474e-01 -6.12008076e-02 0.00000000e+00 1.25203670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.42274467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.560371743 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:176.03, Y:125.19, Z:-0.00 [[-7.63316155e-02 -9.97082486e-01 0.00000000e+00 1.76028676e+02] [ 9.97082486e-01 -7.63316155e-02 0.00000000e+00 1.25192535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10081974e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.590371743 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:176.04, Y:125.19, Z:-0.01 [[-5.86415492e-02 -9.98279104e-01 0.00000000e+00 1.76038266e+02] [ 9.98279104e-01 -5.86415492e-02 0.00000000e+00 1.25189909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.94681814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.620371743 meters Centerline goodness : 0.996365 Centerline is valid? [True, True] Translation: X:176.04, Y:125.19, Z:-0.01 [[-5.90061823e-02 -9.98257617e-01 0.00000000e+00 1.76038111e+02] [ 9.98257617e-01 -5.90061823e-02 0.00000000e+00 1.25193201e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.75915407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.650371743 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:176.03, Y:125.20, Z:-0.00 [[-7.42284987e-02 -9.97241260e-01 0.00000000e+00 1.76030246e+02] [ 9.97241260e-01 -7.42284987e-02 0.00000000e+00 1.25201396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.89887598e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.680371743 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:176.04, Y:125.20, Z:-0.01 [[-5.71846991e-02 -9.98363616e-01 0.00000000e+00 1.76039800e+02] [ 9.98363616e-01 -5.71846991e-02 0.00000000e+00 1.25198601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.07478727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.710371743 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:176.04, Y:125.23, Z:-0.01 [[-5.68891822e-02 -9.98380499e-01 0.00000000e+00 1.76039843e+02] [ 9.98380499e-01 -5.68891822e-02 0.00000000e+00 1.25225815e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.34676060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.740371743 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:176.04, Y:125.25, Z:-0.01 [[-5.68099007e-02 -9.98385013e-01 0.00000000e+00 1.76040040e+02] [ 9.98385013e-01 -5.68099007e-02 0.00000000e+00 1.25253259e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.01215419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.770371743 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:176.04, Y:125.25, Z:-0.01 [[-5.51803631e-02 -9.98476403e-01 0.00000000e+00 1.76040575e+02] [ 9.98476403e-01 -5.51803631e-02 0.00000000e+00 1.25254029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.35020071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.800371743 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:176.04, Y:125.24, Z:-0.01 [[-5.02586764e-02 -9.98736234e-01 0.00000000e+00 1.76042074e+02] [ 9.98736234e-01 -5.02586764e-02 0.00000000e+00 1.25243983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.72717487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.830371743 meters Centerline goodness : 0.994426 Centerline is valid? [True, True] Translation: X:176.04, Y:125.27, Z:-0.01 [[-4.89244021e-02 -9.98802484e-01 0.00000000e+00 1.76042533e+02] [ 9.98802484e-01 -4.89244021e-02 0.00000000e+00 1.25272427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.98860358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86037174300003 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:176.04, Y:125.27, Z:-0.01 [[-4.61948431e-02 -9.98932448e-01 0.00000000e+00 1.76042786e+02] [ 9.98932448e-01 -4.61948431e-02 0.00000000e+00 1.25271239e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.76075578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.890371743 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:176.03, Y:125.29, Z:-0.00 [[-5.04397620e-02 -9.98727105e-01 0.00000000e+00 1.76029687e+02] [ 9.98727105e-01 -5.04397620e-02 0.00000000e+00 1.25285302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01444529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92037174300003 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:176.04, Y:125.33, Z:-0.01 [[-3.85708123e-02 -9.99255869e-01 0.00000000e+00 1.76042472e+02] [ 9.99255869e-01 -3.85708123e-02 0.00000000e+00 1.25327415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52087240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.950371743 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:176.04, Y:125.32, Z:-0.01 [[-3.15274955e-02 -9.99502885e-01 0.00000000e+00 1.76042749e+02] [ 9.99502885e-01 -3.15274955e-02 0.00000000e+00 1.25315043e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.67543110e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98037174300003 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:176.04, Y:125.34, Z:-0.01 [[-3.15449311e-02 -9.99502335e-01 0.00000000e+00 1.76041585e+02] [ 9.99502335e-01 -3.15449311e-02 0.00000000e+00 1.25343319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.21827596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.010371743 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:176.04, Y:125.36, Z:-0.01 [[-2.93584950e-02 -9.99568946e-01 0.00000000e+00 1.76043051e+02] [ 9.99568946e-01 -2.93584950e-02 0.00000000e+00 1.25359705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28992902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.040371743 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:176.04, Y:125.39, Z:-0.01 [[-3.00522173e-02 -9.99548330e-01 0.00000000e+00 1.76042683e+02] [ 9.99548330e-01 -3.00522173e-02 0.00000000e+00 1.25386934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.28992902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.070371743 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:176.03, Y:125.40, Z:-0.00 [[-3.91512736e-02 -9.99233295e-01 0.00000000e+00 1.76028655e+02] [ 9.99233295e-01 -3.91512736e-02 0.00000000e+00 1.25399350e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.81984646e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.100371743 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:176.04, Y:125.44, Z:-0.01 [[-2.82891245e-02 -9.99599783e-01 0.00000000e+00 1.76044842e+02] [ 9.99599783e-01 -2.82891245e-02 0.00000000e+00 1.25443842e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.23544677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.130371743 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:176.05, Y:125.45, Z:-0.01 [[-2.79898861e-02 -9.99608206e-01 0.00000000e+00 1.76046310e+02] [ 9.99608206e-01 -2.79898861e-02 0.00000000e+00 1.25451942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.16945233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.160371743 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:176.05, Y:125.44, Z:-0.01 [[-2.99461495e-02 -9.99551513e-01 0.00000000e+00 1.76048909e+02] [ 9.99551513e-01 -2.99461495e-02 0.00000000e+00 1.25443779e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.54345507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.190371743 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:176.05, Y:125.47, Z:-0.01 [[-3.30385261e-02 -9.99454079e-01 0.00000000e+00 1.76050262e+02] [ 9.99454079e-01 -3.30385261e-02 0.00000000e+00 1.25473669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.17664667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.220371743 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:176.05, Y:125.48, Z:-0.01 [[-3.86712341e-02 -9.99251988e-01 0.00000000e+00 1.76049888e+02] [ 9.99251988e-01 -3.86712341e-02 0.00000000e+00 1.25480242e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39347113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.250371743 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:176.05, Y:125.49, Z:-0.01 [[-4.32095474e-02 -9.99066031e-01 0.00000000e+00 1.76052285e+02] [ 9.99066031e-01 -4.32095474e-02 0.00000000e+00 1.25491570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.29227666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.280371743 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:176.05, Y:125.50, Z:-0.01 [[-4.63635894e-02 -9.98924631e-01 0.00000000e+00 1.76053435e+02] [ 9.98924631e-01 -4.63635894e-02 0.00000000e+00 1.25498487e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.07599505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.310371743 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:176.05, Y:125.49, Z:-0.00 [[-4.97870318e-02 -9.98759857e-01 0.00000000e+00 1.76054129e+02] [ 9.98759857e-01 -4.97870318e-02 0.00000000e+00 1.25489930e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.18626764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.340371743 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:176.05, Y:125.50, Z:0.00 [[-6.91287487e-02 -9.97607747e-01 0.00000000e+00 1.76047621e+02] [ 9.97607747e-01 -6.91287487e-02 0.00000000e+00 1.25496365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60646190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.370371743 meters Centerline goodness : 0.994968 Centerline is valid? [True, True] Translation: X:176.06, Y:125.50, Z:-0.00 [[-5.59627456e-02 -9.98432858e-01 0.00000000e+00 1.76057410e+02] [ 9.98432858e-01 -5.59627456e-02 0.00000000e+00 1.25502381e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.65984307e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.400371743 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:176.06, Y:125.49, Z:-0.00 [[-5.46706582e-02 -9.98504441e-01 0.00000000e+00 1.76058968e+02] [ 9.98504441e-01 -5.46706582e-02 0.00000000e+00 1.25492670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.89052857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.430371743 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:176.06, Y:125.50, Z:-0.00 [[-5.41058933e-02 -9.98535203e-01 0.00000000e+00 1.76061477e+02] [ 9.98535203e-01 -5.41058933e-02 0.00000000e+00 1.25496080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.44648045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.460371743 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:176.06, Y:125.51, Z:-0.00 [[-5.54497902e-02 -9.98461477e-01 0.00000000e+00 1.76061961e+02] [ 9.98461477e-01 -5.54497902e-02 0.00000000e+00 1.25514692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98207867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.490371743 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:176.06, Y:125.51, Z:-0.00 [[-5.39175210e-02 -9.98545393e-01 0.00000000e+00 1.76063011e+02] [ 9.98545393e-01 -5.39175210e-02 0.00000000e+00 1.25514909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.50138167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.520371743 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:176.06, Y:125.51, Z:-0.00 [[-5.36629084e-02 -9.98559108e-01 0.00000000e+00 1.76062994e+02] [ 9.98559108e-01 -5.36629084e-02 0.00000000e+00 1.25509342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.31418551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.550371743 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:176.06, Y:125.51, Z:-0.00 [[-4.97781560e-02 -9.98760299e-01 0.00000000e+00 1.76064397e+02] [ 9.98760299e-01 -4.97781560e-02 0.00000000e+00 1.25508068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96474227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.580371743 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:176.07, Y:125.51, Z:-0.00 [[-4.66560551e-02 -9.98911013e-01 0.00000000e+00 1.76065987e+02] [ 9.98911013e-01 -4.66560551e-02 0.00000000e+00 1.25513800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27488632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61037174300003 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:176.06, Y:125.54, Z:-0.00 [[-4.80143946e-02 -9.98846644e-01 0.00000000e+00 1.76064911e+02] [ 9.98846644e-01 -4.80143946e-02 0.00000000e+00 1.25540123e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.21282919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.640371743 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:176.06, Y:125.57, Z:-0.00 [[-4.78944625e-02 -9.98852402e-01 0.00000000e+00 1.76064517e+02] [ 9.98852402e-01 -4.78944625e-02 0.00000000e+00 1.25567100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.43563648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67037174300003 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:176.06, Y:125.60, Z:-0.00 [[-4.86415287e-02 -9.98816300e-01 0.00000000e+00 1.76064763e+02] [ 9.98816300e-01 -4.86415287e-02 0.00000000e+00 1.25595787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85066283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.700371743 meters Centerline goodness : 0.996014 Centerline is valid? [True, True] Translation: X:176.06, Y:125.59, Z:-0.00 [[-4.90113918e-02 -9.98798220e-01 0.00000000e+00 1.76063985e+02] [ 9.98798220e-01 -4.90113918e-02 0.00000000e+00 1.25593608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26723380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73037174300003 meters Centerline goodness : 0.995708 Centerline is valid? [True, True] Translation: X:176.06, Y:125.61, Z:-0.00 [[-4.90088665e-02 -9.98798344e-01 0.00000000e+00 1.76064482e+02] [ 9.98798344e-01 -4.90088665e-02 0.00000000e+00 1.25609971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.27796161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.760371743 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:176.06, Y:125.61, Z:-0.00 [[-5.06802247e-02 -9.98714932e-01 0.00000000e+00 1.76063879e+02] [ 9.98714932e-01 -5.06802247e-02 0.00000000e+00 1.25614582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.32275375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.790371743 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:176.06, Y:125.62, Z:-0.00 [[-5.15446085e-02 -9.98670693e-01 0.00000000e+00 1.76064361e+02] [ 9.98670693e-01 -5.15446085e-02 0.00000000e+00 1.25616929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.71741519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.820371743 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:176.06, Y:125.63, Z:-0.00 [[-5.33179271e-02 -9.98577588e-01 0.00000000e+00 1.76063331e+02] [ 9.98577588e-01 -5.33179271e-02 0.00000000e+00 1.25632546e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.62716130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.850371743 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:176.06, Y:125.62, Z:-0.00 [[-5.29260757e-02 -9.98598433e-01 0.00000000e+00 1.76064172e+02] [ 9.98598433e-01 -5.29260757e-02 0.00000000e+00 1.25619195e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.14567445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.880371743 meters Centerline goodness : 0.996141 Centerline is valid? [True, True] Translation: X:176.06, Y:125.62, Z:-0.00 [[-5.52058762e-02 -9.98474993e-01 0.00000000e+00 1.76064646e+02] [ 9.98474993e-01 -5.52058762e-02 0.00000000e+00 1.25624399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.26551667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.910371743 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:176.07, Y:125.63, Z:-0.00 [[-5.62250770e-02 -9.98418119e-01 0.00000000e+00 1.76065060e+02] [ 9.98418119e-01 -5.62250770e-02 0.00000000e+00 1.25634774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75593790e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.940371743 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:176.07, Y:125.63, Z:-0.00 [[-5.76417350e-02 -9.98337333e-01 0.00000000e+00 1.76065096e+02] [ 9.98337333e-01 -5.76417350e-02 0.00000000e+00 1.25627137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.12097413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.970371743 meters Centerline goodness : 0.995715 Centerline is valid? [True, True] Translation: X:176.07, Y:125.64, Z:-0.00 [[-5.66041314e-02 -9.98396701e-01 0.00000000e+00 1.76065305e+02] [ 9.98396701e-01 -5.66041314e-02 0.00000000e+00 1.25638483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.07304808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.000371743 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:176.06, Y:125.63, Z:0.00 [[-7.21197964e-02 -9.97395977e-01 0.00000000e+00 1.76056797e+02] [ 9.97395977e-01 -7.21197964e-02 0.00000000e+00 1.25634373e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46694663e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.030371743 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:176.06, Y:125.64, Z:-0.00 [[-5.79806688e-02 -9.98317706e-01 0.00000000e+00 1.76062981e+02] [ 9.98317706e-01 -5.79806688e-02 0.00000000e+00 1.25638746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96770111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.060371743 meters Centerline goodness : 0.996051 Centerline is valid? [True, True] Translation: X:176.06, Y:125.64, Z:-0.00 [[-5.65410721e-02 -9.98400274e-01 0.00000000e+00 1.76062054e+02] [ 9.98400274e-01 -5.65410721e-02 0.00000000e+00 1.25643476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.70317304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.090371743 meters Centerline goodness : 0.995857 Centerline is valid? [True, True] Translation: X:176.06, Y:125.64, Z:-0.00 [[-5.53927905e-02 -9.98464641e-01 0.00000000e+00 1.76060991e+02] [ 9.98464641e-01 -5.53927905e-02 0.00000000e+00 1.25636851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.27659953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.120371743 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:176.06, Y:125.63, Z:-0.00 [[-5.14051479e-02 -9.98677881e-01 0.00000000e+00 1.76060844e+02] [ 9.98677881e-01 -5.14051479e-02 0.00000000e+00 1.25632507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.96315041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.150371743 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:176.06, Y:125.64, Z:-0.00 [[-5.13566382e-02 -9.98680377e-01 0.00000000e+00 1.76060022e+02] [ 9.98680377e-01 -5.13566382e-02 0.00000000e+00 1.25641946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12310578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.180371743 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:176.06, Y:125.67, Z:-0.00 [[-5.05115365e-02 -9.98723478e-01 0.00000000e+00 1.76059189e+02] [ 9.98723478e-01 -5.05115365e-02 0.00000000e+00 1.25670141e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.03032426e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.210371743 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:176.05, Y:125.67, Z:-0.00 [[-6.30068772e-02 -9.98013093e-01 0.00000000e+00 1.76051122e+02] [ 9.98013093e-01 -6.30068772e-02 0.00000000e+00 1.25669651e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.24465053e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.240371743 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:176.06, Y:125.66, Z:-0.00 [[-5.00217860e-02 -9.98748127e-01 0.00000000e+00 1.76057929e+02] [ 9.98748127e-01 -5.00217860e-02 0.00000000e+00 1.25659703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.71600131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.270371743 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:176.06, Y:125.68, Z:-0.00 [[-5.05720197e-02 -9.98720417e-01 0.00000000e+00 1.76057237e+02] [ 9.98720417e-01 -5.05720197e-02 0.00000000e+00 1.25678107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.35325999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.300371743 meters Centerline goodness : 0.996410 Centerline is valid? [True, True] Translation: X:176.06, Y:125.66, Z:-0.00 [[-5.10692316e-02 -9.98695115e-01 0.00000000e+00 1.76057634e+02] [ 9.98695115e-01 -5.10692316e-02 0.00000000e+00 1.25663276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.72824184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.330371743 meters Centerline goodness : 0.996092 Centerline is valid? [True, True] Translation: X:176.06, Y:125.66, Z:-0.00 [[-5.10794145e-02 -9.98694595e-01 0.00000000e+00 1.76058732e+02] [ 9.98694595e-01 -5.10794145e-02 0.00000000e+00 1.25663210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.16039846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36037174300003 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:176.05, Y:125.68, Z:-0.00 [[-6.14886279e-02 -9.98107784e-01 0.00000000e+00 1.76050493e+02] [ 9.98107784e-01 -6.14886279e-02 0.00000000e+00 1.25681587e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.11710303e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.390371743 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:176.05, Y:125.71, Z:-0.00 [[-6.33335703e-02 -9.97992414e-01 0.00000000e+00 1.76050985e+02] [ 9.97992414e-01 -6.33335703e-02 0.00000000e+00 1.25709517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.08516195e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42037174300003 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:176.05, Y:125.74, Z:-0.00 [[-6.49054083e-02 -9.97891421e-01 0.00000000e+00 1.76051406e+02] [ 9.97891421e-01 -6.49054083e-02 0.00000000e+00 1.25736111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.75080192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.450371743 meters Centerline goodness : 0.995990 Centerline is valid? [True, True] Translation: X:176.05, Y:125.75, Z:-0.00 [[-6.73140286e-02 -9.97731839e-01 0.00000000e+00 1.76052199e+02] [ 9.97731839e-01 -6.73140286e-02 0.00000000e+00 1.25747777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.97524955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48037174300003 meters Centerline goodness : 0.996589 Centerline is valid? [True, True] Translation: X:176.05, Y:125.78, Z:-0.01 [[-6.86322426e-02 -9.97642028e-01 0.00000000e+00 1.76052142e+02] [ 9.97642028e-01 -6.86322426e-02 0.00000000e+00 1.25776452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.17161415e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.510371743 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:176.06, Y:125.81, Z:-0.01 [[-6.46363523e-02 -9.97908885e-01 0.00000000e+00 1.76059174e+02] [ 9.97908885e-01 -6.46363523e-02 0.00000000e+00 1.25812608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.31955806e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.540371743 meters Centerline goodness : 0.996382 Centerline is valid? [True, True] Translation: X:176.06, Y:125.83, Z:-0.01 [[-6.33254605e-02 -9.97992929e-01 0.00000000e+00 1.76059599e+02] [ 9.97992929e-01 -6.33254605e-02 0.00000000e+00 1.25829446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.23725563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.570371743 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:176.06, Y:125.86, Z:-0.01 [[-6.44123293e-02 -9.97923370e-01 0.00000000e+00 1.76058862e+02] [ 9.97923370e-01 -6.44123293e-02 0.00000000e+00 1.25857664e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.09553936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.600371743 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:176.06, Y:125.86, Z:-0.01 [[-6.39315331e-02 -9.97954287e-01 0.00000000e+00 1.76057585e+02] [ 9.97954287e-01 -6.39315331e-02 0.00000000e+00 1.25858993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.64510269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.630371743 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:176.06, Y:125.89, Z:-0.01 [[-6.46223900e-02 -9.97909789e-01 0.00000000e+00 1.76057268e+02] [ 9.97909789e-01 -6.46223900e-02 0.00000000e+00 1.25888809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.96612542e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.660371743 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:176.06, Y:125.88, Z:-0.01 [[-6.37051108e-02 -9.97968766e-01 0.00000000e+00 1.76057056e+02] [ 9.97968766e-01 -6.37051108e-02 0.00000000e+00 1.25879548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.13798089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.690371743 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:176.06, Y:125.89, Z:-0.01 [[-6.20966085e-02 -9.98070143e-01 0.00000000e+00 1.76056488e+02] [ 9.98070143e-01 -6.20966085e-02 0.00000000e+00 1.25891421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.79427634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.720371743 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:176.05, Y:125.92, Z:-0.01 [[-6.31803043e-02 -9.98002129e-01 0.00000000e+00 1.76054652e+02] [ 9.98002129e-01 -6.31803043e-02 0.00000000e+00 1.25919168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.52628423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.750371743 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:176.05, Y:125.92, Z:-0.01 [[-6.34320335e-02 -9.97986161e-01 0.00000000e+00 1.76052976e+02] [ 9.97986161e-01 -6.34320335e-02 0.00000000e+00 1.25923018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.18388111e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.780371743 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:176.05, Y:125.92, Z:-0.01 [[-6.53914110e-02 -9.97859691e-01 0.00000000e+00 1.76050923e+02] [ 9.97859691e-01 -6.53914110e-02 0.00000000e+00 1.25919374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44133640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.810371743 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:176.05, Y:125.92, Z:-0.00 [[-6.74134955e-02 -9.97725123e-01 0.00000000e+00 1.76049918e+02] [ 9.97725123e-01 -6.74134955e-02 0.00000000e+00 1.25916951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.85146392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.840371743 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:176.05, Y:125.93, Z:-0.01 [[-7.03768531e-02 -9.97520475e-01 0.00000000e+00 1.76049051e+02] [ 9.97520475e-01 -7.03768531e-02 0.00000000e+00 1.25930009e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73114741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.870371743 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:176.04, Y:125.95, Z:-0.01 [[-8.42913085e-02 -9.96441155e-01 0.00000000e+00 1.76042476e+02] [ 9.96441155e-01 -8.42913085e-02 0.00000000e+00 1.25946780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.80220416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.900371743 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:176.05, Y:125.93, Z:-0.01 [[-7.49412355e-02 -9.97187952e-01 0.00000000e+00 1.76047795e+02] [ 9.97187952e-01 -7.49412355e-02 0.00000000e+00 1.25930058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08929831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.930371743 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:176.05, Y:125.96, Z:-0.01 [[-7.90099806e-02 -9.96873825e-01 0.00000000e+00 1.76045634e+02] [ 9.96873825e-01 -7.90099806e-02 0.00000000e+00 1.25958068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91507187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.960371743 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:176.05, Y:125.96, Z:-0.01 [[-7.86530344e-02 -9.96902051e-01 0.00000000e+00 1.76045534e+02] [ 9.96902051e-01 -7.86530344e-02 0.00000000e+00 1.25960724e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91507187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.990371743 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:176.04, Y:125.96, Z:-0.01 [[-8.08380398e-02 -9.96727250e-01 0.00000000e+00 1.76044831e+02] [ 9.96727250e-01 -8.08380398e-02 0.00000000e+00 1.25963157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.08744619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.020371743 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:176.04, Y:125.97, Z:-0.01 [[-8.10179239e-02 -9.96712645e-01 0.00000000e+00 1.76044199e+02] [ 9.96712645e-01 -8.10179239e-02 0.00000000e+00 1.25967523e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.42640970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.050371743 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:176.04, Y:125.98, Z:-0.01 [[-8.12517908e-02 -9.96693607e-01 0.00000000e+00 1.76043319e+02] [ 9.96693607e-01 -8.12517908e-02 0.00000000e+00 1.25979300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.16761302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.080371743 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:176.04, Y:125.97, Z:-0.01 [[-8.06305626e-02 -9.96744056e-01 0.00000000e+00 1.76040937e+02] [ 9.96744056e-01 -8.06305626e-02 0.00000000e+00 1.25972014e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.45086568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11037174300003 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:176.04, Y:125.98, Z:-0.01 [[-8.14851056e-02 -9.96674560e-01 0.00000000e+00 1.76039033e+02] [ 9.96674560e-01 -8.14851056e-02 0.00000000e+00 1.25975931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.10158838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.140371743 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:176.04, Y:125.98, Z:-0.01 [[-7.87928667e-02 -9.96891009e-01 0.00000000e+00 1.76038613e+02] [ 9.96891009e-01 -7.87928667e-02 0.00000000e+00 1.25983589e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.59074441e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17037174300003 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:176.04, Y:125.99, Z:-0.00 [[-7.66740047e-02 -9.97056216e-01 0.00000000e+00 1.76036724e+02] [ 9.97056216e-01 -7.66740047e-02 0.00000000e+00 1.25991576e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69791384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.200371743 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:176.03, Y:125.99, Z:-0.01 [[-7.73453536e-02 -9.97004361e-01 0.00000000e+00 1.76034990e+02] [ 9.97004361e-01 -7.73453536e-02 0.00000000e+00 1.25988407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.28118535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23037174300003 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:176.03, Y:125.98, Z:-0.00 [[-7.38419457e-02 -9.97269957e-01 0.00000000e+00 1.76033414e+02] [ 9.97269957e-01 -7.38419457e-02 0.00000000e+00 1.25984551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.26963468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.260371743 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:176.03, Y:126.01, Z:-0.00 [[-7.47959424e-02 -9.97198860e-01 0.00000000e+00 1.76032546e+02] [ 9.97198860e-01 -7.47959424e-02 0.00000000e+00 1.26012939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.25419388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.290371743 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:176.03, Y:126.02, Z:-0.00 [[-7.44957892e-02 -9.97221328e-01 0.00000000e+00 1.76032401e+02] [ 9.97221328e-01 -7.44957892e-02 0.00000000e+00 1.26019843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.54395583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.320371743 meters Centerline goodness : 0.993869 Centerline is valid? [True, True] Translation: X:176.03, Y:126.02, Z:-0.00 [[-7.49960560e-02 -9.97183830e-01 0.00000000e+00 1.76032519e+02] [ 9.97183830e-01 -7.49960560e-02 0.00000000e+00 1.26015103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.47303981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.350371743 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:176.03, Y:126.03, Z:-0.00 [[-7.69934957e-02 -9.97031595e-01 0.00000000e+00 1.76033458e+02] [ 9.97031595e-01 -7.69934957e-02 0.00000000e+00 1.26029785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.60951097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.380371743 meters Centerline goodness : 0.993881 Centerline is valid? [True, True] Translation: X:176.03, Y:126.03, Z:-0.01 [[-7.86215187e-02 -9.96904537e-01 0.00000000e+00 1.76033495e+02] [ 9.96904537e-01 -7.86215187e-02 0.00000000e+00 1.26030217e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.58195627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.410371743 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:176.03, Y:126.06, Z:-0.01 [[-8.09391090e-02 -9.96719048e-01 0.00000000e+00 1.76034310e+02] [ 9.96719048e-01 -8.09391090e-02 0.00000000e+00 1.26058769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.36722149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.440371743 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:176.04, Y:126.09, Z:-0.01 [[-8.21277410e-02 -9.96621811e-01 0.00000000e+00 1.76036354e+02] [ 9.96621811e-01 -8.21277410e-02 0.00000000e+00 1.26085178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.53712599e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.470371743 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:176.04, Y:126.08, Z:-0.00 [[-8.14106050e-02 -9.96680648e-01 0.00000000e+00 1.76037483e+02] [ 9.96680648e-01 -8.14106050e-02 0.00000000e+00 1.26077553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.90595697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.500371743 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:176.04, Y:126.08, Z:-0.00 [[-8.18510162e-02 -9.96644576e-01 0.00000000e+00 1.76037865e+02] [ 9.96644576e-01 -8.18510162e-02 0.00000000e+00 1.26080577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.53910424e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.530371743 meters Centerline goodness : 0.993836 Centerline is valid? [True, True] Translation: X:176.04, Y:126.07, Z:-0.00 [[-7.97126987e-02 -9.96817880e-01 0.00000000e+00 1.76038389e+02] [ 9.96817880e-01 -7.97126987e-02 0.00000000e+00 1.26065803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.40001951e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.560371743 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:176.04, Y:126.09, Z:-0.00 [[-7.92254693e-02 -9.96856722e-01 0.00000000e+00 1.76038446e+02] [ 9.96856722e-01 -7.92254693e-02 0.00000000e+00 1.26093872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02000254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.590371743 meters Centerline goodness : 0.993811 Centerline is valid? [True, True] Translation: X:176.04, Y:126.12, Z:-0.00 [[-7.66771750e-02 -9.97055972e-01 0.00000000e+00 1.76038889e+02] [ 9.97055972e-01 -7.66771750e-02 0.00000000e+00 1.26122827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.10937053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.620371743 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:176.04, Y:126.13, Z:-0.00 [[-7.66936888e-02 -9.97054702e-01 0.00000000e+00 1.76038402e+02] [ 9.97054702e-01 -7.66936888e-02 0.00000000e+00 1.26128242e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.56709669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.650371743 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:176.04, Y:126.13, Z:-0.00 [[-7.47757269e-02 -9.97200376e-01 0.00000000e+00 1.76039097e+02] [ 9.97200376e-01 -7.47757269e-02 0.00000000e+00 1.26126715e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28912399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.680371743 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:176.04, Y:126.12, Z:-0.00 [[-7.37834448e-02 -9.97274287e-01 0.00000000e+00 1.76038668e+02] [ 9.97274287e-01 -7.37834448e-02 0.00000000e+00 1.26115266e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.46176346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.710371743 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:176.04, Y:126.13, Z:-0.00 [[-7.36196605e-02 -9.97286391e-01 0.00000000e+00 1.76038938e+02] [ 9.97286391e-01 -7.36196605e-02 0.00000000e+00 1.26125485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.97584109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.740371743 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:176.04, Y:126.13, Z:-0.00 [[-7.08481923e-02 -9.97487110e-01 0.00000000e+00 1.76039669e+02] [ 9.97487110e-01 -7.08481923e-02 0.00000000e+00 1.26128428e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.09399936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.770371743 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:176.04, Y:126.15, Z:-0.00 [[-7.08096831e-02 -9.97489844e-01 0.00000000e+00 1.76039468e+02] [ 9.97489844e-01 -7.08096831e-02 0.00000000e+00 1.26148781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.10194937e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.800371743 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:176.04, Y:126.13, Z:-0.00 [[-6.67536361e-02 -9.97769488e-01 0.00000000e+00 1.76041482e+02] [ 9.97769488e-01 -6.67536361e-02 0.00000000e+00 1.26128897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17508643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.830371743 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:176.04, Y:126.16, Z:-0.01 [[-6.51270016e-02 -9.97876983e-01 0.00000000e+00 1.76041388e+02] [ 9.97876983e-01 -6.51270016e-02 0.00000000e+00 1.26156973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.34313002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86037174300003 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:176.04, Y:126.19, Z:-0.00 [[-6.48484096e-02 -9.97895127e-01 0.00000000e+00 1.76041554e+02] [ 9.97895127e-01 -6.48484096e-02 0.00000000e+00 1.26186404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.91500745e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.890371743 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:176.04, Y:126.22, Z:-0.00 [[-7.22071233e-02 -9.97389659e-01 0.00000000e+00 1.76035679e+02] [ 9.97389659e-01 -7.22071233e-02 0.00000000e+00 1.26220700e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.24700265e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92037174300003 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:176.04, Y:126.20, Z:-0.00 [[-5.93473572e-02 -9.98237392e-01 0.00000000e+00 1.76040714e+02] [ 9.98237392e-01 -5.93473572e-02 0.00000000e+00 1.26197479e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.34265405e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.950371743 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:176.04, Y:126.20, Z:-0.00 [[-5.40605155e-02 -9.98537661e-01 0.00000000e+00 1.76039650e+02] [ 9.98537661e-01 -5.40605155e-02 0.00000000e+00 1.26202996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.90849901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98037174300003 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:176.04, Y:126.23, Z:-0.00 [[-5.21553992e-02 -9.98638981e-01 0.00000000e+00 1.76039467e+02] [ 9.98638981e-01 -5.21553992e-02 0.00000000e+00 1.26231735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.59095128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.010371743 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:176.04, Y:126.24, Z:-0.00 [[-4.96973165e-02 -9.98764325e-01 0.00000000e+00 1.76039764e+02] [ 9.98764325e-01 -4.96973165e-02 0.00000000e+00 1.26235495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.02645983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.040371743 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:176.04, Y:126.23, Z:-0.00 [[-4.76727740e-02 -9.98863007e-01 0.00000000e+00 1.76039509e+02] [ 9.98863007e-01 -4.76727740e-02 0.00000000e+00 1.26233697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.69393918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.070371743 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:176.04, Y:126.24, Z:-0.00 [[-4.23159484e-02 -9.99104279e-01 0.00000000e+00 1.76040604e+02] [ 9.99104279e-01 -4.23159484e-02 0.00000000e+00 1.26237201e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.43280604e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.100371743 meters Centerline goodness : 0.994630 Centerline is valid? [True, True] Translation: X:176.04, Y:126.26, Z:-0.00 [[-4.13602351e-02 -9.99144299e-01 0.00000000e+00 1.76040260e+02] [ 9.99144299e-01 -4.13602351e-02 0.00000000e+00 1.26264225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.41175855e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.130371743 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:176.04, Y:126.29, Z:-0.00 [[-4.17602004e-02 -9.99127662e-01 0.00000000e+00 1.76042001e+02] [ 9.99127662e-01 -4.17602004e-02 0.00000000e+00 1.26294091e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45937164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.160371743 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:176.04, Y:126.32, Z:-0.00 [[-4.34619763e-02 -9.99055082e-01 0.00000000e+00 1.76041810e+02] [ 9.99055082e-01 -4.34619763e-02 0.00000000e+00 1.26322098e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.78491906e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.190371743 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:176.04, Y:126.32, Z:-0.00 [[-4.32316555e-02 -9.99065075e-01 0.00000000e+00 1.76042228e+02] [ 9.99065075e-01 -4.32316555e-02 0.00000000e+00 1.26316875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86415710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.220371743 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:176.04, Y:126.32, Z:-0.00 [[-4.23538382e-02 -9.99102674e-01 0.00000000e+00 1.76043004e+02] [ 9.99102674e-01 -4.23538382e-02 0.00000000e+00 1.26315571e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.26197614e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.250371743 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:176.04, Y:126.34, Z:-0.00 [[-4.15402030e-02 -9.99136833e-01 0.00000000e+00 1.76044383e+02] [ 9.99136833e-01 -4.15402030e-02 0.00000000e+00 1.26341751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.17945380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.280371743 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:176.04, Y:126.35, Z:-0.01 [[-4.15216180e-02 -9.99137606e-01 0.00000000e+00 1.76044480e+02] [ 9.99137606e-01 -4.15216180e-02 0.00000000e+00 1.26345827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.92196508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.310371743 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:176.05, Y:126.37, Z:-0.01 [[-4.17036055e-02 -9.99130026e-01 0.00000000e+00 1.76045583e+02] [ 9.99130026e-01 -4.17036055e-02 0.00000000e+00 1.26373332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.03834134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.340371743 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:176.05, Y:126.40, Z:-0.01 [[-4.18197942e-02 -9.99125170e-01 0.00000000e+00 1.76047435e+02] [ 9.99125170e-01 -4.18197942e-02 0.00000000e+00 1.26402632e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.67874269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.370371743 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:176.05, Y:126.43, Z:-0.01 [[-4.52747575e-02 -9.98974572e-01 0.00000000e+00 1.76048017e+02] [ 9.98974572e-01 -4.52747575e-02 0.00000000e+00 1.26430414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.76710062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.400371743 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:176.05, Y:126.44, Z:-0.01 [[-4.51201728e-02 -9.98981566e-01 0.00000000e+00 1.76048968e+02] [ 9.98981566e-01 -4.51201728e-02 0.00000000e+00 1.26443637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.75368364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.430371743 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:176.04, Y:126.44, Z:-0.00 [[-6.59439148e-02 -9.97823331e-01 0.00000000e+00 1.76039385e+02] [ 9.97823331e-01 -6.59439148e-02 0.00000000e+00 1.26442215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.86869592e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.460371743 meters Centerline goodness : 0.994508 Centerline is valid? [True, True] Translation: X:176.05, Y:126.45, Z:-0.01 [[-4.57887641e-02 -9.98951144e-01 0.00000000e+00 1.76051186e+02] [ 9.98951144e-01 -4.57887641e-02 0.00000000e+00 1.26452588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.85634200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.490371743 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:176.05, Y:126.45, Z:-0.01 [[-4.57124441e-02 -9.98954640e-01 0.00000000e+00 1.76052614e+02] [ 9.98954640e-01 -4.57124441e-02 0.00000000e+00 1.26446468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08145272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.520371743 meters Centerline goodness : 0.994475 Centerline is valid? [True, True] Translation: X:176.05, Y:126.47, Z:-0.01 [[-5.00200225e-02 -9.98748215e-01 0.00000000e+00 1.76053018e+02] [ 9.98748215e-01 -5.00200225e-02 0.00000000e+00 1.26473314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.56179862e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.550371743 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:176.05, Y:126.47, Z:-0.01 [[-5.22286479e-02 -9.98635153e-01 0.00000000e+00 1.76053195e+02] [ 9.98635153e-01 -5.22286479e-02 0.00000000e+00 1.26472296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.04850146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.580371743 meters Centerline goodness : 0.995360 Centerline is valid? [True, True] Translation: X:176.05, Y:126.48, Z:-0.01 [[-5.40006694e-02 -9.98540899e-01 0.00000000e+00 1.76053838e+02] [ 9.98540899e-01 -5.40006694e-02 0.00000000e+00 1.26476335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.06682969e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61037174300003 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:176.06, Y:126.47, Z:-0.01 [[-5.38894590e-02 -9.98546907e-01 0.00000000e+00 1.76056692e+02] [ 9.98546907e-01 -5.38894590e-02 0.00000000e+00 1.26471231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03346154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.640371743 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:176.06, Y:126.50, Z:-0.01 [[-5.77942284e-02 -9.98328517e-01 0.00000000e+00 1.76055739e+02] [ 9.98328517e-01 -5.77942284e-02 0.00000000e+00 1.26498823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.77839591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67037174300003 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:176.06, Y:126.51, Z:-0.01 [[-5.80595582e-02 -9.98313121e-01 0.00000000e+00 1.76056120e+02] [ 9.98313121e-01 -5.80595582e-02 0.00000000e+00 1.26508363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.70048399e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.700371743 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:176.06, Y:126.52, Z:-0.01 [[-5.68282604e-02 -9.98383969e-01 0.00000000e+00 1.76057277e+02] [ 9.98383969e-01 -5.68282604e-02 0.00000000e+00 1.26520165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.33043993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73037174300003 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:176.06, Y:126.55, Z:-0.01 [[-5.80655805e-02 -9.98312771e-01 0.00000000e+00 1.76057037e+02] [ 9.98312771e-01 -5.80655805e-02 0.00000000e+00 1.26547938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.26870617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.760371743 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:176.06, Y:126.54, Z:-0.01 [[-5.58892842e-02 -9.98436972e-01 0.00000000e+00 1.76058190e+02] [ 9.98436972e-01 -5.58892842e-02 0.00000000e+00 1.26541240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.40339258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.790371743 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:176.06, Y:126.57, Z:-0.01 [[-5.72379102e-02 -9.98360567e-01 0.00000000e+00 1.76057459e+02] [ 9.98360567e-01 -5.72379102e-02 0.00000000e+00 1.26569138e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77292283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.820371743 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:176.06, Y:126.58, Z:-0.01 [[-5.61168958e-02 -9.98424205e-01 0.00000000e+00 1.76057338e+02] [ 9.98424205e-01 -5.61168958e-02 0.00000000e+00 1.26578183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69651293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.850371743 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:176.06, Y:126.58, Z:-0.01 [[-5.57834393e-02 -9.98442892e-01 0.00000000e+00 1.76057219e+02] [ 9.98442892e-01 -5.57834393e-02 0.00000000e+00 1.26580824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.69651293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.880371743 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:176.06, Y:126.59, Z:-0.01 [[-5.57586609e-02 -9.98444276e-01 0.00000000e+00 1.76056762e+02] [ 9.98444276e-01 -5.57586609e-02 0.00000000e+00 1.26585624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.43973149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.910371743 meters Centerline goodness : 0.996041 Centerline is valid? [True, True] Translation: X:176.06, Y:126.58, Z:-0.01 [[-5.41044906e-02 -9.98535279e-01 0.00000000e+00 1.76057060e+02] [ 9.98535279e-01 -5.41044906e-02 0.00000000e+00 1.26582794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.91811312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.940371743 meters Centerline goodness : 0.996134 Centerline is valid? [True, True] Translation: X:176.06, Y:126.59, Z:-0.01 [[-5.41254874e-02 -9.98534141e-01 0.00000000e+00 1.76056619e+02] [ 9.98534141e-01 -5.41254874e-02 0.00000000e+00 1.26592383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.39544835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.970371743 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:176.06, Y:126.59, Z:-0.01 [[-5.49264443e-02 -9.98490403e-01 0.00000000e+00 1.76055953e+02] [ 9.98490403e-01 -5.49264443e-02 0.00000000e+00 1.26590523e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.51767626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.000371743 meters Centerline goodness : 0.995952 Centerline is valid? [True, True] Translation: X:176.06, Y:126.60, Z:-0.01 [[-5.48981829e-02 -9.98491958e-01 0.00000000e+00 1.76056201e+02] [ 9.98491958e-01 -5.48981829e-02 0.00000000e+00 1.26602049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14219287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.030371743 meters Centerline goodness : 0.996745 Centerline is valid? [True, True] Translation: X:176.06, Y:126.63, Z:-0.01 [[-5.68052469e-02 -9.98385278e-01 0.00000000e+00 1.76055273e+02] [ 9.98385278e-01 -5.68052469e-02 0.00000000e+00 1.26629267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17014975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.060371743 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:176.06, Y:126.64, Z:-0.01 [[-5.65716013e-02 -9.98398545e-01 0.00000000e+00 1.76055221e+02] [ 9.98398545e-01 -5.65716013e-02 0.00000000e+00 1.26636672e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28532797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.090371743 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:176.05, Y:126.66, Z:-0.01 [[-5.90857749e-02 -9.98252909e-01 0.00000000e+00 1.76053336e+02] [ 9.98252909e-01 -5.90857749e-02 0.00000000e+00 1.26664461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23351936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.120371743 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:176.05, Y:126.67, Z:-0.01 [[-6.08043316e-02 -9.98149705e-01 0.00000000e+00 1.76052262e+02] [ 9.98149705e-01 -6.08043316e-02 0.00000000e+00 1.26667674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.21942678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.150371743 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:176.05, Y:126.67, Z:-0.01 [[-6.12794225e-02 -9.98120650e-01 0.00000000e+00 1.76050661e+02] [ 9.98120650e-01 -6.12794225e-02 0.00000000e+00 1.26668863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.22302581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.180371743 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:176.05, Y:126.67, Z:-0.01 [[-5.95526804e-02 -9.98225164e-01 0.00000000e+00 1.76049887e+02] [ 9.98225164e-01 -5.95526804e-02 0.00000000e+00 1.26669680e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.09853635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.210371743 meters Centerline goodness : 0.996153 Centerline is valid? [True, True] Translation: X:176.05, Y:126.68, Z:-0.01 [[-5.87482754e-02 -9.98272829e-01 0.00000000e+00 1.76048981e+02] [ 9.98272829e-01 -5.87482754e-02 0.00000000e+00 1.26679473e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02109927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.240371743 meters Centerline goodness : 0.996557 Centerline is valid? [True, True] Translation: X:176.05, Y:126.68, Z:-0.01 [[-5.68537390e-02 -9.98382518e-01 0.00000000e+00 1.76047262e+02] [ 9.98382518e-01 -5.68537390e-02 0.00000000e+00 1.26681413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.49493235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.270371743 meters Centerline goodness : 0.996119 Centerline is valid? [True, True] Translation: X:176.05, Y:126.69, Z:-0.01 [[-5.85534188e-02 -9.98284277e-01 0.00000000e+00 1.76045322e+02] [ 9.98284277e-01 -5.85534188e-02 0.00000000e+00 1.26691720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.15635055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.300371743 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:176.04, Y:126.69, Z:-0.01 [[-6.13152301e-02 -9.98118451e-01 0.00000000e+00 1.76043388e+02] [ 9.98118451e-01 -6.13152301e-02 0.00000000e+00 1.26685294e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.52236407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.330371743 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:176.04, Y:126.69, Z:-0.01 [[-6.08508498e-02 -9.98146870e-01 0.00000000e+00 1.76043421e+02] [ 9.98146870e-01 -6.08508498e-02 0.00000000e+00 1.26689795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00047677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36037174300003 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:176.04, Y:126.69, Z:-0.01 [[-6.51680650e-02 -9.97874302e-01 0.00000000e+00 1.76041818e+02] [ 9.97874302e-01 -6.51680650e-02 0.00000000e+00 1.26686328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.21478902e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.390371743 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:176.04, Y:126.69, Z:-0.01 [[-6.69734076e-02 -9.97754761e-01 0.00000000e+00 1.76040717e+02] [ 9.97754761e-01 -6.69734076e-02 0.00000000e+00 1.26693610e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.09664335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42037174300003 meters Centerline goodness : 0.996430 Centerline is valid? [True, True] Translation: X:176.04, Y:126.69, Z:-0.01 [[-6.92565767e-02 -9.97598881e-01 0.00000000e+00 1.76038677e+02] [ 9.97598881e-01 -6.92565767e-02 0.00000000e+00 1.26693394e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.05682149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.450371743 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:176.04, Y:126.69, Z:-0.01 [[-6.95463254e-02 -9.97578723e-01 0.00000000e+00 1.76037499e+02] [ 9.97578723e-01 -6.95463254e-02 0.00000000e+00 1.26694808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.86795717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48037174300003 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:176.04, Y:126.70, Z:-0.01 [[-7.02723336e-02 -9.97527844e-01 0.00000000e+00 1.76036317e+02] [ 9.97527844e-01 -7.02723336e-02 0.00000000e+00 1.26697076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.81524328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.510371743 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:176.03, Y:126.70, Z:-0.01 [[-7.19278450e-02 -9.97409838e-01 0.00000000e+00 1.76033760e+02] [ 9.97409838e-01 -7.19278450e-02 0.00000000e+00 1.26704085e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -8.99487505e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.540371743 meters Centerline goodness : 0.996516 Centerline is valid? [True, True] Translation: X:176.03, Y:126.71, Z:-0.01 [[-7.14592245e-02 -9.97443522e-01 0.00000000e+00 1.76032783e+02] [ 9.97443522e-01 -7.14592245e-02 0.00000000e+00 1.26706332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.30993811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.570371743 meters Centerline goodness : 0.996028 Centerline is valid? [True, True] Translation: X:176.03, Y:126.72, Z:-0.01 [[-7.34821146e-02 -9.97296535e-01 0.00000000e+00 1.76028896e+02] [ 9.97296535e-01 -7.34821146e-02 0.00000000e+00 1.26715141e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.65478804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.600371743 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:176.03, Y:126.71, Z:-0.01 [[-7.26870614e-02 -9.97354797e-01 0.00000000e+00 1.76027803e+02] [ 9.97354797e-01 -7.26870614e-02 0.00000000e+00 1.26713179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.05248929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.630371743 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:176.03, Y:126.70, Z:-0.00 [[-7.21172888e-02 -9.97396158e-01 0.00000000e+00 1.76025089e+02] [ 9.97396158e-01 -7.21172888e-02 0.00000000e+00 1.26702787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.76140696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.660371743 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:176.02, Y:126.70, Z:-0.00 [[-7.09568937e-02 -9.97479383e-01 0.00000000e+00 1.76023549e+02] [ 9.97479383e-01 -7.09568937e-02 0.00000000e+00 1.26703080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87483427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.690371743 meters Centerline goodness : 0.996036 Centerline is valid? [True, True] Translation: X:176.02, Y:126.70, Z:-0.01 [[-6.85424984e-02 -9.97648197e-01 0.00000000e+00 1.76022343e+02] [ 9.97648197e-01 -6.85424984e-02 0.00000000e+00 1.26695451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.04553438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.720371743 meters Centerline goodness : 0.996100 Centerline is valid? [True, True] Translation: X:176.02, Y:126.70, Z:-0.01 [[-6.84083086e-02 -9.97657408e-01 0.00000000e+00 1.76021156e+02] [ 9.97657408e-01 -6.84083086e-02 0.00000000e+00 1.26702655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10772651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.750371743 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:176.02, Y:126.73, Z:-0.01 [[-6.96246113e-02 -9.97573262e-01 0.00000000e+00 1.76020226e+02] [ 9.97573262e-01 -6.96246113e-02 0.00000000e+00 1.26730989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.73708714e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.780371743 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:176.02, Y:126.76, Z:-0.01 [[-7.12304177e-02 -9.97459888e-01 0.00000000e+00 1.76020052e+02] [ 9.97459888e-01 -7.12304177e-02 0.00000000e+00 1.26761095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.10367653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.810371743 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:176.02, Y:126.76, Z:-0.01 [[-7.12856288e-02 -9.97455943e-01 0.00000000e+00 1.76018893e+02] [ 9.97455943e-01 -7.12856288e-02 0.00000000e+00 1.26764461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.67855699e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.840371743 meters Centerline goodness : 0.995804 Centerline is valid? [True, True] Translation: X:176.02, Y:126.76, Z:-0.01 [[-7.05179484e-02 -9.97510511e-01 0.00000000e+00 1.76018065e+02] [ 9.97510511e-01 -7.05179484e-02 0.00000000e+00 1.26759174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.00643965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.870371743 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:176.02, Y:126.76, Z:-0.01 [[-6.98729713e-02 -9.97555897e-01 0.00000000e+00 1.76017200e+02] [ 9.97555897e-01 -6.98729713e-02 0.00000000e+00 1.26762553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.43513299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.900371743 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:176.02, Y:126.77, Z:-0.01 [[-6.92814790e-02 -9.97597151e-01 0.00000000e+00 1.76015914e+02] [ 9.97597151e-01 -6.92814790e-02 0.00000000e+00 1.26766863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.97917039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.930371743 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:176.01, Y:126.77, Z:-0.01 [[-6.83670437e-02 -9.97660236e-01 0.00000000e+00 1.76014955e+02] [ 9.97660236e-01 -6.83670437e-02 0.00000000e+00 1.26771411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.39405112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.960371743 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:176.01, Y:126.77, Z:-0.01 [[-6.78419928e-02 -9.97696078e-01 0.00000000e+00 1.76013714e+02] [ 9.97696078e-01 -6.78419928e-02 0.00000000e+00 1.26765542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.16373298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.990371743 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:176.00, Y:126.79, Z:-0.00 [[-7.97458905e-02 -9.96815225e-01 0.00000000e+00 1.76003939e+02] [ 9.96815225e-01 -7.97458905e-02 0.00000000e+00 1.26787515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.98538824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.020371743 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:176.01, Y:126.77, Z:-0.00 [[-6.54996022e-02 -9.97852595e-01 0.00000000e+00 1.76009661e+02] [ 9.97852595e-01 -6.54996022e-02 0.00000000e+00 1.26769090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.76995312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.050371743 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:176.01, Y:126.80, Z:-0.00 [[-6.44291414e-02 -9.97922284e-01 0.00000000e+00 1.76006561e+02] [ 9.97922284e-01 -6.44291414e-02 0.00000000e+00 1.26795955e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.56848899e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.080371743 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:176.01, Y:126.82, Z:-0.00 [[-6.47920743e-02 -9.97898786e-01 0.00000000e+00 1.76005445e+02] [ 9.97898786e-01 -6.47920743e-02 0.00000000e+00 1.26823926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.14338499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11037174300003 meters Centerline goodness : 0.996145 Centerline is valid? [True, True] Translation: X:176.00, Y:126.84, Z:-0.00 [[-6.47718101e-02 -9.97900102e-01 0.00000000e+00 1.76004873e+02] [ 9.97900102e-01 -6.47718101e-02 0.00000000e+00 1.26841738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.18883902e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.140371743 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:176.00, Y:126.82, Z:0.00 [[-6.49800037e-02 -9.97886566e-01 0.00000000e+00 1.76004200e+02] [ 9.97886566e-01 -6.49800037e-02 0.00000000e+00 1.26823858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01836948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17037174300003 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:176.00, Y:126.83, Z:-0.00 [[-6.57463672e-02 -9.97836367e-01 0.00000000e+00 1.76003617e+02] [ 9.97836367e-01 -6.57463672e-02 0.00000000e+00 1.26830711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88621762e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.200371743 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:176.00, Y:126.83, Z:-0.00 [[-6.35504626e-02 -9.97978626e-01 0.00000000e+00 1.76004144e+02] [ 9.97978626e-01 -6.35504626e-02 0.00000000e+00 1.26828781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.02839600e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23037174300003 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:176.00, Y:126.83, Z:-0.00 [[-6.37797763e-02 -9.97963997e-01 0.00000000e+00 1.76004247e+02] [ 9.97963997e-01 -6.37797763e-02 0.00000000e+00 1.26826450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.80419412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.260371743 meters Centerline goodness : 0.995694 Centerline is valid? [True, True] Translation: X:176.00, Y:126.83, Z:-0.00 [[-6.44281201e-02 -9.97922350e-01 0.00000000e+00 1.76002570e+02] [ 9.97922350e-01 -6.44281201e-02 0.00000000e+00 1.26834844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.43517409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.290371743 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:176.00, Y:126.85, Z:-0.00 [[-6.00275205e-02 -9.98196722e-01 0.00000000e+00 1.76003789e+02] [ 9.98196722e-01 -6.00275205e-02 0.00000000e+00 1.26852665e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.02207831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.320371743 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:176.00, Y:126.88, Z:-0.00 [[-5.89067885e-02 -9.98263487e-01 0.00000000e+00 1.76003601e+02] [ 9.98263487e-01 -5.89067885e-02 0.00000000e+00 1.26881339e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.62523813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.350371743 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:176.00, Y:126.91, Z:0.00 [[-5.84547743e-02 -9.98290058e-01 0.00000000e+00 1.76002771e+02] [ 9.98290058e-01 -5.84547743e-02 0.00000000e+00 1.26908952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40759900e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.380371743 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:176.00, Y:126.90, Z:0.00 [[-5.77029200e-02 -9.98333798e-01 0.00000000e+00 1.76001414e+02] [ 9.98333798e-01 -5.77029200e-02 0.00000000e+00 1.26903058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74407377e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.410371743 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:176.00, Y:126.93, Z:-0.00 [[-5.57697046e-02 -9.98443659e-01 0.00000000e+00 1.76000586e+02] [ 9.98443659e-01 -5.57697046e-02 0.00000000e+00 1.26927896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67679815e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.440371743 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:176.00, Y:126.91, Z:0.00 [[-5.25507662e-02 -9.98618254e-01 0.00000000e+00 1.75999543e+02] [ 9.98618254e-01 -5.25507662e-02 0.00000000e+00 1.26913412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19531869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.470371743 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:176.00, Y:126.92, Z:0.00 [[-4.78809967e-02 -9.98853047e-01 0.00000000e+00 1.76000062e+02] [ 9.98853047e-01 -4.78809967e-02 0.00000000e+00 1.26923265e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72109380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.500371743 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:176.00, Y:126.95, Z:0.00 [[-4.72566042e-02 -9.98882783e-01 0.00000000e+00 1.75999701e+02] [ 9.98882783e-01 -4.72566042e-02 0.00000000e+00 1.26951441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20194249e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.530371743 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:176.00, Y:126.97, Z:-0.00 [[-4.48787590e-02 -9.98992441e-01 0.00000000e+00 1.75999628e+02] [ 9.98992441e-01 -4.48787590e-02 0.00000000e+00 1.26965740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.26783067e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.560371743 meters Centerline goodness : 0.995013 Centerline is valid? [True, True] Translation: X:176.00, Y:127.00, Z:-0.00 [[-4.38502297e-02 -9.99038116e-01 0.00000000e+00 1.76000764e+02] [ 9.99038116e-01 -4.38502297e-02 0.00000000e+00 1.26995124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.37758332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.590371743 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:176.00, Y:126.99, Z:-0.00 [[-4.46678245e-02 -9.99001895e-01 0.00000000e+00 1.76000082e+02] [ 9.99001895e-01 -4.46678245e-02 0.00000000e+00 1.26993575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.49323652e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.620371743 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:176.00, Y:126.99, Z:-0.00 [[-4.38150025e-02 -9.99039662e-01 0.00000000e+00 1.76000647e+02] [ 9.99039662e-01 -4.38150025e-02 0.00000000e+00 1.26994095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.70445767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.650371743 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:176.00, Y:127.02, Z:-0.00 [[-4.45854569e-02 -9.99005574e-01 0.00000000e+00 1.76001526e+02] [ 9.99005574e-01 -4.45854569e-02 0.00000000e+00 1.27023066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.24848881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.680371743 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:176.00, Y:127.05, Z:-0.00 [[-4.51640473e-02 -9.98979584e-01 0.00000000e+00 1.76002645e+02] [ 9.98979584e-01 -4.51640473e-02 0.00000000e+00 1.27052206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.12851072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.710371743 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:176.00, Y:127.06, Z:-0.01 [[-4.33923190e-02 -9.99058110e-01 0.00000000e+00 1.76004956e+02] [ 9.99058110e-01 -4.33923190e-02 0.00000000e+00 1.27063147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.03227210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.740371743 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:176.01, Y:127.07, Z:-0.01 [[-4.18231891e-02 -9.99125028e-01 0.00000000e+00 1.76006225e+02] [ 9.99125028e-01 -4.18231891e-02 0.00000000e+00 1.27067640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88798429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.770371743 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:176.01, Y:127.09, Z:-0.01 [[-4.26314657e-02 -9.99090866e-01 0.00000000e+00 1.76005926e+02] [ 9.99090866e-01 -4.26314657e-02 0.00000000e+00 1.27094803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.88798429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.800371743 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:176.01, Y:127.12, Z:-0.01 [[-4.25684844e-02 -9.99093551e-01 0.00000000e+00 1.76006153e+02] [ 9.99093551e-01 -4.25684844e-02 0.00000000e+00 1.27120770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.31866804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.830371743 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:176.00, Y:127.14, Z:-0.00 [[-4.90240473e-02 -9.98797599e-01 0.00000000e+00 1.75995464e+02] [ 9.98797599e-01 -4.90240473e-02 0.00000000e+00 1.27136286e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.01008581e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86037174300003 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:176.00, Y:127.16, Z:-0.00 [[-4.78098002e-02 -9.98856458e-01 0.00000000e+00 1.75995812e+02] [ 9.98856458e-01 -4.78098002e-02 0.00000000e+00 1.27163177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.01783524e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.890371743 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:176.00, Y:127.19, Z:0.00 [[-4.63584905e-02 -9.98924867e-01 0.00000000e+00 1.75996302e+02] [ 9.98924867e-01 -4.63584905e-02 0.00000000e+00 1.27190706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.80392460e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92037174300003 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:176.00, Y:127.22, Z:0.00 [[-4.27289384e-02 -9.99086702e-01 0.00000000e+00 1.75996991e+02] [ 9.99086702e-01 -4.27289384e-02 0.00000000e+00 1.27218565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19950029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.950371743 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:176.00, Y:127.25, Z:0.00 [[-4.08122600e-02 -9.99166833e-01 0.00000000e+00 1.75997187e+02] [ 9.99166833e-01 -4.08122600e-02 0.00000000e+00 1.27245280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36000493e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98037174300003 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:176.00, Y:127.28, Z:0.00 [[-3.33702440e-02 -9.99443058e-01 0.00000000e+00 1.76004510e+02] [ 9.99443058e-01 -3.33702440e-02 0.00000000e+00 1.27279909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58804793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.010371743 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:176.00, Y:127.30, Z:0.00 [[-3.71742972e-02 -9.99308797e-01 0.00000000e+00 1.75998406e+02] [ 9.99308797e-01 -3.71742972e-02 0.00000000e+00 1.27302110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11795666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.040371743 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:176.01, Y:127.34, Z:0.00 [[-3.22032866e-02 -9.99481340e-01 0.00000000e+00 1.76006469e+02] [ 9.99481340e-01 -3.22032866e-02 0.00000000e+00 1.27337208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81262317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.070371743 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:176.01, Y:127.34, Z:0.00 [[-3.28905860e-02 -9.99458958e-01 0.00000000e+00 1.76009399e+02] [ 9.99458958e-01 -3.28905860e-02 0.00000000e+00 1.27340385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68041348e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.100371743 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:176.01, Y:127.37, Z:0.00 [[-3.56264983e-02 -9.99365175e-01 0.00000000e+00 1.76010489e+02] [ 9.99365175e-01 -3.56264983e-02 0.00000000e+00 1.27368143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.50571690e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.130371743 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:176.01, Y:127.39, Z:0.00 [[-4.58877590e-02 -9.98946602e-01 0.00000000e+00 1.76006500e+02] [ 9.98946602e-01 -4.58877590e-02 0.00000000e+00 1.27388769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.81906620e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.160371743 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:176.02, Y:127.43, Z:-0.00 [[-4.14810775e-02 -9.99139290e-01 0.00000000e+00 1.76017479e+02] [ 9.99139290e-01 -4.14810775e-02 0.00000000e+00 1.27427499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.67550231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.190371743 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:176.02, Y:127.43, Z:-0.01 [[-4.42282059e-02 -9.99021454e-01 0.00000000e+00 1.76019501e+02] [ 9.99021454e-01 -4.42282059e-02 0.00000000e+00 1.27434892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.23088284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.220371743 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:176.01, Y:127.45, Z:-0.00 [[-5.58383169e-02 -9.98439824e-01 0.00000000e+00 1.76013744e+02] [ 9.98439824e-01 -5.58383169e-02 0.00000000e+00 1.27454127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.00162094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.250371743 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:176.02, Y:127.48, Z:-0.00 [[-5.81327335e-02 -9.98308863e-01 0.00000000e+00 1.76015574e+02] [ 9.98308863e-01 -5.81327335e-02 0.00000000e+00 1.27481029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.49888035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.280371743 meters Centerline goodness : 0.996040 Centerline is valid? [True, True] Translation: X:176.02, Y:127.48, Z:-0.00 [[-5.97066436e-02 -9.98215967e-01 0.00000000e+00 1.76017180e+02] [ 9.98215967e-01 -5.97066436e-02 0.00000000e+00 1.27482588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.26145349e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.310371743 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:176.03, Y:127.52, Z:-0.01 [[-5.63088854e-02 -9.98413396e-01 0.00000000e+00 1.76029811e+02] [ 9.98413396e-01 -5.63088854e-02 0.00000000e+00 1.27521224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.72130137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.340371743 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:176.03, Y:127.50, Z:-0.01 [[-5.59512482e-02 -9.98433502e-01 0.00000000e+00 1.76031692e+02] [ 9.98433502e-01 -5.59512482e-02 0.00000000e+00 1.27501069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.75821041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.370371743 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:176.03, Y:127.53, Z:-0.01 [[-5.98030009e-02 -9.98210199e-01 0.00000000e+00 1.76034425e+02] [ 9.98210199e-01 -5.98030009e-02 0.00000000e+00 1.27528300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.96634520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.400371743 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:176.03, Y:127.52, Z:-0.01 [[-6.07365107e-02 -9.98153834e-01 0.00000000e+00 1.76034975e+02] [ 9.98153834e-01 -6.07365107e-02 0.00000000e+00 1.27515102e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.04824359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.430371743 meters Centerline goodness : 0.995889 Centerline is valid? [True, True] Translation: X:176.04, Y:127.52, Z:-0.01 [[-5.99541420e-02 -9.98201132e-01 0.00000000e+00 1.76036165e+02] [ 9.98201132e-01 -5.99541420e-02 0.00000000e+00 1.27518598e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00773995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.460371743 meters Centerline goodness : 0.996184 Centerline is valid? [True, True] Translation: X:176.04, Y:127.55, Z:-0.01 [[-6.05800413e-02 -9.98163343e-01 0.00000000e+00 1.76036148e+02] [ 9.98163343e-01 -6.05800413e-02 0.00000000e+00 1.27545253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.64186992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.490371743 meters Centerline goodness : 0.995956 Centerline is valid? [True, True] Translation: X:176.04, Y:127.57, Z:-0.01 [[-6.24299552e-02 -9.98049348e-01 0.00000000e+00 1.76036640e+02] [ 9.98049348e-01 -6.24299552e-02 0.00000000e+00 1.27573521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.30252610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.520371743 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:176.04, Y:127.58, Z:-0.00 [[-6.23753363e-02 -9.98052763e-01 0.00000000e+00 1.76037218e+02] [ 9.98052763e-01 -6.23753363e-02 0.00000000e+00 1.27583072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.91082674e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.550371743 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:176.04, Y:127.61, Z:-0.00 [[-6.20320366e-02 -9.98074159e-01 0.00000000e+00 1.76038646e+02] [ 9.98074159e-01 -6.20320366e-02 0.00000000e+00 1.27607720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.69591960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.580371743 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:176.04, Y:127.64, Z:-0.00 [[-6.32387862e-02 -9.97998425e-01 0.00000000e+00 1.76039259e+02] [ 9.97998425e-01 -6.32387862e-02 0.00000000e+00 1.27637138e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.98454171e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61037174300003 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:176.04, Y:127.67, Z:-0.00 [[-6.72088835e-02 -9.97738927e-01 0.00000000e+00 1.76039389e+02] [ 9.97738927e-01 -6.72088835e-02 0.00000000e+00 1.27665560e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54135437e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.640371743 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:176.04, Y:127.66, Z:-0.00 [[-6.93033786e-02 -9.97595630e-01 0.00000000e+00 1.76039686e+02] [ 9.97595630e-01 -6.93033786e-02 0.00000000e+00 1.27655328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.58138270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67037174300003 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:176.04, Y:127.66, Z:-0.00 [[-7.11009254e-02 -9.97469127e-01 0.00000000e+00 1.76040411e+02] [ 9.97469127e-01 -7.11009254e-02 0.00000000e+00 1.27664749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.54691919e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.700371743 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:176.04, Y:127.67, Z:-0.00 [[-7.23894097e-02 -9.97376445e-01 0.00000000e+00 1.76041350e+02] [ 9.97376445e-01 -7.23894097e-02 0.00000000e+00 1.27667252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.31688933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73037174300003 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:176.04, Y:127.66, Z:-0.01 [[-7.38577171e-02 -9.97268789e-01 0.00000000e+00 1.76043578e+02] [ 9.97268789e-01 -7.38577171e-02 0.00000000e+00 1.27664101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.14921137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.760371743 meters Centerline goodness : 0.995891 Centerline is valid? [True, True] Translation: X:176.05, Y:127.66, Z:-0.01 [[-7.10444269e-02 -9.97473152e-01 0.00000000e+00 1.76045415e+02] [ 9.97473152e-01 -7.10444269e-02 0.00000000e+00 1.27656634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.69964903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.790371743 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:176.04, Y:127.67, Z:-0.00 [[-7.86545113e-02 -9.96901935e-01 0.00000000e+00 1.76038240e+02] [ 9.96901935e-01 -7.86545113e-02 0.00000000e+00 1.27673629e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.53344648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.820371743 meters Centerline goodness : 0.996005 Centerline is valid? [True, True] Translation: X:176.05, Y:127.71, Z:-0.01 [[-7.33347056e-02 -9.97307385e-01 0.00000000e+00 1.76046182e+02] [ 9.97307385e-01 -7.33347056e-02 0.00000000e+00 1.27710730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.42759489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.850371743 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:176.05, Y:127.72, Z:-0.00 [[-7.21076377e-02 -9.97396856e-01 0.00000000e+00 1.76046861e+02] [ 9.97396856e-01 -7.21076377e-02 0.00000000e+00 1.27717552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.63058086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.880371743 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:176.05, Y:127.72, Z:-0.00 [[-7.11119091e-02 -9.97468344e-01 0.00000000e+00 1.76046933e+02] [ 9.97468344e-01 -7.11119091e-02 0.00000000e+00 1.27724693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.56910170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.910371743 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:176.05, Y:127.72, Z:-0.00 [[-6.75397845e-02 -9.97716582e-01 0.00000000e+00 1.76047274e+02] [ 9.97716582e-01 -6.75397845e-02 0.00000000e+00 1.27721362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.32442971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.940371743 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:176.05, Y:127.72, Z:-0.00 [[-6.51820859e-02 -9.97873387e-01 0.00000000e+00 1.76046961e+02] [ 9.97873387e-01 -6.51820859e-02 0.00000000e+00 1.27724295e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.06312407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.970371743 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:176.05, Y:127.73, Z:-0.00 [[-5.92752896e-02 -9.98241674e-01 0.00000000e+00 1.76046597e+02] [ 9.98241674e-01 -5.92752896e-02 0.00000000e+00 1.27732317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.64395949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.000371743 meters Centerline goodness : 0.995949 Centerline is valid? [True, True] Translation: X:176.05, Y:127.76, Z:-0.00 [[-5.70122984e-02 -9.98373476e-01 0.00000000e+00 1.76045563e+02] [ 9.98373476e-01 -5.70122984e-02 0.00000000e+00 1.27759279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.96144445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.030371743 meters Centerline goodness : 0.995659 Centerline is valid? [True, True] Translation: X:176.04, Y:127.79, Z:-0.00 [[-5.07486523e-02 -9.98711457e-01 0.00000000e+00 1.76044781e+02] [ 9.98711457e-01 -5.07486523e-02 0.00000000e+00 1.27788749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.11053294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.060371743 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:176.04, Y:127.80, Z:-0.00 [[-4.75888437e-02 -9.98867009e-01 0.00000000e+00 1.76043808e+02] [ 9.98867009e-01 -4.75888437e-02 0.00000000e+00 1.27802946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.95071340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.090371743 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:176.04, Y:127.80, Z:0.00 [[-5.66374722e-02 -9.98394810e-01 0.00000000e+00 1.76036337e+02] [ 9.98394810e-01 -5.66374722e-02 0.00000000e+00 1.27795918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95635063e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.120371743 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:176.04, Y:127.79, Z:-0.00 [[-3.77666710e-02 -9.99286585e-01 0.00000000e+00 1.76041774e+02] [ 9.99286585e-01 -3.77666710e-02 0.00000000e+00 1.27785121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30916500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.150371743 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:176.04, Y:127.81, Z:-0.00 [[-3.62890958e-02 -9.99341334e-01 0.00000000e+00 1.76041443e+02] [ 9.99341334e-01 -3.62890958e-02 0.00000000e+00 1.27812170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.17105479e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.180371743 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:176.04, Y:127.82, Z:-0.00 [[-3.48430974e-02 -9.99392795e-01 0.00000000e+00 1.76040771e+02] [ 9.99392795e-01 -3.48430974e-02 0.00000000e+00 1.27819004e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.64078863e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.210371743 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:176.04, Y:127.85, Z:-0.00 [[-3.54676392e-02 -9.99370825e-01 0.00000000e+00 1.76040649e+02] [ 9.99370825e-01 -3.54676392e-02 0.00000000e+00 1.27847223e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.23688312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.240371743 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:176.04, Y:127.85, Z:-0.00 [[-3.55000385e-02 -9.99369675e-01 0.00000000e+00 1.76040840e+02] [ 9.99369675e-01 -3.55000385e-02 0.00000000e+00 1.27849710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.61765105e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.270371743 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:176.04, Y:127.86, Z:-0.00 [[-3.69594895e-02 -9.99316765e-01 0.00000000e+00 1.76041251e+02] [ 9.99316765e-01 -3.69594895e-02 0.00000000e+00 1.27856511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.15305089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.300371743 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:176.04, Y:127.85, Z:0.00 [[-3.93570998e-02 -9.99225209e-01 0.00000000e+00 1.76041038e+02] [ 9.99225209e-01 -3.93570998e-02 0.00000000e+00 1.27854835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.04082991e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.330371743 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:176.04, Y:127.86, Z:0.00 [[-4.04830432e-02 -9.99180226e-01 0.00000000e+00 1.76041954e+02] [ 9.99180226e-01 -4.04830432e-02 0.00000000e+00 1.27859789e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16581739e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36037174300003 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:176.04, Y:127.87, Z:-0.00 [[-4.47857175e-02 -9.98996616e-01 0.00000000e+00 1.76044190e+02] [ 9.98996616e-01 -4.47857175e-02 0.00000000e+00 1.27867136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.34326431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.390371743 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:176.04, Y:127.87, Z:-0.00 [[-4.72035635e-02 -9.98885291e-01 0.00000000e+00 1.76044966e+02] [ 9.98885291e-01 -4.72035635e-02 0.00000000e+00 1.27867780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.30026131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42037174300003 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:176.05, Y:127.90, Z:-0.00 [[-5.28575121e-02 -9.98602065e-01 0.00000000e+00 1.76046243e+02] [ 9.98602065e-01 -5.28575121e-02 0.00000000e+00 1.27896080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.76162313e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.450371743 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:176.05, Y:127.90, Z:-0.00 [[-5.43486541e-02 -9.98522020e-01 0.00000000e+00 1.76047137e+02] [ 9.98522020e-01 -5.43486541e-02 0.00000000e+00 1.27898507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.81468264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48037174300003 meters Centerline goodness : 0.995281 Centerline is valid? [True, True] Translation: X:176.05, Y:127.89, Z:-0.01 [[-5.21665955e-02 -9.98638396e-01 0.00000000e+00 1.76048786e+02] [ 9.98638396e-01 -5.21665955e-02 0.00000000e+00 1.27894088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -6.77552006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.510371743 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:176.05, Y:127.92, Z:-0.01 [[-5.53847826e-02 -9.98465085e-01 0.00000000e+00 1.76048613e+02] [ 9.98465085e-01 -5.53847826e-02 0.00000000e+00 1.27921459e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.00255730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.540371743 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:176.05, Y:127.95, Z:-0.00 [[-5.97452178e-02 -9.98213659e-01 0.00000000e+00 1.76046756e+02] [ 9.98213659e-01 -5.97452178e-02 0.00000000e+00 1.27948013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.93277262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.570371743 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:176.04, Y:127.97, Z:-0.00 [[-6.61868501e-02 -9.97807246e-01 0.00000000e+00 1.76038498e+02] [ 9.97807246e-01 -6.61868501e-02 0.00000000e+00 1.27967289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.87159835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.600371743 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:176.04, Y:128.00, Z:-0.00 [[-6.20172119e-02 -9.98075080e-01 0.00000000e+00 1.76044486e+02] [ 9.98075080e-01 -6.20172119e-02 0.00000000e+00 1.28004290e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.17865652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.630371743 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:176.04, Y:128.01, Z:-0.00 [[-6.06653683e-02 -9.98158160e-01 0.00000000e+00 1.76043052e+02] [ 9.98158160e-01 -6.06653683e-02 0.00000000e+00 1.28011628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76837604e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.660371743 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:176.04, Y:128.04, Z:-0.00 [[-6.12372414e-02 -9.98123239e-01 0.00000000e+00 1.76042829e+02] [ 9.98123239e-01 -6.12372414e-02 0.00000000e+00 1.28039911e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.76837604e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.690371743 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:176.04, Y:128.07, Z:-0.00 [[-6.16548665e-02 -9.98097529e-01 0.00000000e+00 1.76041977e+02] [ 9.98097529e-01 -6.16548665e-02 0.00000000e+00 1.28068437e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.28030448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.720371743 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:176.04, Y:128.07, Z:-0.00 [[-6.22317466e-02 -9.98061726e-01 0.00000000e+00 1.76040680e+02] [ 9.98061726e-01 -6.22317466e-02 0.00000000e+00 1.28068381e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.13216766e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.750371743 meters Centerline goodness : 0.995553 Centerline is valid? [True, True] Translation: X:176.04, Y:128.07, Z:-0.00 [[-6.11571068e-02 -9.98128152e-01 0.00000000e+00 1.76038547e+02] [ 9.98128152e-01 -6.11571068e-02 0.00000000e+00 1.28065162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.08695670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.780371743 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:176.04, Y:128.07, Z:-0.00 [[-6.07163424e-02 -9.98155061e-01 0.00000000e+00 1.76037303e+02] [ 9.98155061e-01 -6.07163424e-02 0.00000000e+00 1.28067632e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.48444989e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.810371743 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:176.03, Y:128.08, Z:0.00 [[-6.18972102e-02 -9.98082529e-01 0.00000000e+00 1.76034750e+02] [ 9.98082529e-01 -6.18972102e-02 0.00000000e+00 1.28075345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.63650713e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.840371743 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:176.03, Y:128.08, Z:0.00 [[-6.20561367e-02 -9.98072661e-01 0.00000000e+00 1.76033827e+02] [ 9.98072661e-01 -6.20561367e-02 0.00000000e+00 1.28081499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16105345e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.870371743 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:176.03, Y:128.11, Z:-0.00 [[-6.35505834e-02 -9.97978619e-01 0.00000000e+00 1.76032937e+02] [ 9.97978619e-01 -6.35505834e-02 0.00000000e+00 1.28110855e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.07735878e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.900371743 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:176.03, Y:128.11, Z:0.00 [[-6.71342763e-02 -9.97743950e-01 0.00000000e+00 1.76030677e+02] [ 9.97743950e-01 -6.71342763e-02 0.00000000e+00 1.28111419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15630771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.930371743 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:176.03, Y:128.13, Z:0.00 [[-7.03931405e-02 -9.97519326e-01 0.00000000e+00 1.76028783e+02] [ 9.97519326e-01 -7.03931405e-02 0.00000000e+00 1.28130452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39637116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.960371743 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:176.02, Y:128.12, Z:-0.00 [[-8.06268216e-02 -9.96744358e-01 0.00000000e+00 1.76023492e+02] [ 9.96744358e-01 -8.06268216e-02 0.00000000e+00 1.28120221e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79681114e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.990371743 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:176.03, Y:128.13, Z:0.00 [[-7.49388913e-02 -9.97188128e-01 0.00000000e+00 1.76027157e+02] [ 9.97188128e-01 -7.49388913e-02 0.00000000e+00 1.28125784e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02222309e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.020371743 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:176.03, Y:128.13, Z:0.00 [[-7.49306363e-02 -9.97188748e-01 0.00000000e+00 1.76026138e+02] [ 9.97188748e-01 -7.49306363e-02 0.00000000e+00 1.28125739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65072186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.050371743 meters Centerline goodness : 0.995598 Centerline is valid? [True, True] Translation: X:176.02, Y:128.14, Z:-0.00 [[-7.43986385e-02 -9.97228581e-01 0.00000000e+00 1.76024706e+02] [ 9.97228581e-01 -7.43986385e-02 0.00000000e+00 1.28135407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.44373405e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.080371743 meters Centerline goodness : 0.995771 Centerline is valid? [True, True] Translation: X:176.02, Y:128.13, Z:0.00 [[-7.52276740e-02 -9.97166384e-01 0.00000000e+00 1.76022697e+02] [ 9.97166384e-01 -7.52276740e-02 0.00000000e+00 1.28132970e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86371566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11037174300003 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:176.02, Y:128.14, Z:0.00 [[-7.37076247e-02 -9.97279894e-01 0.00000000e+00 1.76021381e+02] [ 9.97279894e-01 -7.37076247e-02 0.00000000e+00 1.28138349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.40935264e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.140371743 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:176.02, Y:128.17, Z:-0.00 [[-7.39982101e-02 -9.97258374e-01 0.00000000e+00 1.76019822e+02] [ 9.97258374e-01 -7.39982101e-02 0.00000000e+00 1.28167787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.52921405e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17037174300003 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:176.02, Y:128.16, Z:0.00 [[-7.32060931e-02 -9.97316834e-01 0.00000000e+00 1.76016527e+02] [ 9.97316834e-01 -7.32060931e-02 0.00000000e+00 1.28164979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21302692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.200371743 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:176.01, Y:128.17, Z:0.00 [[-7.18884138e-02 -9.97412681e-01 0.00000000e+00 1.76014773e+02] [ 9.97412681e-01 -7.18884138e-02 0.00000000e+00 1.28169823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54455472e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23037174300003 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:176.01, Y:128.18, Z:0.00 [[-7.02225449e-02 -9.97531350e-01 0.00000000e+00 1.76011192e+02] [ 9.97531350e-01 -7.02225449e-02 0.00000000e+00 1.28181042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15552444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.260371743 meters Centerline goodness : 0.996075 Centerline is valid? [True, True] Translation: X:176.01, Y:128.21, Z:0.00 [[-6.99507891e-02 -9.97550443e-01 0.00000000e+00 1.76009407e+02] [ 9.97550443e-01 -6.99507891e-02 0.00000000e+00 1.28208448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07162315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.290371743 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:176.01, Y:128.24, Z:0.00 [[-6.98526159e-02 -9.97557323e-01 0.00000000e+00 1.76008434e+02] [ 9.97557323e-01 -6.98526159e-02 0.00000000e+00 1.28236571e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09546840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.320371743 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:176.01, Y:128.24, Z:0.00 [[-6.74665607e-02 -9.97721536e-01 0.00000000e+00 1.76007607e+02] [ 9.97721536e-01 -6.74665607e-02 0.00000000e+00 1.28239241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.61509067e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.350371743 meters Centerline goodness : 0.995687 Centerline is valid? [True, True] Translation: X:176.01, Y:128.27, Z:0.00 [[-6.87105877e-02 -9.97636635e-01 0.00000000e+00 1.76006353e+02] [ 9.97636635e-01 -6.87105877e-02 0.00000000e+00 1.28267272e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70567760e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.380371743 meters Centerline goodness : 0.995887 Centerline is valid? [True, True] Translation: X:176.01, Y:128.26, Z:0.00 [[-6.83993810e-02 -9.97658020e-01 0.00000000e+00 1.76005798e+02] [ 9.97658020e-01 -6.83993810e-02 0.00000000e+00 1.28260577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.78880212e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.410371743 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:176.01, Y:128.29, Z:-0.00 [[-6.84296599e-02 -9.97655944e-01 0.00000000e+00 1.76005861e+02] [ 9.97655944e-01 -6.84296599e-02 0.00000000e+00 1.28290129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -7.05407122e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.440371743 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:176.01, Y:128.29, Z:-0.00 [[-6.73079841e-02 -9.97732246e-01 0.00000000e+00 1.76005413e+02] [ 9.97732246e-01 -6.73079841e-02 0.00000000e+00 1.28285186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.24799401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.470371743 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:175.99, Y:128.30, Z:0.00 [[-7.38876135e-02 -9.97266574e-01 0.00000000e+00 1.75994591e+02] [ 9.97266574e-01 -7.38876135e-02 0.00000000e+00 1.28301624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48262632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.500371743 meters Centerline goodness : 0.995858 Centerline is valid? [True, True] Translation: X:175.99, Y:128.33, Z:0.00 [[-7.34676671e-02 -9.97297599e-01 0.00000000e+00 1.75994298e+02] [ 9.97297599e-01 -7.34676671e-02 0.00000000e+00 1.28329342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44883388e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.530371743 meters Centerline goodness : 0.995849 Centerline is valid? [True, True] Translation: X:175.99, Y:128.36, Z:0.00 [[-7.20281887e-02 -9.97402597e-01 0.00000000e+00 1.75992881e+02] [ 9.97402597e-01 -7.20281887e-02 0.00000000e+00 1.28356228e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13435637e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.560371743 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:175.99, Y:128.38, Z:0.00 [[-7.15730910e-02 -9.97435358e-01 0.00000000e+00 1.75991425e+02] [ 9.97435358e-01 -7.15730910e-02 0.00000000e+00 1.28384172e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26172186e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.590371743 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:175.99, Y:128.41, Z:0.00 [[-7.08036254e-02 -9.97490274e-01 0.00000000e+00 1.75990309e+02] [ 9.97490274e-01 -7.08036254e-02 0.00000000e+00 1.28411742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75744792e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.620371743 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:176.00, Y:128.40, Z:-0.00 [[-5.26946496e-02 -9.98610672e-01 0.00000000e+00 1.75998219e+02] [ 9.98610672e-01 -5.26946496e-02 0.00000000e+00 1.28397289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.92915376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.650371743 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:176.00, Y:128.43, Z:-0.00 [[-5.05611114e-02 -9.98720969e-01 0.00000000e+00 1.75996783e+02] [ 9.98720969e-01 -5.05611114e-02 0.00000000e+00 1.28425215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.39575813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.680371743 meters Centerline goodness : 0.995165 Centerline is valid? [True, True] Translation: X:176.00, Y:128.45, Z:-0.00 [[-5.17927628e-02 -9.98657854e-01 0.00000000e+00 1.75995236e+02] [ 9.98657854e-01 -5.17927628e-02 0.00000000e+00 1.28453535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.79715568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.710371743 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:175.99, Y:128.48, Z:-0.00 [[-4.91040998e-02 -9.98793666e-01 0.00000000e+00 1.75993489e+02] [ 9.98793666e-01 -4.91040998e-02 0.00000000e+00 1.28480834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.67258388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.740371743 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:175.99, Y:128.51, Z:-0.01 [[-4.80584590e-02 -9.98844525e-01 0.00000000e+00 1.75993002e+02] [ 9.98844525e-01 -4.80584590e-02 0.00000000e+00 1.28508342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.65463591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.770371743 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:175.99, Y:128.54, Z:-0.00 [[-4.95041355e-02 -9.98773919e-01 0.00000000e+00 1.75990907e+02] [ 9.98773919e-01 -4.95041355e-02 0.00000000e+00 1.28536080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.10355926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.800371743 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:175.99, Y:128.56, Z:-0.00 [[-5.08354840e-02 -9.98707041e-01 0.00000000e+00 1.75987117e+02] [ 9.98707041e-01 -5.08354840e-02 0.00000000e+00 1.28562187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.44029380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.830371743 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:175.99, Y:128.59, Z:-0.00 [[-5.24256746e-02 -9.98624829e-01 0.00000000e+00 1.75986001e+02] [ 9.98624829e-01 -5.24256746e-02 0.00000000e+00 1.28591382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.02992606e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86037174300003 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:175.97, Y:128.61, Z:0.00 [[-6.22585683e-02 -9.98060054e-01 0.00000000e+00 1.75973620e+02] [ 9.98060054e-01 -6.22585683e-02 0.00000000e+00 1.28607090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.61031561e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.890371743 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:175.97, Y:128.64, Z:0.01 [[-6.55435909e-02 -9.97849707e-01 0.00000000e+00 1.75973776e+02] [ 9.97849707e-01 -6.55435909e-02 0.00000000e+00 1.28636230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05210605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92037174300003 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:175.98, Y:128.68, Z:-0.00 [[-6.01239274e-02 -9.98190920e-01 0.00000000e+00 1.75984479e+02] [ 9.98190920e-01 -6.01239274e-02 0.00000000e+00 1.28675013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.13187773e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.950371743 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:175.99, Y:128.70, Z:-0.00 [[-6.18625579e-02 -9.98084678e-01 0.00000000e+00 1.75985696e+02] [ 9.98084678e-01 -6.18625579e-02 0.00000000e+00 1.28703173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.47321181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98037174300003 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:175.98, Y:128.73, Z:-0.00 [[-6.28189493e-02 -9.98024939e-01 0.00000000e+00 1.75984061e+02] [ 9.98024939e-01 -6.28189493e-02 0.00000000e+00 1.28730631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.38128123e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.010371743 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:175.98, Y:128.76, Z:-0.00 [[-6.27818813e-02 -9.98027272e-01 0.00000000e+00 1.75983253e+02] [ 9.98027272e-01 -6.27818813e-02 0.00000000e+00 1.28757225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.23586594e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.040371743 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:175.98, Y:128.78, Z:0.00 [[-6.39241885e-02 -9.97954758e-01 0.00000000e+00 1.75981634e+02] [ 9.97954758e-01 -6.39241885e-02 0.00000000e+00 1.28784423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35738766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.070371743 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:175.98, Y:128.80, Z:0.00 [[-6.24053890e-02 -9.98050884e-01 0.00000000e+00 1.75981599e+02] [ 9.98050884e-01 -6.24053890e-02 0.00000000e+00 1.28795833e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78826622e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.100371743 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:175.98, Y:128.81, Z:0.00 [[-6.31887409e-02 -9.98001595e-01 0.00000000e+00 1.75981178e+02] [ 9.98001595e-01 -6.31887409e-02 0.00000000e+00 1.28805173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79495962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.130371743 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:175.97, Y:128.83, Z:0.00 [[-6.80272511e-02 -9.97683463e-01 0.00000000e+00 1.75974354e+02] [ 9.97683463e-01 -6.80272511e-02 0.00000000e+00 1.28825464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12853364e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.160371743 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:175.98, Y:128.86, Z:0.00 [[-6.37404931e-02 -9.97966507e-01 0.00000000e+00 1.75981231e+02] [ 9.97966507e-01 -6.37404931e-02 0.00000000e+00 1.28860591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43429191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.190371743 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:175.98, Y:128.85, Z:0.00 [[-6.41780771e-02 -9.97938462e-01 0.00000000e+00 1.75981041e+02] [ 9.97938462e-01 -6.41780771e-02 0.00000000e+00 1.28848772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10674337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.220371743 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:175.98, Y:128.84, Z:0.00 [[-6.53111510e-02 -9.97864948e-01 0.00000000e+00 1.75980447e+02] [ 9.97864948e-01 -6.53111510e-02 0.00000000e+00 1.28843464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70542490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.250371743 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:175.98, Y:128.85, Z:0.00 [[-7.31406766e-02 -9.97321634e-01 0.00000000e+00 1.75976408e+02] [ 9.97321634e-01 -7.31406766e-02 0.00000000e+00 1.28850304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32742329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.280371743 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:175.98, Y:128.84, Z:0.00 [[-6.58139117e-02 -9.97831914e-01 0.00000000e+00 1.75981451e+02] [ 9.97831914e-01 -6.58139117e-02 0.00000000e+00 1.28837343e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55707487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.310371743 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:175.98, Y:128.85, Z:0.00 [[-6.91379681e-02 -9.97607108e-01 0.00000000e+00 1.75983225e+02] [ 9.97607108e-01 -6.91379681e-02 0.00000000e+00 1.28849017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28858528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.340371743 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:175.98, Y:128.86, Z:0.00 [[-6.87689818e-02 -9.97632611e-01 0.00000000e+00 1.75984724e+02] [ 9.97632611e-01 -6.87689818e-02 0.00000000e+00 1.28856395e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20783635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.370371743 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:175.99, Y:128.88, Z:0.00 [[-7.28634437e-02 -9.97341927e-01 0.00000000e+00 1.75986239e+02] [ 9.97341927e-01 -7.28634437e-02 0.00000000e+00 1.28883705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13606398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.400371743 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:175.99, Y:128.91, Z:0.00 [[-7.48821446e-02 -9.97192391e-01 0.00000000e+00 1.75987290e+02] [ 9.97192391e-01 -7.48821446e-02 0.00000000e+00 1.28912749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38421331e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.430371743 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:175.99, Y:128.92, Z:0.00 [[-7.45454116e-02 -9.97217620e-01 0.00000000e+00 1.75989309e+02] [ 9.97217620e-01 -7.45454116e-02 0.00000000e+00 1.28922747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57027687e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.460371743 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:175.99, Y:128.95, Z:0.00 [[-7.61619111e-02 -9.97095463e-01 0.00000000e+00 1.75991420e+02] [ 9.97095463e-01 -7.61619111e-02 0.00000000e+00 1.28951038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96523244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.490371743 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:175.99, Y:128.94, Z:0.00 [[-7.63746330e-02 -9.97079192e-01 0.00000000e+00 1.75990929e+02] [ 9.97079192e-01 -7.63746330e-02 0.00000000e+00 1.28943432e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.51474716e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.520371743 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:175.99, Y:128.93, Z:0.00 [[-7.41028738e-02 -9.97250602e-01 0.00000000e+00 1.75991358e+02] [ 9.97250602e-01 -7.41028738e-02 0.00000000e+00 1.28934848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43622948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.550371743 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:175.99, Y:128.96, Z:0.00 [[-7.14178417e-02 -9.97446486e-01 0.00000000e+00 1.75991533e+02] [ 9.97446486e-01 -7.14178417e-02 0.00000000e+00 1.28962352e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52840698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.580371743 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:175.99, Y:128.99, Z:0.00 [[-7.19777439e-02 -9.97406238e-01 0.00000000e+00 1.75991342e+02] [ 9.97406238e-01 -7.19777439e-02 0.00000000e+00 1.28990606e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52840698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61037174300003 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:175.99, Y:129.02, Z:0.00 [[-7.10344010e-02 -9.97473866e-01 0.00000000e+00 1.75991598e+02] [ 9.97473866e-01 -7.10344010e-02 0.00000000e+00 1.29019125e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.21517857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.640371743 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:175.99, Y:129.04, Z:0.01 [[-6.67562622e-02 -9.97769313e-01 0.00000000e+00 1.75992055e+02] [ 9.97769313e-01 -6.67562622e-02 0.00000000e+00 1.29041732e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39325491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67037174300003 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:175.99, Y:129.03, Z:0.00 [[-6.32739144e-02 -9.97996198e-01 0.00000000e+00 1.75991964e+02] [ 9.97996198e-01 -6.32739144e-02 0.00000000e+00 1.29034474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.60310695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.700371743 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:175.99, Y:129.06, Z:0.01 [[-6.22620105e-02 -9.98059839e-01 0.00000000e+00 1.75990034e+02] [ 9.98059839e-01 -6.22620105e-02 0.00000000e+00 1.29060440e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57196190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73037174300003 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:175.99, Y:129.09, Z:0.01 [[-5.66870759e-02 -9.98391995e-01 0.00000000e+00 1.75989622e+02] [ 9.98391995e-01 -5.66870759e-02 0.00000000e+00 1.29088210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32348330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.760371743 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:175.99, Y:129.12, Z:0.01 [[-5.57929531e-02 -9.98442360e-01 0.00000000e+00 1.75988263e+02] [ 9.98442360e-01 -5.57929531e-02 0.00000000e+00 1.29115603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20595165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.790371743 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:175.99, Y:129.13, Z:0.01 [[-5.29924302e-02 -9.98594914e-01 0.00000000e+00 1.75987755e+02] [ 9.98594914e-01 -5.29924302e-02 0.00000000e+00 1.29129588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13085781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.820371743 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:175.99, Y:129.12, Z:0.01 [[-5.01825105e-02 -9.98740064e-01 0.00000000e+00 1.75985030e+02] [ 9.98740064e-01 -5.01825105e-02 0.00000000e+00 1.29119512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14986510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.850371743 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:175.98, Y:129.11, Z:0.01 [[-4.52749841e-02 -9.98974562e-01 0.00000000e+00 1.75984929e+02] [ 9.98974562e-01 -4.52749841e-02 0.00000000e+00 1.29111421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.11240087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.880371743 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:175.98, Y:129.13, Z:0.01 [[-4.51527111e-02 -9.98980096e-01 0.00000000e+00 1.75976069e+02] [ 9.98980096e-01 -4.51527111e-02 0.00000000e+00 1.29131749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07721257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.910371743 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:175.98, Y:129.17, Z:0.01 [[-3.93228069e-02 -9.99226559e-01 0.00000000e+00 1.75981587e+02] [ 9.99226559e-01 -3.93228069e-02 0.00000000e+00 1.29165950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.71281820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.940371743 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:175.98, Y:129.17, Z:0.01 [[-3.63872836e-02 -9.99337764e-01 0.00000000e+00 1.75981855e+02] [ 9.99337764e-01 -3.63872836e-02 0.00000000e+00 1.29167243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.43282761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.970371743 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:175.98, Y:129.19, Z:0.01 [[-3.39532398e-02 -9.99423423e-01 0.00000000e+00 1.75981544e+02] [ 9.99423423e-01 -3.39532398e-02 0.00000000e+00 1.29194341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.45538913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.000371743 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:175.98, Y:129.22, Z:0.01 [[-3.14907752e-02 -9.99504043e-01 0.00000000e+00 1.75982607e+02] [ 9.99504043e-01 -3.14907752e-02 0.00000000e+00 1.29224952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.84234344e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.030371743 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:175.98, Y:129.24, Z:0.01 [[-3.06327561e-02 -9.99530707e-01 0.00000000e+00 1.75982208e+02] [ 9.99530707e-01 -3.06327561e-02 0.00000000e+00 1.29238690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52227461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.060371743 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:175.98, Y:129.23, Z:0.01 [[-3.03213753e-02 -9.99540201e-01 0.00000000e+00 1.75980461e+02] [ 9.99540201e-01 -3.03213753e-02 0.00000000e+00 1.29234537e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05105539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.090371743 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:175.97, Y:129.25, Z:0.01 [[-3.67043376e-02 -9.99326169e-01 0.00000000e+00 1.75974214e+02] [ 9.99326169e-01 -3.67043376e-02 0.00000000e+00 1.29248244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17689445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.120371743 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:175.98, Y:129.25, Z:0.01 [[-2.34824197e-02 -9.99724250e-01 0.00000000e+00 1.75980885e+02] [ 9.99724250e-01 -2.34824197e-02 0.00000000e+00 1.29247873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79831187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.150371743 meters Centerline goodness : 0.995125 Centerline is valid? [True, True] Translation: X:175.98, Y:129.25, Z:0.01 [[-3.05077381e-02 -9.99534531e-01 0.00000000e+00 1.75975438e+02] [ 9.99534531e-01 -3.05077381e-02 0.00000000e+00 1.29249287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17004847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.180371743 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:175.98, Y:129.24, Z:0.01 [[-1.79757015e-02 -9.99838424e-01 0.00000000e+00 1.75982293e+02] [ 9.99838424e-01 -1.79757015e-02 0.00000000e+00 1.29242654e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01357466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.210371743 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:175.99, Y:129.24, Z:0.01 [[-1.19340710e-02 -9.99928786e-01 0.00000000e+00 1.75985165e+02] [ 9.99928786e-01 -1.19340710e-02 0.00000000e+00 1.29235718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67745678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.240371743 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:175.99, Y:129.26, Z:0.01 [[-8.97756867e-03 -9.99959701e-01 0.00000000e+00 1.75987373e+02] [ 9.99959701e-01 -8.97756867e-03 0.00000000e+00 1.29263108e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.46052800e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.270371743 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:175.99, Y:129.29, Z:0.01 [[-8.18688193e-03 -9.99966487e-01 0.00000000e+00 1.75989347e+02] [ 9.99966487e-01 -8.18688193e-03 0.00000000e+00 1.29291438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24515316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.300371743 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:175.99, Y:129.32, Z:0.01 [[-9.46479098e-03 -9.99955208e-01 0.00000000e+00 1.75989960e+02] [ 9.99955208e-01 -9.46479098e-03 0.00000000e+00 1.29318916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.99012866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.330371743 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:175.98, Y:129.34, Z:0.01 [[-1.83729589e-02 -9.99831203e-01 0.00000000e+00 1.75984449e+02] [ 9.99831203e-01 -1.83729589e-02 0.00000000e+00 1.29335663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.76909106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36037174300003 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:175.99, Y:129.36, Z:0.01 [[-2.01329639e-02 -9.99797311e-01 0.00000000e+00 1.75987246e+02] [ 9.99797311e-01 -2.01329639e-02 0.00000000e+00 1.29363340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17194633e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.390371743 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:176.00, Y:129.41, Z:0.00 [[-1.57209628e-02 -9.99876418e-01 0.00000000e+00 1.76003663e+02] [ 9.99876418e-01 -1.57209628e-02 0.00000000e+00 1.29405540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25039075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42037174300003 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:176.01, Y:129.42, Z:0.00 [[-1.97724240e-02 -9.99804507e-01 0.00000000e+00 1.76006046e+02] [ 9.99804507e-01 -1.97724240e-02 0.00000000e+00 1.29420706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45631457e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.450371743 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:176.00, Y:129.76, Z:0.01 [[-4.04456979e-02 -9.99181738e-01 0.00000000e+00 1.76003219e+02] [ 9.99181738e-01 -4.04456979e-02 0.00000000e+00 1.29757813e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70221462e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48037174300003 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:176.82, Y:129.63, Z:0.88 [[-4.59085219e-02 9.98945648e-01 0.00000000e+00 1.76815390e+02] [ 9.98945648e-01 4.59085219e-02 0.00000000e+00 1.29625073e+02] [ 0.00000000e+00 0.00000000e+00 -1.00000000e+00 8.81954870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.510371743 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:176.04, Y:129.57, Z:0.01 [[-1.17174770e-01 -9.93111310e-01 0.00000000e+00 1.76044990e+02] [ 9.93111310e-01 -1.17174770e-01 0.00000000e+00 1.29567622e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.92213893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.540371743 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:176.05, Y:129.57, Z:0.01 [[-1.19569124e-01 -9.92825878e-01 0.00000000e+00 1.76047221e+02] [ 9.92825878e-01 -1.19569124e-01 0.00000000e+00 1.29570878e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.70710949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.570371743 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:176.06, Y:129.55, Z:0.00 [[-1.03949801e-01 -9.94582545e-01 0.00000000e+00 1.76063791e+02] [ 9.94582545e-01 -1.03949801e-01 0.00000000e+00 1.29545306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79290874e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.600371743 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:176.05, Y:129.59, Z:0.00 [[-1.26927159e-01 -9.91912041e-01 0.00000000e+00 1.76053344e+02] [ 9.91912041e-01 -1.26927159e-01 0.00000000e+00 1.29586497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81123577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.630371743 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:176.06, Y:129.58, Z:0.00 [[-1.30811719e-01 -9.91407229e-01 0.00000000e+00 1.76057820e+02] [ 9.91407229e-01 -1.30811719e-01 0.00000000e+00 1.29582609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54244231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.660371743 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:176.06, Y:129.59, Z:0.00 [[-1.31653800e-01 -9.91295757e-01 0.00000000e+00 1.76059416e+02] [ 9.91295757e-01 -1.31653800e-01 0.00000000e+00 1.29589078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97389301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.690371743 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:176.06, Y:129.59, Z:0.00 [[-1.31961057e-01 -9.91254901e-01 0.00000000e+00 1.76061104e+02] [ 9.91254901e-01 -1.31961057e-01 0.00000000e+00 1.29592989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38613059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.720371743 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:176.07, Y:129.58, Z:0.00 [[-1.18011713e-01 -9.93012203e-01 0.00000000e+00 1.76072558e+02] [ 9.93012203e-01 -1.18011713e-01 0.00000000e+00 1.29579674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83068832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.750371743 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:176.07, Y:129.59, Z:0.00 [[-1.29535432e-01 -9.91574794e-01 0.00000000e+00 1.76065965e+02] [ 9.91574794e-01 -1.29535432e-01 0.00000000e+00 1.29592142e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86083388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.780371743 meters Centerline goodness : 0.995356 Centerline is valid? [True, True] Translation: X:176.08, Y:129.58, Z:0.00 [[-1.13962657e-01 -9.93485034e-01 0.00000000e+00 1.76075018e+02] [ 9.93485034e-01 -1.13962657e-01 0.00000000e+00 1.29584613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.13334948e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.810371743 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:176.07, Y:129.59, Z:-0.00 [[-1.22757994e-01 -9.92436635e-01 0.00000000e+00 1.76070156e+02] [ 9.92436635e-01 -1.22757994e-01 0.00000000e+00 1.29593897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.36562487e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.840371743 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:176.07, Y:129.60, Z:0.00 [[-1.19964535e-01 -9.92778178e-01 0.00000000e+00 1.76071248e+02] [ 9.92778178e-01 -1.19964535e-01 0.00000000e+00 1.29598288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47916045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.870371743 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:176.07, Y:129.59, Z:0.00 [[-1.15470020e-01 -9.93310966e-01 0.00000000e+00 1.76074451e+02] [ 9.93310966e-01 -1.15470020e-01 0.00000000e+00 1.29594051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94246270e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.900371743 meters Centerline goodness : 0.995796 Centerline is valid? [True, True] Translation: X:176.08, Y:129.60, Z:-0.00 [[-1.13264466e-01 -9.93564875e-01 0.00000000e+00 1.76075904e+02] [ 9.93564875e-01 -1.13264466e-01 0.00000000e+00 1.29595865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.10337952e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.930371743 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:176.08, Y:129.60, Z:0.00 [[-1.11414582e-01 -9.93774014e-01 0.00000000e+00 1.76077406e+02] [ 9.93774014e-01 -1.11414582e-01 0.00000000e+00 1.29599082e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.90904770e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.960371743 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:176.08, Y:129.60, Z:0.00 [[-1.09781179e-01 -9.93955780e-01 0.00000000e+00 1.76078821e+02] [ 9.93955780e-01 -1.09781179e-01 0.00000000e+00 1.29602384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56854979e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.990371743 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:176.09, Y:129.61, Z:-0.00 [[-8.96017561e-02 -9.95977673e-01 0.00000000e+00 1.76093391e+02] [ 9.95977673e-01 -8.96017561e-02 0.00000000e+00 1.29607501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.07208698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.020371743 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:176.09, Y:129.62, Z:0.00 [[-1.11200662e-01 -9.93797974e-01 0.00000000e+00 1.76087570e+02] [ 9.93797974e-01 -1.11200662e-01 0.00000000e+00 1.29616506e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25920045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.050371743 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:176.09, Y:129.61, Z:0.00 [[-1.13325680e-01 -9.93557895e-01 0.00000000e+00 1.76090889e+02] [ 9.93557895e-01 -1.13325680e-01 0.00000000e+00 1.29614507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20681536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.080371743 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:176.09, Y:129.62, Z:0.00 [[-1.16273391e-01 -9.93217246e-01 0.00000000e+00 1.76093519e+02] [ 9.93217246e-01 -1.16273391e-01 0.00000000e+00 1.29622803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43836718e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11037174300003 meters Centerline goodness : 0.994589 Centerline is valid? [True, True] Translation: X:176.10, Y:129.63, Z:-0.00 [[-1.19566625e-01 -9.92826179e-01 0.00000000e+00 1.76096657e+02] [ 9.92826179e-01 -1.19566625e-01 0.00000000e+00 1.29625875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.45065471e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.140371743 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:176.10, Y:129.63, Z:-0.00 [[-1.27499198e-01 -9.91838674e-01 0.00000000e+00 1.76102274e+02] [ 9.91838674e-01 -1.27499198e-01 0.00000000e+00 1.29628944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.91633769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17037174300003 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:176.10, Y:129.64, Z:-0.00 [[-1.31024195e-01 -9.91379171e-01 0.00000000e+00 1.76104592e+02] [ 9.91379171e-01 -1.31024195e-01 0.00000000e+00 1.29639875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -2.86991290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.200371743 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:176.11, Y:129.64, Z:-0.00 [[-1.37106130e-01 -9.90556363e-01 0.00000000e+00 1.76109566e+02] [ 9.90556363e-01 -1.37106130e-01 0.00000000e+00 1.29643269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.17117328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.230371743 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:176.11, Y:129.65, Z:-0.00 [[-1.38410837e-01 -9.90374899e-01 0.00000000e+00 1.76110838e+02] [ 9.90374899e-01 -1.38410837e-01 0.00000000e+00 1.29649332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -3.42111636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.260371743 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:176.11, Y:129.65, Z:-0.00 [[-1.38790526e-01 -9.90321761e-01 0.00000000e+00 1.76111952e+02] [ 9.90321761e-01 -1.38790526e-01 0.00000000e+00 1.29647733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -4.56123053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.290371743 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:176.12, Y:129.66, Z:-0.01 [[-1.21471597e-01 -9.92594908e-01 0.00000000e+00 1.76120983e+02] [ 9.92594908e-01 -1.21471597e-01 0.00000000e+00 1.29662316e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -5.77437647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.320371743 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:176.12, Y:129.66, Z:-0.00 [[-1.23196779e-01 -9.92382262e-01 0.00000000e+00 1.76120104e+02] [ 9.92382262e-01 -1.23196779e-01 0.00000000e+00 1.29662256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.25456985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.350371743 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:176.11, Y:129.65, Z:-0.00 [[-1.34508294e-01 -9.90912468e-01 0.00000000e+00 1.76113231e+02] [ 9.90912468e-01 -1.34508294e-01 0.00000000e+00 1.29653504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.88700789e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.380371743 meters Centerline goodness : 0.993622 Centerline is valid? [True, True] Translation: X:176.12, Y:129.66, Z:-0.00 [[-1.20826139e-01 -9.92673685e-01 0.00000000e+00 1.76120350e+02] [ 9.92673685e-01 -1.20826139e-01 0.00000000e+00 1.29660040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.18933689e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.410371743 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:176.12, Y:129.65, Z:-0.00 [[-1.17271366e-01 -9.93099908e-01 0.00000000e+00 1.76121241e+02] [ 9.93099908e-01 -1.17271366e-01 0.00000000e+00 1.29648592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -9.25578059e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.440371743 meters Centerline goodness : 0.992698 Centerline is valid? [True, True] Translation: X:176.12, Y:129.66, Z:0.00 [[-1.19296851e-01 -9.92858631e-01 0.00000000e+00 1.76119009e+02] [ 9.92858631e-01 -1.19296851e-01 0.00000000e+00 1.29660475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08277789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.470371743 meters Centerline goodness : 0.992698 Centerline is valid? [True, True] Translation: X:176.12, Y:129.66, Z:0.00 [[-1.18937584e-01 -9.92901733e-01 0.00000000e+00 1.76118743e+02] [ 9.92901733e-01 -1.18937584e-01 0.00000000e+00 1.29663092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08277789e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.500371743 meters Centerline goodness : 0.992761 Centerline is valid? [True, True] Translation: X:176.12, Y:129.64, Z:0.00 [[-1.13174899e-01 -9.93575081e-01 0.00000000e+00 1.76119704e+02] [ 9.93575081e-01 -1.13174899e-01 0.00000000e+00 1.29635431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91790397e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.530371743 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:176.12, Y:129.65, Z:0.00 [[-1.12842638e-01 -9.93612872e-01 0.00000000e+00 1.76116830e+02] [ 9.93612872e-01 -1.12842638e-01 0.00000000e+00 1.29647581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56310010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.560371743 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:176.11, Y:129.65, Z:0.01 [[-1.08699250e-01 -9.94074682e-01 0.00000000e+00 1.76112461e+02] [ 9.94074682e-01 -1.08699250e-01 0.00000000e+00 1.29648286e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.96618554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.590371743 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:176.11, Y:129.64, Z:0.00 [[-9.71670294e-02 -9.95268089e-01 0.00000000e+00 1.76112189e+02] [ 9.95268089e-01 -9.71670294e-02 0.00000000e+00 1.29637327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.90471631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.620371743 meters Centerline goodness : 0.992423 Centerline is valid? [True, True] Translation: X:176.11, Y:129.63, Z:0.01 [[-9.36720146e-02 -9.95603111e-01 0.00000000e+00 1.76111219e+02] [ 9.95603111e-01 -9.36720146e-02 0.00000000e+00 1.29630354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82261550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.650371743 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:176.10, Y:129.65, Z:0.01 [[-1.05546467e-01 -9.94414372e-01 0.00000000e+00 1.76101483e+02] [ 9.94414372e-01 -1.05546467e-01 0.00000000e+00 1.29654799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62323754e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.680371743 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:176.10, Y:129.66, Z:0.01 [[-1.03213962e-01 -9.94659177e-01 0.00000000e+00 1.76099365e+02] [ 9.94659177e-01 -1.03213962e-01 0.00000000e+00 1.29658918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64391707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.710371743 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:176.10, Y:129.66, Z:0.01 [[-1.01642787e-01 -9.94820961e-01 0.00000000e+00 1.76096529e+02] [ 9.94820961e-01 -1.01642787e-01 0.00000000e+00 1.29662279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03634191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.740371743 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:176.09, Y:129.67, Z:0.01 [[-1.03734249e-01 -9.94605050e-01 0.00000000e+00 1.76094314e+02] [ 9.94605050e-01 -1.03734249e-01 0.00000000e+00 1.29669284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00598416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.770371743 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:176.09, Y:129.67, Z:0.01 [[-1.05666584e-01 -9.94401616e-01 0.00000000e+00 1.76093198e+02] [ 9.94401616e-01 -1.05666584e-01 0.00000000e+00 1.29669278e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02966186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.800371743 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:176.10, Y:129.66, Z:0.01 [[-8.92417142e-02 -9.96009998e-01 0.00000000e+00 1.76101656e+02] [ 9.96009998e-01 -8.92417142e-02 0.00000000e+00 1.29664619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76786785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.830371743 meters Centerline goodness : 0.992266 Centerline is valid? [True, True] Translation: X:176.10, Y:129.67, Z:0.01 [[-9.60060894e-02 -9.95380747e-01 0.00000000e+00 1.76099674e+02] [ 9.95380747e-01 -9.60060894e-02 0.00000000e+00 1.29667546e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.43620017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86037174300003 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:176.09, Y:129.68, Z:0.01 [[-1.15536737e-01 -9.93303208e-01 0.00000000e+00 1.76090758e+02] [ 9.93303208e-01 -1.15536737e-01 0.00000000e+00 1.29679067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03748115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.890371743 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:176.10, Y:129.68, Z:0.00 [[-1.04715910e-01 -9.94502176e-01 0.00000000e+00 1.76098262e+02] [ 9.94502176e-01 -1.04715910e-01 0.00000000e+00 1.29684469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62011594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92037174300003 meters Centerline goodness : 0.992284 Centerline is valid? [True, True] Translation: X:176.10, Y:129.70, Z:0.00 [[-1.08635228e-01 -9.94081680e-01 0.00000000e+00 1.76096447e+02] [ 9.94081680e-01 -1.08635228e-01 0.00000000e+00 1.29698466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07744146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.950371743 meters Centerline goodness : 0.991909 Centerline is valid? [True, True] Translation: X:176.09, Y:129.70, Z:0.01 [[-1.23369230e-01 -9.92360838e-01 0.00000000e+00 1.76088828e+02] [ 9.92360838e-01 -1.23369230e-01 0.00000000e+00 1.29698449e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42529903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.980371743 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:176.10, Y:129.70, Z:0.00 [[-1.10535206e-01 -9.93872209e-01 0.00000000e+00 1.76095457e+02] [ 9.93872209e-01 -1.10535206e-01 0.00000000e+00 1.29700246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88401985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.010371743 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:176.09, Y:129.70, Z:0.01 [[-1.25972073e-01 -9.92033788e-01 0.00000000e+00 1.76088030e+02] [ 9.92033788e-01 -1.25972073e-01 0.00000000e+00 1.29695521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09931769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.040371743 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:176.09, Y:129.70, Z:0.01 [[-1.26711196e-01 -9.91939652e-01 0.00000000e+00 1.76086432e+02] [ 9.91939652e-01 -1.26711196e-01 0.00000000e+00 1.29702879e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.18330109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.070371743 meters Centerline goodness : 0.992744 Centerline is valid? [True, True] Translation: X:176.09, Y:129.69, Z:0.01 [[-1.15257945e-01 -9.93335596e-01 0.00000000e+00 1.76092169e+02] [ 9.93335596e-01 -1.15257945e-01 0.00000000e+00 1.29693438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59273577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.100371743 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:176.09, Y:129.70, Z:0.01 [[-1.14799779e-01 -9.93388650e-01 0.00000000e+00 1.76090177e+02] [ 9.93388650e-01 -1.14799779e-01 0.00000000e+00 1.29696690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.02531748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.130371743 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:176.09, Y:129.68, Z:0.01 [[-1.12285355e-01 -9.93676003e-01 0.00000000e+00 1.76087944e+02] [ 9.93676003e-01 -1.12285355e-01 0.00000000e+00 1.29683918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09841453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.160371743 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:176.09, Y:129.67, Z:0.00 [[-1.02289315e-01 -9.94754691e-01 0.00000000e+00 1.76089533e+02] [ 9.94754691e-01 -1.02289315e-01 0.00000000e+00 1.29674878e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72688596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.190371743 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:176.08, Y:129.68, Z:0.01 [[-1.03999638e-01 -9.94577335e-01 0.00000000e+00 1.76083406e+02] [ 9.94577335e-01 -1.03999638e-01 0.00000000e+00 1.29682975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51930909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.220371743 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:176.08, Y:129.69, Z:0.01 [[-1.03765109e-01 -9.94601831e-01 0.00000000e+00 1.76080243e+02] [ 9.94601831e-01 -1.03765109e-01 0.00000000e+00 1.29687317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06608277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.250371743 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:176.08, Y:129.68, Z:0.01 [[-9.75432794e-02 -9.95231284e-01 0.00000000e+00 1.76080014e+02] [ 9.95231284e-01 -9.75432794e-02 0.00000000e+00 1.29680519e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86623032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.280371743 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:176.08, Y:129.67, Z:0.01 [[-8.92774893e-02 -9.96006792e-01 0.00000000e+00 1.76079703e+02] [ 9.96006792e-01 -8.92774893e-02 0.00000000e+00 1.29674788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.26392492e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.310371743 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:176.07, Y:129.71, Z:0.01 [[-1.10486164e-01 -9.93877662e-01 0.00000000e+00 1.76067390e+02] [ 9.93877662e-01 -1.10486164e-01 0.00000000e+00 1.29707446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29348250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.340371743 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:176.07, Y:129.71, Z:0.01 [[-1.10833490e-01 -9.93838990e-01 0.00000000e+00 1.76065224e+02] [ 9.93838990e-01 -1.10833490e-01 0.00000000e+00 1.29709578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19914582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.370371743 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:176.06, Y:129.71, Z:0.01 [[-1.10645862e-01 -9.93859896e-01 0.00000000e+00 1.76064794e+02] [ 9.93859896e-01 -1.10645862e-01 0.00000000e+00 1.29710605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19133178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.400371743 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:176.06, Y:129.71, Z:0.01 [[-1.12000214e-01 -9.93708183e-01 0.00000000e+00 1.76063295e+02] [ 9.93708183e-01 -1.12000214e-01 0.00000000e+00 1.29714756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15816416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.430371743 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:176.06, Y:129.72, Z:0.01 [[-1.15069352e-01 -9.93357460e-01 0.00000000e+00 1.76062093e+02] [ 9.93357460e-01 -1.15069352e-01 0.00000000e+00 1.29717192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28718579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.460371743 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:176.06, Y:129.72, Z:0.01 [[-1.16471129e-01 -9.93194078e-01 0.00000000e+00 1.76061543e+02] [ 9.93194078e-01 -1.16471129e-01 0.00000000e+00 1.29722123e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05889695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.490371743 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:176.07, Y:129.72, Z:0.00 [[-9.53734661e-02 -9.95441561e-01 0.00000000e+00 1.76072586e+02] [ 9.95441561e-01 -9.53734661e-02 0.00000000e+00 1.29724010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17217890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.520371743 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:176.06, Y:129.73, Z:0.01 [[-1.21765864e-01 -9.92558852e-01 0.00000000e+00 1.76060766e+02] [ 9.92558852e-01 -1.21765864e-01 0.00000000e+00 1.29731838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02305457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.550371743 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:176.06, Y:129.73, Z:0.01 [[-1.24555502e-01 -9.92212642e-01 0.00000000e+00 1.76060481e+02] [ 9.92212642e-01 -1.24555502e-01 0.00000000e+00 1.29733158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43376279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.580371743 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:176.07, Y:129.74, Z:0.00 [[-1.06051715e-01 -9.94360616e-01 0.00000000e+00 1.76069340e+02] [ 9.94360616e-01 -1.06051715e-01 0.00000000e+00 1.29736345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68559351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61037174300003 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:176.06, Y:129.74, Z:0.01 [[-1.25591297e-01 -9.92082066e-01 0.00000000e+00 1.76059032e+02] [ 9.92082066e-01 -1.25591297e-01 0.00000000e+00 1.29738896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02315491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.640371743 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:176.07, Y:129.74, Z:0.01 [[-1.07260459e-01 -9.94230956e-01 0.00000000e+00 1.76067479e+02] [ 9.94230956e-01 -1.07260459e-01 0.00000000e+00 1.29736305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15803260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67037174300003 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:176.06, Y:129.74, Z:0.01 [[-1.25021525e-01 -9.92154030e-01 0.00000000e+00 1.76056555e+02] [ 9.92154030e-01 -1.25021525e-01 0.00000000e+00 1.29739513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16639794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.700371743 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:176.06, Y:129.74, Z:0.01 [[-1.08434742e-01 -9.94103569e-01 0.00000000e+00 1.76063906e+02] [ 9.94103569e-01 -1.08434742e-01 0.00000000e+00 1.29736332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14029186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.730371743 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:176.06, Y:129.74, Z:0.01 [[-1.08426676e-01 -9.94104449e-01 0.00000000e+00 1.76062790e+02] [ 9.94104449e-01 -1.08426676e-01 0.00000000e+00 1.29743645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.65996608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.760371743 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:176.06, Y:129.74, Z:0.01 [[-1.09918615e-01 -9.93940591e-01 0.00000000e+00 1.76062258e+02] [ 9.93940591e-01 -1.09918615e-01 0.00000000e+00 1.29737323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00792167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.790371743 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:176.06, Y:129.75, Z:0.01 [[-1.10783031e-01 -9.93844616e-01 0.00000000e+00 1.76061111e+02] [ 9.93844616e-01 -1.10783031e-01 0.00000000e+00 1.29748540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12497102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.820371743 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:176.06, Y:129.76, Z:0.01 [[-1.13278274e-01 -9.93563301e-01 0.00000000e+00 1.76059989e+02] [ 9.93563301e-01 -1.13278274e-01 0.00000000e+00 1.29755716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19121291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.850371743 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:176.06, Y:129.75, Z:0.01 [[-1.15519894e-01 -9.93305167e-01 0.00000000e+00 1.76060621e+02] [ 9.93305167e-01 -1.15519894e-01 0.00000000e+00 1.29753360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16505168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.880371743 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:176.06, Y:129.76, Z:0.01 [[-1.17429124e-01 -9.93081266e-01 0.00000000e+00 1.76060574e+02] [ 9.93081266e-01 -1.17429124e-01 0.00000000e+00 1.29764763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15833733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.910371743 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:176.06, Y:129.76, Z:0.01 [[-1.20059206e-01 -9.92766734e-01 0.00000000e+00 1.76061963e+02] [ 9.92766734e-01 -1.20059206e-01 0.00000000e+00 1.29758463e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07647471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.940371743 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:176.06, Y:129.77, Z:0.01 [[-1.20688077e-01 -9.92690479e-01 0.00000000e+00 1.76061469e+02] [ 9.92690479e-01 -1.20688077e-01 0.00000000e+00 1.29774716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02643417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.970371743 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:176.06, Y:129.76, Z:0.01 [[-1.21337646e-01 -9.92611291e-01 0.00000000e+00 1.76061927e+02] [ 9.92611291e-01 -1.21337646e-01 0.00000000e+00 1.29764005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.67109809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.000371743 meters Centerline goodness : 0.994453 Centerline is valid? [True, True] Translation: X:176.06, Y:129.77, Z:0.01 [[-1.21370154e-01 -9.92607317e-01 0.00000000e+00 1.76061336e+02] [ 9.92607317e-01 -1.21370154e-01 0.00000000e+00 1.29772816e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21417298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.030371743 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:176.06, Y:129.78, Z:0.01 [[-1.23476472e-01 -9.92347500e-01 0.00000000e+00 1.76060589e+02] [ 9.92347500e-01 -1.23476472e-01 0.00000000e+00 1.29781035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92591212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.060371743 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:176.06, Y:129.78, Z:0.01 [[-1.21487182e-01 -9.92593000e-01 0.00000000e+00 1.76061035e+02] [ 9.92593000e-01 -1.21487182e-01 0.00000000e+00 1.29776714e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.46387164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.090371743 meters Centerline goodness : 0.994585 Centerline is valid? [True, True] Translation: X:176.06, Y:129.79, Z:0.01 [[-1.21245616e-01 -9.92622537e-01 0.00000000e+00 1.76059862e+02] [ 9.92622537e-01 -1.21245616e-01 0.00000000e+00 1.29787356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19610348e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.120371743 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:176.05, Y:129.78, Z:0.01 [[-1.35402489e-01 -9.90790677e-01 0.00000000e+00 1.76051316e+02] [ 9.90790677e-01 -1.35402489e-01 0.00000000e+00 1.29784861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09023638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.150371743 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:176.05, Y:129.78, Z:0.01 [[-1.34726787e-01 -9.90882785e-01 0.00000000e+00 1.76050519e+02] [ 9.90882785e-01 -1.34726787e-01 0.00000000e+00 1.29783839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25762291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.180371743 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:176.05, Y:129.79, Z:0.01 [[-1.34189346e-01 -9.90955710e-01 0.00000000e+00 1.76049393e+02] [ 9.90955710e-01 -1.34189346e-01 0.00000000e+00 1.29786567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32647409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.210371743 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:176.05, Y:129.80, Z:0.01 [[-1.33911889e-01 -9.90993242e-01 0.00000000e+00 1.76048548e+02] [ 9.90993242e-01 -1.33911889e-01 0.00000000e+00 1.29795103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39597641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.240371743 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:176.06, Y:129.79, Z:0.01 [[-1.17588361e-01 -9.93062424e-01 0.00000000e+00 1.76057539e+02] [ 9.93062424e-01 -1.17588361e-01 0.00000000e+00 1.29792144e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05938820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.270371743 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:176.06, Y:129.79, Z:0.01 [[-1.17435257e-01 -9.93080541e-01 0.00000000e+00 1.76057150e+02] [ 9.93080541e-01 -1.17435257e-01 0.00000000e+00 1.29790599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06190122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.300371743 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:176.06, Y:129.80, Z:0.01 [[-1.17532560e-01 -9.93069030e-01 0.00000000e+00 1.76056442e+02] [ 9.93069030e-01 -1.17532560e-01 0.00000000e+00 1.29795710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05646102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.330371743 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:176.06, Y:129.79, Z:0.01 [[-1.18199129e-01 -9.92989912e-01 0.00000000e+00 1.76056231e+02] [ 9.92989912e-01 -1.18199129e-01 0.00000000e+00 1.29792456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06798311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36037174300003 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:176.05, Y:129.80, Z:0.01 [[-1.32692221e-01 -9.91157290e-01 0.00000000e+00 1.76047484e+02] [ 9.91157290e-01 -1.32692221e-01 0.00000000e+00 1.29799418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46317054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.390371743 meters Centerline goodness : 0.994641 Centerline is valid? [True, True] Translation: X:176.05, Y:129.80, Z:0.01 [[-1.32300565e-01 -9.91209645e-01 0.00000000e+00 1.76047272e+02] [ 9.91209645e-01 -1.32300565e-01 0.00000000e+00 1.29802073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46317054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42037174300003 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:176.06, Y:129.80, Z:0.01 [[-1.18040603e-01 -9.93008769e-01 0.00000000e+00 1.76056796e+02] [ 9.93008769e-01 -1.18040603e-01 0.00000000e+00 1.29797151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47696958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.450371743 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:176.05, Y:129.82, Z:0.01 [[-1.32693652e-01 -9.91157099e-01 0.00000000e+00 1.76047093e+02] [ 9.91157099e-01 -1.32693652e-01 0.00000000e+00 1.29815653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20812569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.480371743 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:176.06, Y:129.81, Z:0.01 [[-1.16359158e-01 -9.93207202e-01 0.00000000e+00 1.76056113e+02] [ 9.93207202e-01 -1.16359158e-01 0.00000000e+00 1.29805510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41147854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.510371743 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:176.06, Y:129.80, Z:0.01 [[-1.15253545e-01 -9.93336106e-01 0.00000000e+00 1.76057123e+02] [ 9.93336106e-01 -1.15253545e-01 0.00000000e+00 1.29803453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47176016e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.540371743 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:176.06, Y:129.82, Z:0.01 [[-1.13214193e-01 -9.93570605e-01 0.00000000e+00 1.76055878e+02] [ 9.93570605e-01 -1.13214193e-01 0.00000000e+00 1.29822244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19039520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.570371743 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:176.06, Y:129.82, Z:0.00 [[-1.09760522e-01 -9.93958061e-01 0.00000000e+00 1.76055941e+02] [ 9.93958061e-01 -1.09760522e-01 0.00000000e+00 1.29822872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56691912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.600371743 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:176.06, Y:129.80, Z:-0.00 [[-1.06165118e-01 -9.94348514e-01 0.00000000e+00 1.76058454e+02] [ 9.94348514e-01 -1.06165118e-01 0.00000000e+00 1.29802486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.27864134e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.630371743 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:176.05, Y:129.81, Z:0.00 [[-1.02206241e-01 -9.94763230e-01 0.00000000e+00 1.76054964e+02] [ 9.94763230e-01 -1.02206241e-01 0.00000000e+00 1.29807582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89292411e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.660371743 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:176.05, Y:129.81, Z:0.01 [[-9.88280718e-02 -9.95104523e-01 0.00000000e+00 1.76054353e+02] [ 9.95104523e-01 -9.88280718e-02 0.00000000e+00 1.29814533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.00749932e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.690371743 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:176.05, Y:129.81, Z:0.01 [[-9.61811631e-02 -9.95363845e-01 0.00000000e+00 1.76051168e+02] [ 9.95363845e-01 -9.61811631e-02 0.00000000e+00 1.29811568e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05230594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.720371743 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:176.05, Y:129.81, Z:0.01 [[-9.30368009e-02 -9.95662671e-01 0.00000000e+00 1.76051834e+02] [ 9.95662671e-01 -9.30368009e-02 0.00000000e+00 1.29813919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40965020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.750371743 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:176.05, Y:129.82, Z:0.00 [[-9.13935538e-02 -9.95814851e-01 0.00000000e+00 1.76050818e+02] [ 9.95814851e-01 -9.13935538e-02 0.00000000e+00 1.29816123e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92847232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.780371743 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:176.05, Y:129.82, Z:0.00 [[-9.01904631e-02 -9.95924535e-01 0.00000000e+00 1.76050923e+02] [ 9.95924535e-01 -9.01904631e-02 0.00000000e+00 1.29816434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.97736329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.810371743 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:176.05, Y:129.81, Z:0.00 [[-8.99910327e-02 -9.95942576e-01 0.00000000e+00 1.76050280e+02] [ 9.95942576e-01 -8.99910327e-02 0.00000000e+00 1.29812852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88786648e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.840371743 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:176.04, Y:129.83, Z:0.01 [[-1.10725439e-01 -9.93851034e-01 0.00000000e+00 1.76037634e+02] [ 9.93851034e-01 -1.10725439e-01 0.00000000e+00 1.29825062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78464160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.870371743 meters Centerline goodness : 0.995127 Centerline is valid? [True, True] Translation: X:176.05, Y:129.82, Z:0.00 [[-8.71571409e-02 -9.96194576e-01 0.00000000e+00 1.76049228e+02] [ 9.96194576e-01 -8.71571409e-02 0.00000000e+00 1.29819373e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25132413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.900371743 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:176.04, Y:129.82, Z:0.01 [[-1.09879483e-01 -9.93944918e-01 0.00000000e+00 1.76035598e+02] [ 9.93944918e-01 -1.09879483e-01 0.00000000e+00 1.29824537e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.82054013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.930371743 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:176.05, Y:129.83, Z:-0.00 [[-7.57371368e-02 -9.97127818e-01 0.00000000e+00 1.76052335e+02] [ 9.97127818e-01 -7.57371368e-02 0.00000000e+00 1.29834107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.69157362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.960371743 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:176.03, Y:129.83, Z:0.01 [[-1.08643809e-01 -9.94080743e-01 0.00000000e+00 1.76034343e+02] [ 9.94080743e-01 -1.08643809e-01 0.00000000e+00 1.29831861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.31433256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.990371743 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:176.05, Y:129.86, Z:0.00 [[-7.37898482e-02 -9.97273813e-01 0.00000000e+00 1.76047898e+02] [ 9.97273813e-01 -7.37898482e-02 0.00000000e+00 1.29863595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21252711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.020371743 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:176.03, Y:129.83, Z:0.01 [[-1.05111710e-01 -9.94460421e-01 0.00000000e+00 1.76032062e+02] [ 9.94460421e-01 -1.05111710e-01 0.00000000e+00 1.29832003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08144323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.050371743 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:176.03, Y:129.84, Z:0.01 [[-1.03014836e-01 -9.94679820e-01 0.00000000e+00 1.76030685e+02] [ 9.94679820e-01 -1.03014836e-01 0.00000000e+00 1.29838603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24699962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.080371743 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:176.03, Y:129.84, Z:0.01 [[-1.01847740e-01 -9.94799999e-01 0.00000000e+00 1.76030988e+02] [ 9.94799999e-01 -1.01847740e-01 0.00000000e+00 1.29838918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23418166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11037174300003 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:176.03, Y:129.84, Z:0.01 [[-1.00108018e-01 -9.94976575e-01 0.00000000e+00 1.76031824e+02] [ 9.94976575e-01 -1.00108018e-01 0.00000000e+00 1.29836461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15306031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.140371743 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:176.03, Y:129.84, Z:0.01 [[-9.84239773e-02 -9.95144573e-01 0.00000000e+00 1.76032399e+02] [ 9.95144573e-01 -9.84239773e-02 0.00000000e+00 1.29838890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10253960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17037174300003 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:176.03, Y:129.85, Z:0.01 [[-9.81975901e-02 -9.95166937e-01 0.00000000e+00 1.76032115e+02] [ 9.95166937e-01 -9.81975901e-02 0.00000000e+00 1.29848035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59338715e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.200371743 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:176.03, Y:129.84, Z:0.01 [[-9.50424625e-02 -9.95473219e-01 0.00000000e+00 1.76032408e+02] [ 9.95473219e-01 -9.50424625e-02 0.00000000e+00 1.29844469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09984424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.230371743 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:176.02, Y:130.06, Z:0.01 [[-9.62165891e-02 -9.95360421e-01 0.00000000e+00 1.76022610e+02] [ 9.95360421e-01 -9.62165891e-02 0.00000000e+00 1.30056014e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26176792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.260371743 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:176.05, Y:129.84, Z:0.00 [[-5.75006167e-02 -9.98345471e-01 0.00000000e+00 1.76047459e+02] [ 9.98345471e-01 -5.75006167e-02 0.00000000e+00 1.29839421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94966339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.290371743 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:176.05, Y:129.84, Z:0.01 [[-5.54019832e-02 -9.98464131e-01 0.00000000e+00 1.76048164e+02] [ 9.98464131e-01 -5.54019832e-02 0.00000000e+00 1.29837907e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10869523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.320371743 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:176.05, Y:129.83, Z:0.00 [[-5.01617045e-02 -9.98741109e-01 0.00000000e+00 1.76048826e+02] [ 9.98741109e-01 -5.01617045e-02 0.00000000e+00 1.29834369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84370234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.350371743 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:176.03, Y:129.85, Z:0.01 [[-7.68770942e-02 -9.97040577e-01 0.00000000e+00 1.76034391e+02] [ 9.97040577e-01 -7.68770942e-02 0.00000000e+00 1.29849358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32789436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.380371743 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:176.05, Y:129.84, Z:0.01 [[-4.21177876e-02 -9.99112652e-01 0.00000000e+00 1.76052621e+02] [ 9.99112652e-01 -4.21177876e-02 0.00000000e+00 1.29840914e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04348889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.410371743 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:176.06, Y:129.84, Z:0.01 [[-3.86719567e-02 -9.99251960e-01 0.00000000e+00 1.76055089e+02] [ 9.99251960e-01 -3.86719567e-02 0.00000000e+00 1.29836957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05925412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.440371743 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:176.06, Y:129.84, Z:0.00 [[-3.57245587e-02 -9.99361674e-01 0.00000000e+00 1.76056238e+02] [ 9.99361674e-01 -3.57245587e-02 0.00000000e+00 1.29840129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86220748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.470371743 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:176.06, Y:129.85, Z:0.00 [[-3.88088045e-02 -9.99246655e-01 0.00000000e+00 1.76058122e+02] [ 9.99246655e-01 -3.88088045e-02 0.00000000e+00 1.29850717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77277463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.500371743 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:176.06, Y:129.85, Z:0.00 [[-4.03201386e-02 -9.99186813e-01 0.00000000e+00 1.76059410e+02] [ 9.99186813e-01 -4.03201386e-02 0.00000000e+00 1.29847637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43088607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.530371743 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:176.04, Y:129.86, Z:0.01 [[-7.57718719e-02 -9.97125179e-01 0.00000000e+00 1.76043962e+02] [ 9.97125179e-01 -7.57718719e-02 0.00000000e+00 1.29862513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17849471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.560371743 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:176.07, Y:129.87, Z:0.00 [[-4.34887880e-02 -9.99053915e-01 0.00000000e+00 1.76065389e+02] [ 9.99053915e-01 -4.34887880e-02 0.00000000e+00 1.29866807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22153833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.590371743 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:176.07, Y:129.87, Z:0.01 [[-4.80636623e-02 -9.98844274e-01 0.00000000e+00 1.76067273e+02] [ 9.98844274e-01 -4.80636623e-02 0.00000000e+00 1.29871645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33227177e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.620371743 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:176.07, Y:129.88, Z:0.00 [[-5.35561735e-02 -9.98564838e-01 0.00000000e+00 1.76069584e+02] [ 9.98564838e-01 -5.35561735e-02 0.00000000e+00 1.29876801e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78843749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.650371743 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:176.07, Y:129.89, Z:0.00 [[-5.07487586e-02 -9.98711452e-01 0.00000000e+00 1.76071974e+02] [ 9.98711452e-01 -5.07487586e-02 0.00000000e+00 1.29889391e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84591868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.680371743 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:176.07, Y:129.87, Z:0.00 [[-6.03394601e-02 -9.98177915e-01 0.00000000e+00 1.76070527e+02] [ 9.98177915e-01 -6.03394601e-02 0.00000000e+00 1.29874744e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65031813e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.710371743 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:176.07, Y:129.88, Z:0.00 [[-5.89355187e-02 -9.98261792e-01 0.00000000e+00 1.76073129e+02] [ 9.98261792e-01 -5.89355187e-02 0.00000000e+00 1.29883602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.86180603e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.740371743 meters Centerline goodness : 0.993566 Centerline is valid? [True, True] Translation: X:176.07, Y:129.88, Z:0.00 [[-5.99350807e-02 -9.98202277e-01 0.00000000e+00 1.76073595e+02] [ 9.98202277e-01 -5.99350807e-02 0.00000000e+00 1.29877003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75132903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.770371743 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:176.08, Y:129.87, Z:0.00 [[-5.64749067e-02 -9.98404019e-01 0.00000000e+00 1.76078523e+02] [ 9.98404019e-01 -5.64749067e-02 0.00000000e+00 1.29870275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14350477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.800371743 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:176.08, Y:129.86, Z:0.00 [[-5.56196484e-02 -9.98452029e-01 0.00000000e+00 1.76078714e+02] [ 9.98452029e-01 -5.56196484e-02 0.00000000e+00 1.29864767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.34881134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.830371743 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:176.08, Y:129.87, Z:0.01 [[-5.05336004e-02 -9.98722361e-01 0.00000000e+00 1.76079004e+02] [ 9.98722361e-01 -5.05336004e-02 0.00000000e+00 1.29873414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.80900141e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86037174300003 meters Centerline goodness : 0.993737 Centerline is valid? [True, True] Translation: X:176.07, Y:129.88, Z:0.01 [[-6.96598185e-02 -9.97570804e-01 0.00000000e+00 1.76066897e+02] [ 9.97570804e-01 -6.96598185e-02 0.00000000e+00 1.29880202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03315318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.890371743 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:176.07, Y:129.88, Z:0.01 [[-6.64253440e-02 -9.97791398e-01 0.00000000e+00 1.76068010e+02] [ 9.97791398e-01 -6.64253440e-02 0.00000000e+00 1.29883857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.99917161e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92037174300003 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:176.08, Y:129.87, Z:0.00 [[-3.76223473e-02 -9.99292029e-01 0.00000000e+00 1.76084225e+02] [ 9.99292029e-01 -3.76223473e-02 0.00000000e+00 1.29866109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97288190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.950371743 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:176.07, Y:129.88, Z:0.01 [[-5.92767844e-02 -9.98241585e-01 0.00000000e+00 1.76072892e+02] [ 9.98241585e-01 -5.92767844e-02 0.00000000e+00 1.29879403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40491779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.980371743 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:176.07, Y:129.89, Z:0.01 [[-5.76056419e-02 -9.98339416e-01 0.00000000e+00 1.76073922e+02] [ 9.98339416e-01 -5.76056419e-02 0.00000000e+00 1.29887484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80867947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.010371743 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:176.07, Y:130.26, Z:0.01 [[-4.52667000e-02 -9.98974938e-01 0.00000000e+00 1.76071089e+02] [ 9.98974938e-01 -4.52667000e-02 0.00000000e+00 1.30263643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48285017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.040371743 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:176.76, Y:130.07, Z:0.88 [[-7.63317158e-02 9.97082479e-01 0.00000000e+00 1.76755285e+02] [ 9.97082479e-01 7.63317158e-02 0.00000000e+00 1.30067956e+02] [ 0.00000000e+00 0.00000000e+00 -1.00000000e+00 8.79502493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.070371743 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:176.12, Y:130.01, Z:0.01 [[-1.27425554e-01 -9.91848138e-01 0.00000000e+00 1.76116804e+02] [ 9.91848138e-01 -1.27425554e-01 0.00000000e+00 1.30008363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.25881378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.100371743 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:176.12, Y:130.01, Z:0.01 [[-1.28622201e-01 -9.91693667e-01 0.00000000e+00 1.76119033e+02] [ 9.91693667e-01 -1.28622201e-01 0.00000000e+00 1.30011579e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.82991460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.130371743 meters Centerline goodness : 0.993430 Centerline is valid? [True, True] Translation: X:176.12, Y:130.02, Z:0.01 [[-1.31708632e-01 -9.91288473e-01 0.00000000e+00 1.76123341e+02] [ 9.91288473e-01 -1.31708632e-01 0.00000000e+00 1.30016143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62333833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.160371743 meters Centerline goodness : 0.992918 Centerline is valid? [True, True] Translation: X:176.12, Y:130.02, Z:0.01 [[-1.32284462e-01 -9.91211794e-01 0.00000000e+00 1.76124977e+02] [ 9.91211794e-01 -1.32284462e-01 0.00000000e+00 1.30021935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.37107442e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.190371743 meters Centerline goodness : 0.992569 Centerline is valid? [True, True] Translation: X:176.14, Y:130.00, Z:0.00 [[-1.08798278e-01 -9.94063848e-01 0.00000000e+00 1.76143944e+02] [ 9.94063848e-01 -1.08798278e-01 0.00000000e+00 1.29998524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88940771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.220371743 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:176.13, Y:130.03, Z:0.01 [[-1.34172748e-01 -9.90957958e-01 0.00000000e+00 1.76129554e+02] [ 9.90957958e-01 -1.34172748e-01 0.00000000e+00 1.30030769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51554072e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.250371743 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:176.13, Y:130.03, Z:0.01 [[-1.34417638e-01 -9.90924769e-01 0.00000000e+00 1.76132202e+02] [ 9.90924769e-01 -1.34417638e-01 0.00000000e+00 1.30030145e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75397875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.280371743 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:176.13, Y:130.03, Z:0.01 [[-1.34032934e-01 -9.90976878e-01 0.00000000e+00 1.76131867e+02] [ 9.90976878e-01 -1.34032934e-01 0.00000000e+00 1.30032761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75397875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.310371743 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:176.15, Y:130.02, Z:0.01 [[-1.13385339e-01 -9.93551088e-01 0.00000000e+00 1.76150669e+02] [ 9.93551088e-01 -1.13385339e-01 0.00000000e+00 1.30019525e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23999287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.340371743 meters Centerline goodness : 0.993427 Centerline is valid? [True, True] Translation: X:176.14, Y:130.04, Z:0.01 [[-1.35551202e-01 -9.90770343e-01 0.00000000e+00 1.76138615e+02] [ 9.90770343e-01 -1.35551202e-01 0.00000000e+00 1.30039052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80216282e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.370371743 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:176.15, Y:130.04, Z:0.01 [[-1.18096502e-01 -9.93002123e-01 0.00000000e+00 1.76154647e+02] [ 9.93002123e-01 -1.18096502e-01 0.00000000e+00 1.30035618e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.33877927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.400371743 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:176.16, Y:130.05, Z:0.01 [[-1.19425853e-01 -9.92843122e-01 0.00000000e+00 1.76156085e+02] [ 9.92843122e-01 -1.19425853e-01 0.00000000e+00 1.30046837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.81476848e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.430371743 meters Centerline goodness : 0.993056 Centerline is valid? [True, True] Translation: X:176.16, Y:130.05, Z:0.00 [[-1.18729770e-01 -9.92926604e-01 0.00000000e+00 1.76158929e+02] [ 9.92926604e-01 -1.18729770e-01 0.00000000e+00 1.30048244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91143574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.460371743 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:176.16, Y:130.06, Z:0.01 [[-1.24243379e-01 -9.92251774e-01 0.00000000e+00 1.76160422e+02] [ 9.92251774e-01 -1.24243379e-01 0.00000000e+00 1.30055004e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22356075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.490371743 meters Centerline goodness : 0.991907 Centerline is valid? [True, True] Translation: X:176.16, Y:130.06, Z:0.00 [[-1.24158462e-01 -9.92262403e-01 0.00000000e+00 1.76162308e+02] [ 9.92262403e-01 -1.24158462e-01 0.00000000e+00 1.30056039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83315408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.520371743 meters Centerline goodness : 0.992641 Centerline is valid? [True, True] Translation: X:176.15, Y:130.06, Z:0.01 [[-1.40732243e-01 -9.90047694e-01 0.00000000e+00 1.76154916e+02] [ 9.90047694e-01 -1.40732243e-01 0.00000000e+00 1.30057748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.82433467e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.550371743 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:176.16, Y:130.06, Z:0.01 [[-1.39601149e-01 -9.90207816e-01 0.00000000e+00 1.76155830e+02] [ 9.90207816e-01 -1.39601149e-01 0.00000000e+00 1.30061218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71964217e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.580371743 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:176.17, Y:130.05, Z:0.01 [[-1.22779638e-01 -9.92433958e-01 0.00000000e+00 1.76167278e+02] [ 9.92433958e-01 -1.22779638e-01 0.00000000e+00 1.30045183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32321192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61037174300003 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:176.17, Y:130.04, Z:0.00 [[-1.21251398e-01 -9.92621831e-01 0.00000000e+00 1.76170294e+02] [ 9.92621831e-01 -1.21251398e-01 0.00000000e+00 1.30044358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.96855710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.640371743 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:176.17, Y:130.04, Z:0.00 [[-1.20851045e-01 -9.92670653e-01 0.00000000e+00 1.76170918e+02] [ 9.92670653e-01 -1.20851045e-01 0.00000000e+00 1.30043459e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61226578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67037174300003 meters Centerline goodness : 0.992187 Centerline is valid? [True, True] Translation: X:176.17, Y:130.04, Z:0.01 [[-1.20925857e-01 -9.92661542e-01 0.00000000e+00 1.76171883e+02] [ 9.92661542e-01 -1.20925857e-01 0.00000000e+00 1.30039563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26828246e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.700371743 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:176.17, Y:130.05, Z:0.00 [[-1.20898509e-01 -9.92664873e-01 0.00000000e+00 1.76171122e+02] [ 9.92664873e-01 -1.20898509e-01 0.00000000e+00 1.30048354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56559063e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.730371743 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:176.17, Y:130.05, Z:0.01 [[-1.19410277e-01 -9.92844996e-01 0.00000000e+00 1.76173519e+02] [ 9.92844996e-01 -1.19410277e-01 0.00000000e+00 1.30045247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88420280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.760371743 meters Centerline goodness : 0.992899 Centerline is valid? [True, True] Translation: X:176.16, Y:130.07, Z:0.01 [[-1.35175478e-01 -9.90821674e-01 0.00000000e+00 1.76162548e+02] [ 9.90821674e-01 -1.35175478e-01 0.00000000e+00 1.30070382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07232311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.790371743 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:176.16, Y:130.08, Z:0.01 [[-1.38069945e-01 -9.90422481e-01 0.00000000e+00 1.76161624e+02] [ 9.90422481e-01 -1.38069945e-01 0.00000000e+00 1.30080547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42320804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.820371743 meters Centerline goodness : 0.991292 Centerline is valid? [True, True] Translation: X:176.18, Y:130.05, Z:0.01 [[-1.19262925e-01 -9.92862707e-01 0.00000000e+00 1.76176123e+02] [ 9.92862707e-01 -1.19262925e-01 0.00000000e+00 1.30050422e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90561290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.850371743 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:176.16, Y:130.07, Z:0.01 [[-1.35588523e-01 -9.90765236e-01 0.00000000e+00 1.76164412e+02] [ 9.90765236e-01 -1.35588523e-01 0.00000000e+00 1.30074855e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67521099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.880371743 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:176.18, Y:130.06, Z:0.00 [[-1.16737225e-01 -9.93162837e-01 0.00000000e+00 1.76177067e+02] [ 9.93162837e-01 -1.16737225e-01 0.00000000e+00 1.30058191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31284964e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.910371743 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:176.17, Y:130.08, Z:0.01 [[-1.35812324e-01 -9.90734582e-01 0.00000000e+00 1.76165582e+02] [ 9.90734582e-01 -1.35812324e-01 0.00000000e+00 1.30080358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86470843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.940371743 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:176.17, Y:130.08, Z:0.01 [[-1.35588921e-01 -9.90765181e-01 0.00000000e+00 1.76165933e+02] [ 9.90765181e-01 -1.35588921e-01 0.00000000e+00 1.30083802e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42995485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.970371743 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:176.17, Y:130.08, Z:0.01 [[-1.35081984e-01 -9.90834425e-01 0.00000000e+00 1.76167239e+02] [ 9.90834425e-01 -1.35081984e-01 0.00000000e+00 1.30083212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.45682875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.000371743 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:176.16, Y:130.09, Z:0.01 [[-1.38074967e-01 -9.90421781e-01 0.00000000e+00 1.76164473e+02] [ 9.90421781e-01 -1.38074967e-01 0.00000000e+00 1.30094309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.63855181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.030371743 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:176.17, Y:130.09, Z:0.01 [[-1.33545897e-01 -9.91042629e-01 0.00000000e+00 1.76166558e+02] [ 9.91042629e-01 -1.33545897e-01 0.00000000e+00 1.30091748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84460293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.060371743 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:176.17, Y:130.09, Z:0.01 [[-1.32988579e-01 -9.91117570e-01 0.00000000e+00 1.76165791e+02] [ 9.91117570e-01 -1.32988579e-01 0.00000000e+00 1.30092717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.54022018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.090371743 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:176.17, Y:130.09, Z:0.01 [[-1.30533723e-01 -9.91443870e-01 0.00000000e+00 1.76165777e+02] [ 9.91443870e-01 -1.30533723e-01 0.00000000e+00 1.30092589e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.41436763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.120371743 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:176.17, Y:130.09, Z:0.01 [[-1.29217276e-01 -9.91616305e-01 0.00000000e+00 1.76165708e+02] [ 9.91616305e-01 -1.29217276e-01 0.00000000e+00 1.30092699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57266367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.150371743 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:176.16, Y:130.10, Z:0.01 [[-1.27257607e-01 -9.91869700e-01 0.00000000e+00 1.76164975e+02] [ 9.91869700e-01 -1.27257607e-01 0.00000000e+00 1.30095520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74575137e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.180371743 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:176.16, Y:130.10, Z:0.01 [[-1.26990935e-01 -9.91903878e-01 0.00000000e+00 1.76164311e+02] [ 9.91903878e-01 -1.26990935e-01 0.00000000e+00 1.30097723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69042320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.210371743 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:176.16, Y:130.10, Z:0.01 [[-1.27321585e-01 -9.91861489e-01 0.00000000e+00 1.76163579e+02] [ 9.91861489e-01 -1.27321585e-01 0.00000000e+00 1.30102439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.33246427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.240371743 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:176.16, Y:130.11, Z:0.01 [[-1.30806498e-01 -9.91407918e-01 0.00000000e+00 1.76164280e+02] [ 9.91407918e-01 -1.30806498e-01 0.00000000e+00 1.30106787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47675157e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.270371743 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:176.16, Y:130.11, Z:0.01 [[-1.33062071e-01 -9.91107706e-01 0.00000000e+00 1.76164929e+02] [ 9.91107706e-01 -1.33062071e-01 0.00000000e+00 1.30112134e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.46128389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.300371743 meters Centerline goodness : 0.993259 Centerline is valid? [True, True] Translation: X:176.17, Y:130.12, Z:0.01 [[-1.38107442e-01 -9.90417253e-01 0.00000000e+00 1.76167368e+02] [ 9.90417253e-01 -1.38107442e-01 0.00000000e+00 1.30119740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72324264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.330371743 meters Centerline goodness : 0.992409 Centerline is valid? [True, True] Translation: X:176.17, Y:130.11, Z:0.01 [[-1.31997431e-01 -9.91250058e-01 0.00000000e+00 1.76174971e+02] [ 9.91250058e-01 -1.31997431e-01 0.00000000e+00 1.30107333e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13762264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36037174300003 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:176.17, Y:130.13, Z:0.01 [[-1.43277978e-01 -9.89682485e-01 0.00000000e+00 1.76168770e+02] [ 9.89682485e-01 -1.43277978e-01 0.00000000e+00 1.30126396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.20864972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.390371743 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:176.17, Y:130.13, Z:0.01 [[-1.48197945e-01 -9.88957719e-01 0.00000000e+00 1.76169172e+02] [ 9.88957719e-01 -1.48197945e-01 0.00000000e+00 1.30132830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69941502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42037174300003 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:176.18, Y:130.14, Z:0.01 [[-1.42789864e-01 -9.89753027e-01 0.00000000e+00 1.76175607e+02] [ 9.89753027e-01 -1.42789864e-01 0.00000000e+00 1.30137689e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14195475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.450371743 meters Centerline goodness : 0.993295 Centerline is valid? [True, True] Translation: X:176.17, Y:130.14, Z:0.01 [[-1.52276255e-01 -9.88337970e-01 0.00000000e+00 1.76170343e+02] [ 9.88337970e-01 -1.52276255e-01 0.00000000e+00 1.30143710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02598352e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.480371743 meters Centerline goodness : 0.992200 Centerline is valid? [True, True] Translation: X:176.17, Y:130.14, Z:0.01 [[-1.52456242e-01 -9.88310222e-01 0.00000000e+00 1.76170236e+02] [ 9.88310222e-01 -1.52456242e-01 0.00000000e+00 1.30143826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80235569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.510371743 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:176.17, Y:130.15, Z:0.01 [[-1.51966692e-01 -9.88385615e-01 0.00000000e+00 1.76168888e+02] [ 9.88385615e-01 -1.51966692e-01 0.00000000e+00 1.30146623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72616647e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.540371743 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:176.17, Y:130.15, Z:0.01 [[-1.51496500e-01 -9.88457794e-01 0.00000000e+00 1.76168052e+02] [ 9.88457794e-01 -1.51496500e-01 0.00000000e+00 1.30146676e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80609450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.570371743 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:176.17, Y:130.15, Z:0.01 [[-1.50558305e-01 -9.88601131e-01 0.00000000e+00 1.76166383e+02] [ 9.88601131e-01 -1.50558305e-01 0.00000000e+00 1.30151768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.39349207e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.600371743 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:176.17, Y:130.15, Z:0.01 [[-1.50082481e-01 -9.88673479e-01 0.00000000e+00 1.76166231e+02] [ 9.88673479e-01 -1.50082481e-01 0.00000000e+00 1.30149925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.84496044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.630371743 meters Centerline goodness : 0.991933 Centerline is valid? [True, True] Translation: X:176.17, Y:130.13, Z:0.01 [[-1.38959073e-01 -9.90298125e-01 0.00000000e+00 1.76173026e+02] [ 9.90298125e-01 -1.38959073e-01 0.00000000e+00 1.30130314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44859661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.660371743 meters Centerline goodness : 0.992964 Centerline is valid? [True, True] Translation: X:176.16, Y:130.15, Z:0.01 [[-1.49546207e-01 -9.88754738e-01 0.00000000e+00 1.76163215e+02] [ 9.88754738e-01 -1.49546207e-01 0.00000000e+00 1.30154602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98367318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.690371743 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:176.16, Y:130.16, Z:0.01 [[-1.48986206e-01 -9.88839274e-01 0.00000000e+00 1.76162045e+02] [ 9.88839274e-01 -1.48986206e-01 0.00000000e+00 1.30156747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61558757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.720371743 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:176.16, Y:130.17, Z:0.01 [[-1.49174102e-01 -9.88810946e-01 0.00000000e+00 1.76159756e+02] [ 9.88810946e-01 -1.49174102e-01 0.00000000e+00 1.30167581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13252757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.750371743 meters Centerline goodness : 0.991505 Centerline is valid? [True, True] Translation: X:176.17, Y:130.14, Z:0.01 [[-1.37964544e-01 -9.90437168e-01 0.00000000e+00 1.76167978e+02] [ 9.90437168e-01 -1.37964544e-01 0.00000000e+00 1.30138011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32707010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.780371743 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:176.16, Y:130.16, Z:0.01 [[-1.48637284e-01 -9.88891783e-01 0.00000000e+00 1.76158115e+02] [ 9.88891783e-01 -1.48637284e-01 0.00000000e+00 1.30161731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.96248876e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.810371743 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:176.16, Y:130.16, Z:0.01 [[-1.48350697e-01 -9.88934816e-01 0.00000000e+00 1.76156949e+02] [ 9.88934816e-01 -1.48350697e-01 0.00000000e+00 1.30164495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67320927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.840371743 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:176.16, Y:130.17, Z:0.01 [[-1.47845750e-01 -9.89010432e-01 0.00000000e+00 1.76155907e+02] [ 9.89010432e-01 -1.47845750e-01 0.00000000e+00 1.30166023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.14675688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.870371743 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:176.15, Y:130.17, Z:0.01 [[-1.46921533e-01 -9.89148150e-01 0.00000000e+00 1.76153858e+02] [ 9.89148150e-01 -1.46921533e-01 0.00000000e+00 1.30171811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58659471e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.900371743 meters Centerline goodness : 0.993205 Centerline is valid? [True, True] Translation: X:176.16, Y:130.14, Z:0.01 [[-1.32052345e-01 -9.91242744e-01 0.00000000e+00 1.76163453e+02] [ 9.91242744e-01 -1.32052345e-01 0.00000000e+00 1.30142989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91577116e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.930371743 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:176.16, Y:130.14, Z:0.01 [[-1.28161067e-01 -9.91753367e-01 0.00000000e+00 1.76162192e+02] [ 9.91753367e-01 -1.28161067e-01 0.00000000e+00 1.30137710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27453798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.960371743 meters Centerline goodness : 0.993560 Centerline is valid? [True, True] Translation: X:176.16, Y:130.15, Z:0.01 [[-1.31095017e-01 -9.91369808e-01 0.00000000e+00 1.76157557e+02] [ 9.91369808e-01 -1.31095017e-01 0.00000000e+00 1.30150943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.19245247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.990371743 meters Centerline goodness : 0.992747 Centerline is valid? [True, True] Translation: X:176.16, Y:130.15, Z:0.01 [[-1.26074735e-01 -9.92020746e-01 0.00000000e+00 1.76157965e+02] [ 9.92020746e-01 -1.26074735e-01 0.00000000e+00 1.30152084e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.51215113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.020371743 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:176.16, Y:130.15, Z:0.01 [[-1.19936660e-01 -9.92781546e-01 0.00000000e+00 1.76158322e+02] [ 9.92781546e-01 -1.19936660e-01 0.00000000e+00 1.30145994e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11922575e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.050371743 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:176.14, Y:130.17, Z:0.01 [[-1.37504503e-01 -9.90501142e-01 0.00000000e+00 1.76143410e+02] [ 9.90501142e-01 -1.37504503e-01 0.00000000e+00 1.30174054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20738089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.080371743 meters Centerline goodness : 0.993380 Centerline is valid? [True, True] Translation: X:176.14, Y:130.17, Z:0.01 [[-1.31573116e-01 -9.91306469e-01 0.00000000e+00 1.76140181e+02] [ 9.91306469e-01 -1.31573116e-01 0.00000000e+00 1.30169141e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14448128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11037174300003 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:176.14, Y:130.17, Z:0.01 [[-1.31685501e-01 -9.91291546e-01 0.00000000e+00 1.76137478e+02] [ 9.91291546e-01 -1.31685501e-01 0.00000000e+00 1.30171780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97299485e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.140371743 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:176.14, Y:130.17, Z:0.01 [[-1.29734200e-01 -9.91548807e-01 0.00000000e+00 1.76135478e+02] [ 9.91548807e-01 -1.29734200e-01 0.00000000e+00 1.30173344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04608364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17037174300003 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:176.13, Y:130.18, Z:0.01 [[-1.27645643e-01 -9.91819837e-01 0.00000000e+00 1.76131346e+02] [ 9.91819837e-01 -1.27645643e-01 0.00000000e+00 1.30177083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05526960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.200371743 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:176.13, Y:130.18, Z:0.01 [[-1.27257583e-01 -9.91869703e-01 0.00000000e+00 1.76131061e+02] [ 9.91869703e-01 -1.27257583e-01 0.00000000e+00 1.30179699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05526960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.230371743 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:176.14, Y:130.16, Z:0.01 [[-1.08595050e-01 -9.94086070e-01 0.00000000e+00 1.76139746e+02] [ 9.94086070e-01 -1.08595050e-01 0.00000000e+00 1.30164717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48613724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.260371743 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:176.14, Y:130.18, Z:0.01 [[-1.05550748e-01 -9.94413918e-01 0.00000000e+00 1.76138842e+02] [ 9.94413918e-01 -1.05550748e-01 0.00000000e+00 1.30178740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52389036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.290371743 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:176.14, Y:130.18, Z:0.01 [[-1.06811494e-01 -9.94279289e-01 0.00000000e+00 1.76136609e+02] [ 9.94279289e-01 -1.06811494e-01 0.00000000e+00 1.30175722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90370829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.320371743 meters Centerline goodness : 0.993760 Centerline is valid? [True, True] Translation: X:176.13, Y:130.18, Z:0.01 [[-1.08575925e-01 -9.94088159e-01 0.00000000e+00 1.76133549e+02] [ 9.94088159e-01 -1.08575925e-01 0.00000000e+00 1.30179561e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36811565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.350371743 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:176.12, Y:130.19, Z:0.01 [[-1.29195348e-01 -9.91619162e-01 0.00000000e+00 1.76121060e+02] [ 9.91619162e-01 -1.29195348e-01 0.00000000e+00 1.30191972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08103212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.380371743 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:176.12, Y:130.19, Z:0.01 [[-1.31121200e-01 -9.91366345e-01 0.00000000e+00 1.76119465e+02] [ 9.91366345e-01 -1.31121200e-01 0.00000000e+00 1.30186558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05315550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.410371743 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:176.12, Y:130.19, Z:0.01 [[-1.32000797e-01 -9.91249610e-01 0.00000000e+00 1.76118127e+02] [ 9.91249610e-01 -1.32000797e-01 0.00000000e+00 1.30190491e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03727035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.440371743 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:176.13, Y:130.20, Z:0.00 [[-1.07605579e-01 -9.94193663e-01 0.00000000e+00 1.76130786e+02] [ 9.94193663e-01 -1.07605579e-01 0.00000000e+00 1.30197740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09375968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.470371743 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:176.13, Y:130.19, Z:0.00 [[-1.11237721e-01 -9.93793826e-01 0.00000000e+00 1.76128581e+02] [ 9.93793826e-01 -1.11237721e-01 0.00000000e+00 1.30194281e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80750489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.500371743 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:176.13, Y:130.21, Z:0.00 [[-1.09392433e-01 -9.93998640e-01 0.00000000e+00 1.76129073e+02] [ 9.93998640e-01 -1.09392433e-01 0.00000000e+00 1.30206347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81400549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.530371743 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:176.13, Y:130.20, Z:0.01 [[-1.17164372e-01 -9.93112536e-01 0.00000000e+00 1.76126586e+02] [ 9.93112536e-01 -1.17164372e-01 0.00000000e+00 1.30196616e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00790927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.560371743 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:176.11, Y:130.21, Z:0.01 [[-1.40203900e-01 -9.90122652e-01 0.00000000e+00 1.76114111e+02] [ 9.90122652e-01 -1.40203900e-01 0.00000000e+00 1.30209049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17421475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.590371743 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:176.13, Y:130.21, Z:0.01 [[-1.18767474e-01 -9.92922095e-01 0.00000000e+00 1.76126319e+02] [ 9.92922095e-01 -1.18767474e-01 0.00000000e+00 1.30205159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41823870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.620371743 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:176.12, Y:130.21, Z:0.01 [[-1.22011351e-01 -9.92528705e-01 0.00000000e+00 1.76124660e+02] [ 9.92528705e-01 -1.22011351e-01 0.00000000e+00 1.30208175e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.35917971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.650371743 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:176.13, Y:130.20, Z:0.00 [[-1.21905310e-01 -9.92541735e-01 0.00000000e+00 1.76125276e+02] [ 9.92541735e-01 -1.21905310e-01 0.00000000e+00 1.30203000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.68503489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.680371743 meters Centerline goodness : 0.992885 Centerline is valid? [True, True] Translation: X:176.12, Y:130.21, Z:0.01 [[-1.21378165e-01 -9.92606337e-01 0.00000000e+00 1.76123464e+02] [ 9.92606337e-01 -1.21378165e-01 0.00000000e+00 1.30206927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.47465128e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.710371743 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:176.12, Y:130.24, Z:0.00 [[-1.13981275e-01 -9.93482898e-01 0.00000000e+00 1.76123722e+02] [ 9.93482898e-01 -1.13981275e-01 0.00000000e+00 1.30236935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85873211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.740371743 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:176.12, Y:130.24, Z:0.00 [[-1.16827093e-01 -9.93152269e-01 0.00000000e+00 1.76121288e+02] [ 9.93152269e-01 -1.16827093e-01 0.00000000e+00 1.30236173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.79159814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.770371743 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:176.12, Y:130.22, Z:0.00 [[-1.09758468e-01 -9.93958288e-01 0.00000000e+00 1.76122332e+02] [ 9.93958288e-01 -1.09758468e-01 0.00000000e+00 1.30221396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08536226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.800371743 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:176.11, Y:130.22, Z:0.01 [[-1.36216383e-01 -9.90679109e-01 0.00000000e+00 1.76106480e+02] [ 9.90679109e-01 -1.36216383e-01 0.00000000e+00 1.30222621e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20072673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.830371743 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:176.12, Y:130.21, Z:0.01 [[-1.12738196e-01 -9.93624728e-01 0.00000000e+00 1.76116448e+02] [ 9.93624728e-01 -1.12738196e-01 0.00000000e+00 1.30214902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.17396698e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86037174300003 meters Centerline goodness : 0.992460 Centerline is valid? [True, True] Translation: X:176.12, Y:130.21, Z:0.01 [[-1.11992194e-01 -9.93709086e-01 0.00000000e+00 1.76117020e+02] [ 9.93709086e-01 -1.11992194e-01 0.00000000e+00 1.30208153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97654193e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.890371743 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:176.12, Y:130.22, Z:0.01 [[-1.05424988e-01 -9.94427258e-01 0.00000000e+00 1.76116947e+02] [ 9.94427258e-01 -1.05424988e-01 0.00000000e+00 1.30219365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.38959574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92037174300003 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:176.10, Y:130.22, Z:0.01 [[-1.29200055e-01 -9.91618549e-01 0.00000000e+00 1.76102285e+02] [ 9.91618549e-01 -1.29200055e-01 0.00000000e+00 1.30224545e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27921078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.950371743 meters Centerline goodness : 0.992814 Centerline is valid? [True, True] Translation: X:176.11, Y:130.21, Z:0.01 [[-1.08534697e-01 -9.94092661e-01 0.00000000e+00 1.76114061e+02] [ 9.94092661e-01 -1.08534697e-01 0.00000000e+00 1.30207318e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44687510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.980371743 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:176.11, Y:130.20, Z:0.01 [[-1.09074020e-01 -9.94033630e-01 0.00000000e+00 1.76112905e+02] [ 9.94033630e-01 -1.09074020e-01 0.00000000e+00 1.30202602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.79865299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.010371743 meters Centerline goodness : 0.992563 Centerline is valid? [True, True] Translation: X:176.11, Y:130.23, Z:0.01 [[-1.06929644e-01 -9.94266590e-01 0.00000000e+00 1.76113006e+02] [ 9.94266590e-01 -1.06929644e-01 0.00000000e+00 1.30226942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05733289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.040371743 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:176.10, Y:130.23, Z:0.01 [[-1.29916943e-01 -9.91524880e-01 0.00000000e+00 1.76099180e+02] [ 9.91524880e-01 -1.29916943e-01 0.00000000e+00 1.30230357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12483204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.070371743 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:176.10, Y:130.24, Z:0.01 [[-1.30099989e-01 -9.91500879e-01 0.00000000e+00 1.76098065e+02] [ 9.91500879e-01 -1.30099989e-01 0.00000000e+00 1.30235939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24299088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.100371743 meters Centerline goodness : 0.993560 Centerline is valid? [True, True] Translation: X:176.10, Y:130.24, Z:0.01 [[-1.32891381e-01 -9.91130607e-01 0.00000000e+00 1.76096622e+02] [ 9.91130607e-01 -1.32891381e-01 0.00000000e+00 1.30238208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30218803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.130371743 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:176.10, Y:130.24, Z:0.01 [[-1.30691582e-01 -9.91423073e-01 0.00000000e+00 1.76096383e+02] [ 9.91423073e-01 -1.30691582e-01 0.00000000e+00 1.30238582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29868490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.160371743 meters Centerline goodness : 0.992699 Centerline is valid? [True, True] Translation: X:176.11, Y:130.22, Z:0.01 [[-1.12839206e-01 -9.93613262e-01 0.00000000e+00 1.76107509e+02] [ 9.93613262e-01 -1.12839206e-01 0.00000000e+00 1.30221695e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14377240e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.190371743 meters Centerline goodness : 0.991964 Centerline is valid? [True, True] Translation: X:176.11, Y:130.22, Z:0.01 [[-1.10963782e-01 -9.93824451e-01 0.00000000e+00 1.76108365e+02] [ 9.93824451e-01 -1.10963782e-01 0.00000000e+00 1.30223014e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.93000775e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.220371743 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:176.10, Y:130.25, Z:0.01 [[-1.31134536e-01 -9.91364582e-01 0.00000000e+00 1.76095070e+02] [ 9.91364582e-01 -1.31134536e-01 0.00000000e+00 1.30247550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27522743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.250371743 meters Centerline goodness : 0.992484 Centerline is valid? [True, True] Translation: X:176.07, Y:130.64, Z:0.01 [[-1.26323330e-01 -9.91989121e-01 0.00000000e+00 1.76071321e+02] [ 9.91989121e-01 -1.26323330e-01 0.00000000e+00 1.30635197e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11463128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.280371743 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:176.75, Y:130.45, Z:0.88 [[-8.02409080e-02 9.96775500e-01 0.00000000e+00 1.76752568e+02] [ 9.96775500e-01 8.02409080e-02 0.00000000e+00 1.30445934e+02] [ 0.00000000e+00 0.00000000e+00 -1.00000000e+00 8.76532190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.310371743 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:176.12, Y:130.36, Z:0.01 [[-1.99577292e-01 -9.79882087e-01 0.00000000e+00 1.76123902e+02] [ 9.79882087e-01 -1.99577292e-01 0.00000000e+00 1.30360836e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31096278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.340371743 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:176.12, Y:130.37, Z:0.01 [[-1.99529392e-01 -9.79891842e-01 0.00000000e+00 1.76122558e+02] [ 9.79891842e-01 -1.99529392e-01 0.00000000e+00 1.30368377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35213692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.370371743 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:176.14, Y:130.35, Z:0.01 [[-1.80896115e-01 -9.83502209e-01 0.00000000e+00 1.76135968e+02] [ 9.83502209e-01 -1.80896115e-01 0.00000000e+00 1.30352199e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.54724730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.400371743 meters Centerline goodness : 0.993294 Centerline is valid? [True, True] Translation: X:176.12, Y:130.37, Z:0.01 [[-2.00150777e-01 -9.79765108e-01 0.00000000e+00 1.76121782e+02] [ 9.79765108e-01 -2.00150777e-01 0.00000000e+00 1.30367040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39751285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.430371743 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:176.13, Y:130.37, Z:0.01 [[-1.80791285e-01 -9.83521485e-01 0.00000000e+00 1.76132608e+02] [ 9.83521485e-01 -1.80791285e-01 0.00000000e+00 1.30365724e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.79923064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.460371743 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:176.13, Y:130.37, Z:0.01 [[-1.81913006e-01 -9.83314628e-01 0.00000000e+00 1.76131137e+02] [ 9.83314628e-01 -1.81913006e-01 0.00000000e+00 1.30373288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.95258769e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.490371743 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:176.13, Y:130.37, Z:0.01 [[-1.85312737e-01 -9.82679597e-01 0.00000000e+00 1.76130633e+02] [ 9.82679597e-01 -1.85312737e-01 0.00000000e+00 1.30367789e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13727836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.520371743 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:176.13, Y:130.38, Z:0.01 [[-1.80852775e-01 -9.83510180e-01 0.00000000e+00 1.76129393e+02] [ 9.83510180e-01 -1.80852775e-01 0.00000000e+00 1.30381463e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80784074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.550371743 meters Centerline goodness : 0.993373 Centerline is valid? [True, True] Translation: X:176.13, Y:130.37, Z:0.01 [[-1.81741636e-01 -9.83346316e-01 0.00000000e+00 1.76130008e+02] [ 9.83346316e-01 -1.81741636e-01 0.00000000e+00 1.30372864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.55446366e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.580371743 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:176.13, Y:130.39, Z:0.01 [[-1.76830065e-01 -9.84241397e-01 0.00000000e+00 1.76128944e+02] [ 9.84241397e-01 -1.76830065e-01 0.00000000e+00 1.30388151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.31320089e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61037174300003 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:176.13, Y:130.38, Z:0.01 [[-1.80926374e-01 -9.83496643e-01 0.00000000e+00 1.76126176e+02] [ 9.83496643e-01 -1.80926374e-01 0.00000000e+00 1.30378821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10999853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.640371743 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:176.12, Y:130.38, Z:0.01 [[-1.80072968e-01 -9.83653255e-01 0.00000000e+00 1.76124307e+02] [ 9.83653255e-01 -1.80072968e-01 0.00000000e+00 1.30384577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06324673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67037174300003 meters Centerline goodness : 0.993427 Centerline is valid? [True, True] Translation: X:176.13, Y:130.38, Z:0.01 [[-1.79557168e-01 -9.83747540e-01 0.00000000e+00 1.76125616e+02] [ 9.83747540e-01 -1.79557168e-01 0.00000000e+00 1.30379476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.61608389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.700371743 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:176.12, Y:130.39, Z:0.01 [[-1.77499073e-01 -9.84120968e-01 0.00000000e+00 1.76123543e+02] [ 9.84120968e-01 -1.77499073e-01 0.00000000e+00 1.30392401e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.00934807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.730371743 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:176.12, Y:130.40, Z:0.01 [[-1.75980889e-01 -9.84393583e-01 0.00000000e+00 1.76121548e+02] [ 9.84393583e-01 -1.75980889e-01 0.00000000e+00 1.30396362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06794162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.760371743 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:176.11, Y:130.38, Z:0.02 [[-1.93130013e-01 -9.81173174e-01 0.00000000e+00 1.76111531e+02] [ 9.81173174e-01 -1.93130013e-01 0.00000000e+00 1.30383722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54001215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.790371743 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:176.12, Y:130.38, Z:0.01 [[-1.71946009e-01 -9.85106375e-01 0.00000000e+00 1.76119904e+02] [ 9.85106375e-01 -1.71946009e-01 0.00000000e+00 1.30376509e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28503010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.820371743 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:176.12, Y:130.39, Z:0.01 [[-1.69172387e-01 -9.85586477e-01 0.00000000e+00 1.76117602e+02] [ 9.85586477e-01 -1.69172387e-01 0.00000000e+00 1.30385822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27574584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.850371743 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:176.12, Y:130.39, Z:0.01 [[-1.67520612e-01 -9.85868574e-01 0.00000000e+00 1.76116365e+02] [ 9.85868574e-01 -1.67520612e-01 0.00000000e+00 1.30386288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30859726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.880371743 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:176.12, Y:130.39, Z:0.01 [[-1.60501913e-01 -9.87035529e-01 0.00000000e+00 1.76116716e+02] [ 9.87035529e-01 -1.60501913e-01 0.00000000e+00 1.30392660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26012873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.910371743 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:176.10, Y:130.41, Z:0.02 [[-1.82238828e-01 -9.83254295e-01 0.00000000e+00 1.76102073e+02] [ 9.83254295e-01 -1.82238828e-01 0.00000000e+00 1.30413791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93540385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.940371743 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:176.12, Y:130.38, Z:0.01 [[-1.51944803e-01 -9.88388981e-01 0.00000000e+00 1.76118398e+02] [ 9.88388981e-01 -1.51944803e-01 0.00000000e+00 1.30382971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24214955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.970371743 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:176.12, Y:130.38, Z:0.01 [[-1.55013913e-01 -9.87912287e-01 0.00000000e+00 1.76115996e+02] [ 9.87912287e-01 -1.55013913e-01 0.00000000e+00 1.30380604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32499000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.000371743 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:176.12, Y:130.39, Z:0.01 [[-1.50488072e-01 -9.88611825e-01 0.00000000e+00 1.76116658e+02] [ 9.88611825e-01 -1.50488072e-01 0.00000000e+00 1.30385680e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21253132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.030371743 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:176.12, Y:130.38, Z:0.01 [[-1.55330696e-01 -9.87862528e-01 0.00000000e+00 1.76115613e+02] [ 9.87862528e-01 -1.55330696e-01 0.00000000e+00 1.30375395e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10829678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.060371743 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:176.10, Y:130.40, Z:0.02 [[-1.78370920e-01 -9.83963320e-01 0.00000000e+00 1.76101046e+02] [ 9.83963320e-01 -1.78370920e-01 0.00000000e+00 1.30395035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72312191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.090371743 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:176.10, Y:130.40, Z:0.02 [[-1.77982176e-01 -9.84033711e-01 0.00000000e+00 1.76100618e+02] [ 9.84033711e-01 -1.77982176e-01 0.00000000e+00 1.30397652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72312191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.120371743 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:176.12, Y:130.38, Z:0.01 [[-1.53877526e-01 -9.88089929e-01 0.00000000e+00 1.76115083e+02] [ 9.88089929e-01 -1.53877526e-01 0.00000000e+00 1.30379278e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12910099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.150371743 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:176.11, Y:130.40, Z:0.01 [[-1.54400792e-01 -9.88008297e-01 0.00000000e+00 1.76111494e+02] [ 9.88008297e-01 -1.54400792e-01 0.00000000e+00 1.30403586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13606784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.180371743 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:176.11, Y:130.40, Z:0.01 [[-1.53341669e-01 -9.88173230e-01 0.00000000e+00 1.76112603e+02] [ 9.88173230e-01 -1.53341669e-01 0.00000000e+00 1.30395477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14740246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.210371743 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:176.10, Y:130.40, Z:0.02 [[-1.78245846e-01 -9.83985985e-01 0.00000000e+00 1.76099675e+02] [ 9.83985985e-01 -1.78245846e-01 0.00000000e+00 1.30403000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00110441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.240371743 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:176.11, Y:130.40, Z:0.01 [[-1.55847818e-01 -9.87781078e-01 0.00000000e+00 1.76113117e+02] [ 9.87781078e-01 -1.55847818e-01 0.00000000e+00 1.30402058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29885845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.270371743 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:176.11, Y:130.41, Z:0.01 [[-1.56067561e-01 -9.87746383e-01 0.00000000e+00 1.76111462e+02] [ 9.87746383e-01 -1.56067561e-01 0.00000000e+00 1.30405692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46598172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.300371743 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:176.11, Y:130.39, Z:0.02 [[-1.57250619e-01 -9.87558729e-01 0.00000000e+00 1.76112140e+02] [ 9.87558729e-01 -1.57250619e-01 0.00000000e+00 1.30392159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59133657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.330371743 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:176.11, Y:130.40, Z:0.02 [[-1.55146424e-01 -9.87891486e-01 0.00000000e+00 1.76110286e+02] [ 9.87891486e-01 -1.55146424e-01 0.00000000e+00 1.30404236e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71210833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36037174300003 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:176.10, Y:130.41, Z:0.02 [[-1.72059679e-01 -9.85086528e-01 0.00000000e+00 1.76099957e+02] [ 9.85086528e-01 -1.72059679e-01 0.00000000e+00 1.30408644e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30181036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.390371743 meters Centerline goodness : 0.994073 Centerline is valid? [True, True] Translation: X:176.10, Y:130.41, Z:0.02 [[-1.69766269e-01 -9.85484355e-01 0.00000000e+00 1.76100044e+02] [ 9.85484355e-01 -1.69766269e-01 0.00000000e+00 1.30414176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34442348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42037174300003 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:176.10, Y:130.41, Z:0.02 [[-1.68586806e-01 -9.85686811e-01 0.00000000e+00 1.76100831e+02] [ 9.85686811e-01 -1.68586806e-01 0.00000000e+00 1.30413519e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30417343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.450371743 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:176.11, Y:130.41, Z:0.02 [[-1.53100483e-01 -9.88210626e-01 0.00000000e+00 1.76112415e+02] [ 9.88210626e-01 -1.53100483e-01 0.00000000e+00 1.30407518e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83880788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.480371743 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:176.11, Y:130.43, Z:0.02 [[-1.52387698e-01 -9.88320793e-01 0.00000000e+00 1.76111072e+02] [ 9.88320793e-01 -1.52387698e-01 0.00000000e+00 1.30425491e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91667356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.510371743 meters Centerline goodness : 0.993660 Centerline is valid? [True, True] Translation: X:176.11, Y:130.42, Z:0.02 [[-1.67566612e-01 -9.85860756e-01 0.00000000e+00 1.76106431e+02] [ 9.85860756e-01 -1.67566612e-01 0.00000000e+00 1.30417871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14220542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.540371743 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:176.12, Y:130.42, Z:0.02 [[-1.53381163e-01 -9.88167101e-01 0.00000000e+00 1.76115633e+02] [ 9.88167101e-01 -1.53381163e-01 0.00000000e+00 1.30421402e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84481950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.570371743 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:176.12, Y:130.41, Z:0.02 [[-1.52203564e-01 -9.88349167e-01 0.00000000e+00 1.76117726e+02] [ 9.88349167e-01 -1.52203564e-01 0.00000000e+00 1.30414916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81701302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.600371743 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:176.12, Y:130.41, Z:0.02 [[-1.52976280e-01 -9.88229861e-01 0.00000000e+00 1.76118149e+02] [ 9.88229861e-01 -1.52976280e-01 0.00000000e+00 1.30413554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89252445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.630371743 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:176.12, Y:130.41, Z:0.02 [[-1.50946111e-01 -9.88541993e-01 0.00000000e+00 1.76121643e+02] [ 9.88541993e-01 -1.50946111e-01 0.00000000e+00 1.30407947e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79794018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.660371743 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:176.12, Y:130.42, Z:0.02 [[-1.52472590e-01 -9.88307700e-01 0.00000000e+00 1.76122415e+02] [ 9.88307700e-01 -1.52472590e-01 0.00000000e+00 1.30415658e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98363489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.690371743 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:176.11, Y:130.43, Z:0.02 [[-1.65371879e-01 -9.86231282e-01 0.00000000e+00 1.76114730e+02] [ 9.86231282e-01 -1.65371879e-01 0.00000000e+00 1.30425863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18782056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.720371743 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:176.13, Y:130.42, Z:0.02 [[-1.48364981e-01 -9.88932673e-01 0.00000000e+00 1.76125727e+02] [ 9.88932673e-01 -1.48364981e-01 0.00000000e+00 1.30416998e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81760063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.750371743 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:176.13, Y:130.42, Z:0.02 [[-1.48229554e-01 -9.88952981e-01 0.00000000e+00 1.76126007e+02] [ 9.88952981e-01 -1.48229554e-01 0.00000000e+00 1.30417725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92096301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.780371743 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:176.13, Y:130.41, Z:0.02 [[-1.45730794e-01 -9.89324282e-01 0.00000000e+00 1.76129389e+02] [ 9.89324282e-01 -1.45730794e-01 0.00000000e+00 1.30414063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85090873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.810371743 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:176.12, Y:130.43, Z:0.02 [[-1.63013032e-01 -9.86623916e-01 0.00000000e+00 1.76119085e+02] [ 9.86623916e-01 -1.63013032e-01 0.00000000e+00 1.30432928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26201066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.840371743 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:176.13, Y:130.43, Z:0.02 [[-1.48178662e-01 -9.88960608e-01 0.00000000e+00 1.76131530e+02] [ 9.88960608e-01 -1.48178662e-01 0.00000000e+00 1.30426528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05463714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.870371743 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:176.13, Y:130.44, Z:0.02 [[-1.49250676e-01 -9.88799391e-01 0.00000000e+00 1.76131554e+02] [ 9.88799391e-01 -1.49250676e-01 0.00000000e+00 1.30435280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12841249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.900371743 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:176.13, Y:130.44, Z:0.03 [[-1.54271801e-01 -9.88028447e-01 0.00000000e+00 1.76131587e+02] [ 9.88028447e-01 -1.54271801e-01 0.00000000e+00 1.30438299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58129033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.930371743 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:176.14, Y:130.43, Z:0.02 [[-1.47696362e-01 -9.89032752e-01 0.00000000e+00 1.76136068e+02] [ 9.89032752e-01 -1.47696362e-01 0.00000000e+00 1.30433051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16619910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.960371743 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:176.14, Y:130.43, Z:0.02 [[-1.49448953e-01 -9.88769443e-01 0.00000000e+00 1.76136887e+02] [ 9.88769443e-01 -1.49448953e-01 0.00000000e+00 1.30433691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26110951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.990371743 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:176.14, Y:130.43, Z:0.02 [[-1.50859460e-01 -9.88555220e-01 0.00000000e+00 1.76141009e+02] [ 9.88555220e-01 -1.50859460e-01 0.00000000e+00 1.30427759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17901263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.020371743 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:176.13, Y:130.46, Z:0.03 [[-1.70396832e-01 -9.85375522e-01 0.00000000e+00 1.76130053e+02] [ 9.85375522e-01 -1.70396832e-01 0.00000000e+00 1.30459015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53476736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.050371743 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:176.14, Y:130.43, Z:0.02 [[-1.57026257e-01 -9.87594428e-01 0.00000000e+00 1.76144769e+02] [ 9.87594428e-01 -1.57026257e-01 0.00000000e+00 1.30430832e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09437348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.080371743 meters Centerline goodness : 0.993431 Centerline is valid? [True, True] Translation: X:176.15, Y:130.44, Z:0.02 [[-1.57592712e-01 -9.87504196e-01 0.00000000e+00 1.76145427e+02] [ 9.87504196e-01 -1.57592712e-01 0.00000000e+00 1.30442041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98865758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11037174300003 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:176.13, Y:130.47, Z:0.02 [[-1.77130556e-01 -9.84187363e-01 0.00000000e+00 1.76133795e+02] [ 9.84187363e-01 -1.77130556e-01 0.00000000e+00 1.30472587e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39313744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.140371743 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:176.15, Y:130.45, Z:0.02 [[-1.62170433e-01 -9.86762763e-01 0.00000000e+00 1.76146577e+02] [ 9.86762763e-01 -1.62170433e-01 0.00000000e+00 1.30453088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07186790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17037174300003 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:176.15, Y:130.46, Z:0.02 [[-1.61389372e-01 -9.86890810e-01 0.00000000e+00 1.76147045e+02] [ 9.86890810e-01 -1.61389372e-01 0.00000000e+00 1.30457945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03251830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.200371743 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:176.15, Y:130.45, Z:0.02 [[-1.62663022e-01 -9.86681682e-01 0.00000000e+00 1.76148339e+02] [ 9.86681682e-01 -1.62663022e-01 0.00000000e+00 1.30454977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05636461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.230371743 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:176.15, Y:130.45, Z:0.02 [[-1.63014706e-01 -9.86623639e-01 0.00000000e+00 1.76148637e+02] [ 9.86623639e-01 -1.63014706e-01 0.00000000e+00 1.30454811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08708390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.260371743 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:176.14, Y:130.48, Z:0.02 [[-1.80767593e-01 -9.83525840e-01 0.00000000e+00 1.76136921e+02] [ 9.83525840e-01 -1.80767593e-01 0.00000000e+00 1.30480991e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44488281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.290371743 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:176.15, Y:130.45, Z:0.02 [[-1.58847417e-01 -9.87303144e-01 0.00000000e+00 1.76150141e+02] [ 9.87303144e-01 -1.58847417e-01 0.00000000e+00 1.30448974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06311535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.320371743 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:176.15, Y:130.45, Z:0.02 [[-1.58327019e-01 -9.87386730e-01 0.00000000e+00 1.76149806e+02] [ 9.87386730e-01 -1.58327019e-01 0.00000000e+00 1.30448886e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03198424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.350371743 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:176.15, Y:130.45, Z:0.02 [[-1.58096744e-01 -9.87423627e-01 0.00000000e+00 1.76149102e+02] [ 9.87423627e-01 -1.58096744e-01 0.00000000e+00 1.30449310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08265920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.380371743 meters Centerline goodness : 0.992815 Centerline is valid? [True, True] Translation: X:176.15, Y:130.47, Z:0.02 [[-1.60692178e-01 -9.87004571e-01 0.00000000e+00 1.76146605e+02] [ 9.87004571e-01 -1.60692178e-01 0.00000000e+00 1.30466386e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23537714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.410371743 meters Centerline goodness : 0.992550 Centerline is valid? [True, True] Translation: X:176.15, Y:130.47, Z:0.02 [[-1.61940522e-01 -9.86800521e-01 0.00000000e+00 1.76146037e+02] [ 9.86800521e-01 -1.61940522e-01 0.00000000e+00 1.30465953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28006156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.440371743 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:176.15, Y:130.47, Z:0.02 [[-1.59769184e-01 -9.87154399e-01 0.00000000e+00 1.76146229e+02] [ 9.87154399e-01 -1.59769184e-01 0.00000000e+00 1.30472023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15231602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.470371743 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:176.15, Y:130.49, Z:0.02 [[-1.59967267e-01 -9.87122319e-01 0.00000000e+00 1.76145049e+02] [ 9.87122319e-01 -1.59967267e-01 0.00000000e+00 1.30487111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05392767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.500371743 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:176.13, Y:130.50, Z:0.03 [[-1.83917533e-01 -9.82941677e-01 0.00000000e+00 1.76133841e+02] [ 9.82941677e-01 -1.83917533e-01 0.00000000e+00 1.30495945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54497822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.530371743 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:176.13, Y:130.50, Z:0.02 [[-1.85569153e-01 -9.82631207e-01 0.00000000e+00 1.76132939e+02] [ 9.82631207e-01 -1.85569153e-01 0.00000000e+00 1.30501673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45242649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.560371743 meters Centerline goodness : 0.992465 Centerline is valid? [True, True] Translation: X:176.14, Y:130.51, Z:0.02 [[-1.74032517e-01 -9.84739906e-01 0.00000000e+00 1.76141795e+02] [ 9.84739906e-01 -1.74032517e-01 0.00000000e+00 1.30507762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11505205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.590371743 meters Centerline goodness : 0.992420 Centerline is valid? [True, True] Translation: X:176.14, Y:130.52, Z:0.02 [[-1.76189568e-01 -9.84356255e-01 0.00000000e+00 1.76140569e+02] [ 9.84356255e-01 -1.76189568e-01 0.00000000e+00 1.30519043e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11929233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.620371743 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:176.14, Y:130.52, Z:0.02 [[-1.78398084e-01 -9.83958395e-01 0.00000000e+00 1.76139233e+02] [ 9.83958395e-01 -1.78398084e-01 0.00000000e+00 1.30524139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14759274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.650371743 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:176.13, Y:130.52, Z:0.03 [[-1.97164920e-01 -9.80370335e-01 0.00000000e+00 1.76129805e+02] [ 9.80370335e-01 -1.97164920e-01 0.00000000e+00 1.30518163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.61683403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.680371743 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:176.14, Y:130.52, Z:0.02 [[-1.83663239e-01 -9.82989224e-01 0.00000000e+00 1.76137433e+02] [ 9.82989224e-01 -1.83663239e-01 0.00000000e+00 1.30521843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21778473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.710371743 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:176.14, Y:130.52, Z:0.02 [[-1.86498183e-01 -9.82455306e-01 0.00000000e+00 1.76136119e+02] [ 9.82455306e-01 -1.86498183e-01 0.00000000e+00 1.30518553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22046782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.740371743 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:176.13, Y:130.53, Z:0.02 [[-1.88114406e-01 -9.82147123e-01 0.00000000e+00 1.76134101e+02] [ 9.82147123e-01 -1.88114406e-01 0.00000000e+00 1.30529430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21744204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.770371743 meters Centerline goodness : 0.993476 Centerline is valid? [True, True] Translation: X:176.12, Y:130.54, Z:0.03 [[-2.02866800e-01 -9.79206343e-01 0.00000000e+00 1.76124065e+02] [ 9.79206343e-01 -2.02866800e-01 0.00000000e+00 1.30536029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58683006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.800371743 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:176.14, Y:130.51, Z:0.02 [[-1.81725467e-01 -9.83349304e-01 0.00000000e+00 1.76135319e+02] [ 9.83349304e-01 -1.81725467e-01 0.00000000e+00 1.30510030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90885497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.830371743 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:176.12, Y:130.53, Z:0.03 [[-2.06016336e-01 -9.78548552e-01 0.00000000e+00 1.76118119e+02] [ 9.78548552e-01 -2.06016336e-01 0.00000000e+00 1.30534334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.69140803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86037174300003 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:176.12, Y:130.54, Z:0.03 [[-2.05887499e-01 -9.78575668e-01 0.00000000e+00 1.76115672e+02] [ 9.78575668e-01 -2.05887499e-01 0.00000000e+00 1.30538476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.72374839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.890371743 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:176.11, Y:130.54, Z:0.03 [[-2.05359372e-01 -9.78686634e-01 0.00000000e+00 1.76114114e+02] [ 9.78686634e-01 -2.05359372e-01 0.00000000e+00 1.30536662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.78389988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92037174300003 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:176.11, Y:130.54, Z:0.03 [[-2.04352443e-01 -9.78897379e-01 0.00000000e+00 1.76109917e+02] [ 9.78897379e-01 -2.04352443e-01 0.00000000e+00 1.30540065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74864302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.950371743 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:176.11, Y:130.54, Z:0.03 [[-2.03889321e-01 -9.78993945e-01 0.00000000e+00 1.76106968e+02] [ 9.78993945e-01 -2.03889321e-01 0.00000000e+00 1.30544107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66548437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.980371743 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:176.10, Y:130.54, Z:0.03 [[-2.03673673e-01 -9.79038832e-01 0.00000000e+00 1.76102202e+02] [ 9.79038832e-01 -2.03673673e-01 0.00000000e+00 1.30541903e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71363580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.010371743 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:176.10, Y:130.54, Z:0.03 [[-2.03284931e-01 -9.79119623e-01 0.00000000e+00 1.76101811e+02] [ 9.79119623e-01 -2.03284931e-01 0.00000000e+00 1.30544517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.71363580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.040371743 meters Centerline goodness : 0.993782 Centerline is valid? [True, True] Translation: X:176.10, Y:130.55, Z:0.03 [[-2.03139113e-01 -9.79149887e-01 0.00000000e+00 1.76098771e+02] [ 9.79149887e-01 -2.03139113e-01 0.00000000e+00 1.30547247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.74352053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.070371743 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:176.10, Y:130.55, Z:0.03 [[-2.03081647e-01 -9.79161807e-01 0.00000000e+00 1.76095857e+02] [ 9.79161807e-01 -2.03081647e-01 0.00000000e+00 1.30551438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.81219767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.100371743 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:176.09, Y:130.55, Z:0.03 [[-2.04429781e-01 -9.78881231e-01 0.00000000e+00 1.76091475e+02] [ 9.78881231e-01 -2.04429781e-01 0.00000000e+00 1.30551972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88059747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.130371743 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:176.11, Y:130.52, Z:0.02 [[-1.79212908e-01 -9.83810314e-01 0.00000000e+00 1.76105736e+02] [ 9.83810314e-01 -1.79212908e-01 0.00000000e+00 1.30523744e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10391469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.160371743 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:176.10, Y:130.54, Z:0.02 [[-1.81239860e-01 -9.83438922e-01 0.00000000e+00 1.76099310e+02] [ 9.83438922e-01 -1.81239860e-01 0.00000000e+00 1.30537997e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18334184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.190371743 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:176.10, Y:130.53, Z:0.02 [[-1.85878674e-01 -9.82572704e-01 0.00000000e+00 1.76096601e+02] [ 9.82572704e-01 -1.85878674e-01 0.00000000e+00 1.30530463e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20533855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.220371743 meters Centerline goodness : 0.993018 Centerline is valid? [True, True] Translation: X:176.09, Y:130.55, Z:0.03 [[-1.93516973e-01 -9.81096927e-01 0.00000000e+00 1.76087795e+02] [ 9.81096927e-01 -1.93516973e-01 0.00000000e+00 1.30546514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.87618171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.250371743 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:176.09, Y:130.56, Z:0.03 [[-1.88875465e-01 -9.82001048e-01 0.00000000e+00 1.76086431e+02] [ 9.82001048e-01 -1.88875465e-01 0.00000000e+00 1.30558026e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.59606523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.280371743 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:176.08, Y:130.55, Z:0.03 [[-1.96461471e-01 -9.80511545e-01 0.00000000e+00 1.76080650e+02] [ 9.80511545e-01 -1.96461471e-01 0.00000000e+00 1.30549632e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.85669130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.310371743 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:176.08, Y:130.56, Z:0.03 [[-1.99109811e-01 -9.79977185e-01 0.00000000e+00 1.76076059e+02] [ 9.79977185e-01 -1.99109811e-01 0.00000000e+00 1.30563776e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09598079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.340371743 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:176.07, Y:130.56, Z:0.03 [[-1.98449639e-01 -9.80111086e-01 0.00000000e+00 1.76074198e+02] [ 9.80111086e-01 -1.98449639e-01 0.00000000e+00 1.30560200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99659189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.370371743 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:176.07, Y:130.56, Z:0.03 [[-1.98693149e-01 -9.80061749e-01 0.00000000e+00 1.76071713e+02] [ 9.80061749e-01 -1.98693149e-01 0.00000000e+00 1.30561811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01978651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.400371743 meters Centerline goodness : 0.993211 Centerline is valid? [True, True] Translation: X:176.06, Y:130.59, Z:0.03 [[-2.00056028e-01 -9.79784459e-01 0.00000000e+00 1.76064719e+02] [ 9.79784459e-01 -2.00056028e-01 0.00000000e+00 1.30588404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12510400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.430371743 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:176.06, Y:130.57, Z:0.03 [[-2.00579721e-01 -9.79677383e-01 0.00000000e+00 1.76063541e+02] [ 9.79677383e-01 -2.00579721e-01 0.00000000e+00 1.30569771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17942512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.460371743 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:176.06, Y:130.57, Z:0.03 [[-1.99198843e-01 -9.79959091e-01 0.00000000e+00 1.76061647e+02] [ 9.79959091e-01 -1.99198843e-01 0.00000000e+00 1.30573349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.05833788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.490371743 meters Centerline goodness : 0.992519 Centerline is valid? [True, True] Translation: X:176.06, Y:130.58, Z:0.03 [[-2.00745685e-01 -9.79643389e-01 0.00000000e+00 1.76058243e+02] [ 9.79643389e-01 -2.00745685e-01 0.00000000e+00 1.30583619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.37322704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.520371743 meters Centerline goodness : 0.992566 Centerline is valid? [True, True] Translation: X:176.05, Y:130.58, Z:0.03 [[-1.99077449e-01 -9.79983760e-01 0.00000000e+00 1.76054763e+02] [ 9.79983760e-01 -1.99077449e-01 0.00000000e+00 1.30583573e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25782654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.550371743 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:176.05, Y:130.60, Z:0.03 [[-1.99010605e-01 -9.79997336e-01 0.00000000e+00 1.76051207e+02] [ 9.79997336e-01 -1.99010605e-01 0.00000000e+00 1.30595706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.22219758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.580371743 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:176.05, Y:130.58, Z:0.03 [[-1.96518108e-01 -9.80500196e-01 0.00000000e+00 1.76050260e+02] [ 9.80500196e-01 -1.96518108e-01 0.00000000e+00 1.30579490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19004375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61037174300003 meters Centerline goodness : 0.993800 Centerline is valid? [True, True] Translation: X:176.05, Y:130.58, Z:0.03 [[-1.95499656e-01 -9.80703770e-01 0.00000000e+00 1.76047735e+02] [ 9.80703770e-01 -1.95499656e-01 0.00000000e+00 1.30576582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.79349318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.640371743 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:176.04, Y:130.59, Z:0.03 [[-1.94920935e-01 -9.80818958e-01 0.00000000e+00 1.76044594e+02] [ 9.80818958e-01 -1.94920935e-01 0.00000000e+00 1.30590623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17935392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67037174300003 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:176.04, Y:130.59, Z:0.03 [[-1.94331442e-01 -9.80935926e-01 0.00000000e+00 1.76043231e+02] [ 9.80935926e-01 -1.94331442e-01 0.00000000e+00 1.30587662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.19157251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.700371743 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:176.04, Y:130.61, Z:0.03 [[-1.97283377e-01 -9.80346505e-01 0.00000000e+00 1.76035659e+02] [ 9.80346505e-01 -1.97283377e-01 0.00000000e+00 1.30607701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12607047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.730371743 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:176.04, Y:130.59, Z:0.03 [[-1.92917565e-01 -9.81214968e-01 0.00000000e+00 1.76038539e+02] [ 9.81214968e-01 -1.92917565e-01 0.00000000e+00 1.30590277e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21658143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.760371743 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:176.03, Y:130.59, Z:0.03 [[-2.01803163e-01 -9.79426099e-01 0.00000000e+00 1.76030414e+02] [ 9.79426099e-01 -2.01803163e-01 0.00000000e+00 1.30585536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12748220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.790371743 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:176.03, Y:130.59, Z:0.03 [[-2.00579801e-01 -9.79677367e-01 0.00000000e+00 1.76029339e+02] [ 9.79677367e-01 -2.00579801e-01 0.00000000e+00 1.30585287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.13225077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.820371743 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:176.03, Y:130.59, Z:0.03 [[-1.99266604e-01 -9.79945315e-01 0.00000000e+00 1.76028366e+02] [ 9.79945315e-01 -1.99266604e-01 0.00000000e+00 1.30586836e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16798605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.850371743 meters Centerline goodness : 0.994786 Centerline is valid? [True, True] Translation: X:176.03, Y:130.58, Z:0.03 [[-1.88112037e-01 -9.82147576e-01 0.00000000e+00 1.76031952e+02] [ 9.82147576e-01 -1.88112037e-01 0.00000000e+00 1.30584149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.28302681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.880371743 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:176.03, Y:130.59, Z:0.03 [[-1.85291725e-01 -9.82683559e-01 0.00000000e+00 1.76031034e+02] [ 9.82683559e-01 -1.85291725e-01 0.00000000e+00 1.30587367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02338340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.910371743 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:176.03, Y:130.59, Z:0.03 [[-1.82423807e-01 -9.83219993e-01 0.00000000e+00 1.76028426e+02] [ 9.83219993e-01 -1.82423807e-01 0.00000000e+00 1.30588984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01422094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.940371743 meters Centerline goodness : 0.994814 Centerline is valid? [True, True] Translation: X:176.03, Y:130.58, Z:0.03 [[-1.78393855e-01 -9.83959162e-01 0.00000000e+00 1.76028840e+02] [ 9.83959162e-01 -1.78393855e-01 0.00000000e+00 1.30582096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94643320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.970371743 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:176.02, Y:130.61, Z:0.03 [[-1.77757538e-01 -9.84074315e-01 0.00000000e+00 1.76023545e+02] [ 9.84074315e-01 -1.77757538e-01 0.00000000e+00 1.30610673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06484731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.000371743 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:176.03, Y:130.59, Z:0.03 [[-1.76155935e-01 -9.84362274e-01 0.00000000e+00 1.76025690e+02] [ 9.84362274e-01 -1.76155935e-01 0.00000000e+00 1.30588065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12914314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.030371743 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:176.02, Y:130.60, Z:0.03 [[-1.74996380e-01 -9.84569077e-01 0.00000000e+00 1.76024073e+02] [ 9.84569077e-01 -1.74996380e-01 0.00000000e+00 1.30601997e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02926452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.060371743 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:176.02, Y:130.58, Z:0.03 [[-1.70805166e-01 -9.85304824e-01 0.00000000e+00 1.76024695e+02] [ 9.85304824e-01 -1.70805166e-01 0.00000000e+00 1.30581057e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.98392238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.090371743 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:176.02, Y:130.58, Z:0.03 [[-1.66021041e-01 -9.86122210e-01 0.00000000e+00 1.76024377e+02] [ 9.86122210e-01 -1.66021041e-01 0.00000000e+00 1.30581695e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.90872678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.120371743 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:176.02, Y:130.58, Z:0.03 [[-1.53685499e-01 -9.88119814e-01 0.00000000e+00 1.76024943e+02] [ 9.88119814e-01 -1.53685499e-01 0.00000000e+00 1.30579308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.66655742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.150371743 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:176.02, Y:130.60, Z:0.03 [[-1.57648466e-01 -9.87495297e-01 0.00000000e+00 1.76019294e+02] [ 9.87495297e-01 -1.57648466e-01 0.00000000e+00 1.30596384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.08979207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.180371743 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:176.02, Y:130.61, Z:0.03 [[-1.46810921e-01 -9.89164574e-01 0.00000000e+00 1.76016730e+02] [ 9.89164574e-01 -1.46810921e-01 0.00000000e+00 1.30610921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01547629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.210371743 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:176.01, Y:130.60, Z:0.04 [[-1.56283037e-01 -9.87712313e-01 0.00000000e+00 1.76009162e+02] [ 9.87712313e-01 -1.56283037e-01 0.00000000e+00 1.30597881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55272425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.240371743 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:176.01, Y:130.60, Z:0.03 [[-1.53773680e-01 -9.88106095e-01 0.00000000e+00 1.76008713e+02] [ 9.88106095e-01 -1.53773680e-01 0.00000000e+00 1.30595419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39432100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.270371743 meters Centerline goodness : 0.995120 Centerline is valid? [True, True] Translation: X:176.01, Y:130.59, Z:0.03 [[-1.51817830e-01 -9.88408492e-01 0.00000000e+00 1.76007956e+02] [ 9.88408492e-01 -1.51817830e-01 0.00000000e+00 1.30594460e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.38894000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.300371743 meters Centerline goodness : 0.995196 Centerline is valid? [True, True] Translation: X:176.01, Y:130.59, Z:0.03 [[-1.50175773e-01 -9.88659313e-01 0.00000000e+00 1.76007369e+02] [ 9.88659313e-01 -1.50175773e-01 0.00000000e+00 1.30593478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26492489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.330371743 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:176.01, Y:130.60, Z:0.03 [[-1.49119139e-01 -9.88819236e-01 0.00000000e+00 1.76005516e+02] [ 9.88819236e-01 -1.49119139e-01 0.00000000e+00 1.30598298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.91897016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36037174300003 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:176.01, Y:130.59, Z:0.02 [[-1.31257962e-01 -9.91348247e-01 0.00000000e+00 1.76014685e+02] [ 9.91348247e-01 -1.31257962e-01 0.00000000e+00 1.30594526e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35494980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.390371743 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:176.00, Y:130.60, Z:0.03 [[-1.50754212e-01 -9.88571276e-01 0.00000000e+00 1.76003604e+02] [ 9.88571276e-01 -1.50754212e-01 0.00000000e+00 1.30602804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.92474662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42037174300003 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:176.01, Y:130.61, Z:0.02 [[-1.36531066e-01 -9.90635790e-01 0.00000000e+00 1.76012261e+02] [ 9.90635790e-01 -1.36531066e-01 0.00000000e+00 1.30607346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36095757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.450371743 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:176.00, Y:130.61, Z:0.03 [[-1.53767731e-01 -9.88107021e-01 0.00000000e+00 1.76002157e+02] [ 9.88107021e-01 -1.53767731e-01 0.00000000e+00 1.30610130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03821580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.480371743 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:176.01, Y:130.59, Z:0.03 [[-1.43670996e-01 -9.89625507e-01 0.00000000e+00 1.76009707e+02] [ 9.89625507e-01 -1.43670996e-01 0.00000000e+00 1.30592465e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32346988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.510371743 meters Centerline goodness : 0.994781 Centerline is valid? [True, True] Translation: X:176.01, Y:130.62, Z:0.03 [[-1.44405558e-01 -9.89518587e-01 0.00000000e+00 1.76008538e+02] [ 9.89518587e-01 -1.44405558e-01 0.00000000e+00 1.30621580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.94244732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.540371743 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:176.01, Y:130.62, Z:0.03 [[-1.47538615e-01 -9.89056296e-01 0.00000000e+00 1.76008283e+02] [ 9.89056296e-01 -1.47538615e-01 0.00000000e+00 1.30616954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06475368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.570371743 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:176.01, Y:130.61, Z:0.03 [[-1.50231073e-01 -9.88650911e-01 0.00000000e+00 1.76008332e+02] [ 9.88650911e-01 -1.50231073e-01 0.00000000e+00 1.30614706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06242009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.600371743 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:176.01, Y:130.62, Z:0.03 [[-1.51770811e-01 -9.88415713e-01 0.00000000e+00 1.76007266e+02] [ 9.88415713e-01 -1.51770811e-01 0.00000000e+00 1.30623008e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14070517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.630371743 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:176.01, Y:130.63, Z:0.03 [[-1.54291130e-01 -9.88025428e-01 0.00000000e+00 1.76006353e+02] [ 9.88025428e-01 -1.54291130e-01 0.00000000e+00 1.30631420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21565714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.660371743 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:176.01, Y:130.63, Z:0.03 [[-1.56246093e-01 -9.87718157e-01 0.00000000e+00 1.76006195e+02] [ 9.87718157e-01 -1.56246093e-01 0.00000000e+00 1.30631520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.26610075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.690371743 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:176.01, Y:130.63, Z:0.03 [[-1.58273650e-01 -9.87395286e-01 0.00000000e+00 1.76006992e+02] [ 9.87395286e-01 -1.58273650e-01 0.00000000e+00 1.30634701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.20684069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.720371743 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:176.01, Y:130.66, Z:0.03 [[-1.58282965e-01 -9.87393793e-01 0.00000000e+00 1.76005284e+02] [ 9.87393793e-01 -1.58282965e-01 0.00000000e+00 1.30660438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06816233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.750371743 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:176.00, Y:130.66, Z:0.03 [[-1.61097028e-01 -9.86938573e-01 0.00000000e+00 1.76004924e+02] [ 9.86938573e-01 -1.61097028e-01 0.00000000e+00 1.30658950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12099872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.780371743 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:176.01, Y:130.66, Z:0.03 [[-1.60079297e-01 -9.87104158e-01 0.00000000e+00 1.76005381e+02] [ 9.87104158e-01 -1.60079297e-01 0.00000000e+00 1.30658791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.11496340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.810371743 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:176.00, Y:130.65, Z:0.04 [[-1.78495792e-01 -9.83940675e-01 0.00000000e+00 1.75997579e+02] [ 9.83940675e-01 -1.78495792e-01 0.00000000e+00 1.30651344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60326417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.840371743 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:176.01, Y:130.65, Z:0.03 [[-1.59898380e-01 -9.87133480e-01 0.00000000e+00 1.76007749e+02] [ 9.87133480e-01 -1.59898380e-01 0.00000000e+00 1.30645234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07009557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.870371743 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:176.01, Y:130.66, Z:0.03 [[-1.59774496e-01 -9.87153539e-01 0.00000000e+00 1.76005651e+02] [ 9.87153539e-01 -1.59774496e-01 0.00000000e+00 1.30660675e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06588487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.900371743 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:176.01, Y:130.66, Z:0.03 [[-1.59439253e-01 -9.87207741e-01 0.00000000e+00 1.76005290e+02] [ 9.87207741e-01 -1.59439253e-01 0.00000000e+00 1.30663306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06588487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.930371743 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:176.00, Y:130.66, Z:0.03 [[-1.58044017e-01 -9.87432068e-01 0.00000000e+00 1.76004510e+02] [ 9.87432068e-01 -1.58044017e-01 0.00000000e+00 1.30659158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01118641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.960371743 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:176.00, Y:130.66, Z:0.03 [[-1.58295775e-01 -9.87391740e-01 0.00000000e+00 1.76002137e+02] [ 9.87391740e-01 -1.58295775e-01 0.00000000e+00 1.30663498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.15485535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.990371743 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:176.00, Y:130.66, Z:0.03 [[-1.59447281e-01 -9.87206445e-01 0.00000000e+00 1.76000814e+02] [ 9.87206445e-01 -1.59447281e-01 0.00000000e+00 1.30663356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.17287426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.020371743 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:176.00, Y:130.66, Z:0.03 [[-1.59430891e-01 -9.87209092e-01 0.00000000e+00 1.76000851e+02] [ 9.87209092e-01 -1.59430891e-01 0.00000000e+00 1.30663154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14105666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.050371743 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:176.00, Y:130.66, Z:0.03 [[-1.62357545e-01 -9.86731994e-01 0.00000000e+00 1.76000560e+02] [ 9.86731994e-01 -1.62357545e-01 0.00000000e+00 1.30664016e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09067904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.080371743 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:176.00, Y:130.68, Z:0.03 [[-1.65122708e-01 -9.86273031e-01 0.00000000e+00 1.75997572e+02] [ 9.86273031e-01 -1.65122708e-01 0.00000000e+00 1.30681657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32488679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11037174300003 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:176.00, Y:130.68, Z:0.03 [[-1.68138451e-01 -9.85763390e-01 0.00000000e+00 1.75997339e+02] [ 9.85763390e-01 -1.68138451e-01 0.00000000e+00 1.30684671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.36495874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.140371743 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:176.00, Y:130.69, Z:0.03 [[-1.67942715e-01 -9.85796756e-01 0.00000000e+00 1.75997659e+02] [ 9.85796756e-01 -1.67942715e-01 0.00000000e+00 1.30690038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16741052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17037174300003 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:175.99, Y:130.72, Z:0.04 [[-1.73371970e-01 -9.84856416e-01 0.00000000e+00 1.75993172e+02] [ 9.84856416e-01 -1.73371970e-01 0.00000000e+00 1.30723551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.69150419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.200371743 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:176.00, Y:130.69, Z:0.03 [[-1.71626865e-01 -9.85162027e-01 0.00000000e+00 1.75996739e+02] [ 9.85162027e-01 -1.71626865e-01 0.00000000e+00 1.30687952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45524620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.230371743 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:176.00, Y:130.68, Z:0.03 [[-1.68924238e-01 -9.85629039e-01 0.00000000e+00 1.75996064e+02] [ 9.85629039e-01 -1.68924238e-01 0.00000000e+00 1.30683847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35680642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.260371743 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:175.99, Y:130.69, Z:0.03 [[-1.68263665e-01 -9.85742025e-01 0.00000000e+00 1.75993235e+02] [ 9.85742025e-01 -1.68263665e-01 0.00000000e+00 1.30686309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.47154605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.290371743 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:175.98, Y:130.69, Z:0.04 [[-1.80526841e-01 -9.83570058e-01 0.00000000e+00 1.75984334e+02] [ 9.83570058e-01 -1.80526841e-01 0.00000000e+00 1.30694806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61236546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.320371743 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:175.99, Y:130.72, Z:0.03 [[-1.65902639e-01 -9.86142137e-01 0.00000000e+00 1.75988236e+02] [ 9.86142137e-01 -1.65902639e-01 0.00000000e+00 1.30723083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39695873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.350371743 meters Centerline goodness : 0.994482 Centerline is valid? [True, True] Translation: X:175.99, Y:130.71, Z:0.03 [[-1.65373419e-01 -9.86231024e-01 0.00000000e+00 1.75988963e+02] [ 9.86231024e-01 -1.65373419e-01 0.00000000e+00 1.30705144e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42067393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.380371743 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:175.99, Y:130.71, Z:0.04 [[-1.65266203e-01 -9.86248996e-01 0.00000000e+00 1.75985737e+02] [ 9.86248996e-01 -1.65266203e-01 0.00000000e+00 1.30707846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51773788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.410371743 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:175.99, Y:130.70, Z:0.04 [[-1.64106206e-01 -9.86442676e-01 0.00000000e+00 1.75986222e+02] [ 9.86442676e-01 -1.64106206e-01 0.00000000e+00 1.30700592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53177247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.440371743 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:175.97, Y:130.70, Z:0.04 [[-1.75867309e-01 -9.84413881e-01 0.00000000e+00 1.75974061e+02] [ 9.84413881e-01 -1.75867309e-01 0.00000000e+00 1.30702484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.57970157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.470371743 meters Centerline goodness : 0.995119 Centerline is valid? [True, True] Translation: X:175.98, Y:130.71, Z:0.04 [[-1.63683033e-01 -9.86512983e-01 0.00000000e+00 1.75978517e+02] [ 9.86512983e-01 -1.63683033e-01 0.00000000e+00 1.30712427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56838672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.500371743 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:175.97, Y:130.71, Z:0.04 [[-1.75627220e-01 -9.84456743e-01 0.00000000e+00 1.75970266e+02] [ 9.84456743e-01 -1.75627220e-01 0.00000000e+00 1.30712718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55295583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.530371743 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:175.97, Y:130.72, Z:0.04 [[-1.65630039e-01 -9.86187959e-01 0.00000000e+00 1.75974401e+02] [ 9.86187959e-01 -1.65630039e-01 0.00000000e+00 1.30719293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76477229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.560371743 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:175.97, Y:130.71, Z:0.04 [[-1.64417941e-01 -9.86390765e-01 0.00000000e+00 1.75972044e+02] [ 9.86390765e-01 -1.64417941e-01 0.00000000e+00 1.30714618e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77098682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.590371743 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:175.97, Y:130.72, Z:0.04 [[-1.64871841e-01 -9.86314998e-01 0.00000000e+00 1.75970616e+02] [ 9.86314998e-01 -1.64871841e-01 0.00000000e+00 1.30715663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82294974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.620371743 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:175.97, Y:130.71, Z:0.04 [[-1.66173887e-01 -9.86096465e-01 0.00000000e+00 1.75969629e+02] [ 9.86096465e-01 -1.66173887e-01 0.00000000e+00 1.30707118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.89359734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.650371743 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:175.97, Y:130.72, Z:0.04 [[-1.67523185e-01 -9.85868137e-01 0.00000000e+00 1.75967190e+02] [ 9.85868137e-01 -1.67523185e-01 0.00000000e+00 1.30721861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.84563853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.680371743 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:175.96, Y:130.74, Z:0.04 [[-1.69047159e-01 -9.85607964e-01 0.00000000e+00 1.75964928e+02] [ 9.85607964e-01 -1.69047159e-01 0.00000000e+00 1.30735013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82703442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.710371743 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:175.96, Y:130.73, Z:0.03 [[-1.71763156e-01 -9.85138274e-01 0.00000000e+00 1.75962560e+02] [ 9.85138274e-01 -1.71763156e-01 0.00000000e+00 1.30728546e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43191887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.740371743 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:175.96, Y:130.76, Z:0.04 [[-1.70572356e-01 -9.85345153e-01 0.00000000e+00 1.75960373e+02] [ 9.85345153e-01 -1.70572356e-01 0.00000000e+00 1.30756558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80729282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.770371743 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:175.96, Y:130.73, Z:0.04 [[-1.69101245e-01 -9.85598685e-01 0.00000000e+00 1.75960762e+02] [ 9.85598685e-01 -1.69101245e-01 0.00000000e+00 1.30730067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72739487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.800371743 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:175.95, Y:130.74, Z:0.04 [[-1.78522244e-01 -9.83935876e-01 0.00000000e+00 1.75952906e+02] [ 9.83935876e-01 -1.78522244e-01 0.00000000e+00 1.30737641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.66531119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.830371743 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:175.96, Y:130.74, Z:0.04 [[-1.67368836e-01 -9.85894352e-01 0.00000000e+00 1.75956803e+02] [ 9.85894352e-01 -1.67368836e-01 0.00000000e+00 1.30739725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53687619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86037174300003 meters Centerline goodness : 0.994102 Centerline is valid? [True, True] Translation: X:175.95, Y:130.75, Z:0.04 [[-1.66932647e-01 -9.85968301e-01 0.00000000e+00 1.75953281e+02] [ 9.85968301e-01 -1.66932647e-01 0.00000000e+00 1.30749174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50525593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.890371743 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:175.95, Y:130.74, Z:0.03 [[-1.64017513e-01 -9.86457427e-01 0.00000000e+00 1.75952224e+02] [ 9.86457427e-01 -1.64017513e-01 0.00000000e+00 1.30737740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.40573359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92037174300003 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:175.95, Y:130.75, Z:0.04 [[-1.60853514e-01 -9.86978291e-01 0.00000000e+00 1.75950415e+02] [ 9.86978291e-01 -1.60853514e-01 0.00000000e+00 1.30750922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60445300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.950371743 meters Centerline goodness : 0.993244 Centerline is valid? [True, True] Translation: X:175.95, Y:130.75, Z:0.04 [[-1.57454093e-01 -9.87526308e-01 0.00000000e+00 1.75948062e+02] [ 9.87526308e-01 -1.57454093e-01 0.00000000e+00 1.30746458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.77814147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.980371743 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:175.94, Y:130.77, Z:0.04 [[-1.56023716e-01 -9.87753309e-01 0.00000000e+00 1.75944468e+02] [ 9.87753309e-01 -1.56023716e-01 0.00000000e+00 1.30771788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.82297173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.010371743 meters Centerline goodness : 0.992474 Centerline is valid? [True, True] Translation: X:175.95, Y:130.75, Z:0.04 [[-1.54947573e-01 -9.87922694e-01 0.00000000e+00 1.75946511e+02] [ 9.87922694e-01 -1.54947573e-01 0.00000000e+00 1.30748130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78572563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.040371743 meters Centerline goodness : 0.992199 Centerline is valid? [True, True] Translation: X:175.94, Y:130.78, Z:0.04 [[-1.52774206e-01 -9.88261120e-01 0.00000000e+00 1.75942794e+02] [ 9.88261120e-01 -1.52774206e-01 0.00000000e+00 1.30780914e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.81680364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.070371743 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:175.94, Y:130.78, Z:0.04 [[-1.49130087e-01 -9.88817585e-01 0.00000000e+00 1.75941552e+02] [ 9.88817585e-01 -1.49130087e-01 0.00000000e+00 1.30783538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56532001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.100371743 meters Centerline goodness : 0.992923 Centerline is valid? [True, True] Translation: X:175.94, Y:130.75, Z:0.04 [[-1.48175933e-01 -9.88961017e-01 0.00000000e+00 1.75944316e+02] [ 9.88961017e-01 -1.48175933e-01 0.00000000e+00 1.30747743e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.61834292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.130371743 meters Centerline goodness : 0.992337 Centerline is valid? [True, True] Translation: X:175.94, Y:130.79, Z:0.04 [[-1.48809334e-01 -9.88865907e-01 0.00000000e+00 1.75940802e+02] [ 9.88865907e-01 -1.48809334e-01 0.00000000e+00 1.30785420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62044403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.160371743 meters Centerline goodness : 0.991664 Centerline is valid? [True, True] Translation: X:175.94, Y:130.79, Z:0.04 [[-1.48710908e-01 -9.88880714e-01 0.00000000e+00 1.75942052e+02] [ 9.88880714e-01 -1.48710908e-01 0.00000000e+00 1.30786044e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68000601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.190371743 meters Centerline goodness : 0.991176 Centerline is valid? [True, True] Translation: X:175.94, Y:130.78, Z:0.04 [[-1.46922789e-01 -9.89147964e-01 0.00000000e+00 1.75943522e+02] [ 9.89147964e-01 -1.46922789e-01 0.00000000e+00 1.30780247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.51825249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.220371743 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:175.95, Y:130.76, Z:0.03 [[-1.45428999e-01 -9.89368691e-01 0.00000000e+00 1.75945075e+02] [ 9.89368691e-01 -1.45428999e-01 0.00000000e+00 1.30758532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35350151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.250371743 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:175.94, Y:130.79, Z:0.03 [[-1.45721295e-01 -9.89325682e-01 0.00000000e+00 1.75942289e+02] [ 9.89325682e-01 -1.45721295e-01 0.00000000e+00 1.30787275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39379886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.280371743 meters Centerline goodness : 0.991581 Centerline is valid? [True, True] Translation: X:175.94, Y:130.79, Z:0.04 [[-1.47595438e-01 -9.89047818e-01 0.00000000e+00 1.75942956e+02] [ 9.89047818e-01 -1.47595438e-01 0.00000000e+00 1.30791461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59072155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.310371743 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:175.94, Y:130.80, Z:0.04 [[-1.45514135e-01 -9.89356173e-01 0.00000000e+00 1.75942725e+02] [ 9.89356173e-01 -1.45514135e-01 0.00000000e+00 1.30795921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.52404609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.340371743 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:175.94, Y:130.81, Z:0.04 [[-1.44812701e-01 -9.89459085e-01 0.00000000e+00 1.75941445e+02] [ 9.89459085e-01 -1.44812701e-01 0.00000000e+00 1.30811347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56493534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.370371743 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:175.95, Y:130.78, Z:0.03 [[-1.42107874e-01 -9.89851177e-01 0.00000000e+00 1.75945016e+02] [ 9.89851177e-01 -1.42107874e-01 0.00000000e+00 1.30776611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.43415171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.400371743 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:175.95, Y:130.78, Z:0.03 [[-1.37475576e-01 -9.90505157e-01 0.00000000e+00 1.75945263e+02] [ 9.90505157e-01 -1.37475576e-01 0.00000000e+00 1.30777520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34661143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.430371743 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:175.95, Y:130.77, Z:0.03 [[-1.37489365e-01 -9.90503243e-01 0.00000000e+00 1.75945055e+02] [ 9.90503243e-01 -1.37489365e-01 0.00000000e+00 1.30774978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.45273796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.460371743 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:175.95, Y:130.77, Z:0.03 [[-1.33766179e-01 -9.91012921e-01 0.00000000e+00 1.75946979e+02] [ 9.91012921e-01 -1.33766179e-01 0.00000000e+00 1.30765666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.32769144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.490371743 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:175.95, Y:130.77, Z:0.03 [[-1.32096648e-01 -9.91236841e-01 0.00000000e+00 1.75946968e+02] [ 9.91236841e-01 -1.32096648e-01 0.00000000e+00 1.30771140e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.34387368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.520371743 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:175.95, Y:130.78, Z:0.03 [[-1.29397928e-01 -9.91592747e-01 0.00000000e+00 1.75947278e+02] [ 9.91592747e-01 -1.29397928e-01 0.00000000e+00 1.30777309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33895552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.550371743 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:175.95, Y:130.81, Z:0.03 [[-1.28039748e-01 -9.91769037e-01 0.00000000e+00 1.75945870e+02] [ 9.91769037e-01 -1.28039748e-01 0.00000000e+00 1.30808185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31432204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.580371743 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:175.95, Y:130.80, Z:0.03 [[-1.27844369e-01 -9.91794241e-01 0.00000000e+00 1.75947226e+02] [ 9.91794241e-01 -1.27844369e-01 0.00000000e+00 1.30801105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29243417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61037174300003 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:175.95, Y:130.78, Z:0.03 [[-1.26626392e-01 -9.91950481e-01 0.00000000e+00 1.75950741e+02] [ 9.91950481e-01 -1.26626392e-01 0.00000000e+00 1.30780973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21301247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.640371743 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:175.95, Y:130.79, Z:0.03 [[-1.28333610e-01 -9.91731055e-01 0.00000000e+00 1.75950144e+02] [ 9.91731055e-01 -1.28333610e-01 0.00000000e+00 1.30790626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.29812465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67037174300003 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:175.94, Y:130.79, Z:0.04 [[-1.47744490e-01 -9.89025564e-01 0.00000000e+00 1.75939806e+02] [ 9.89025564e-01 -1.47744490e-01 0.00000000e+00 1.30794708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.87185709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.700371743 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:175.96, Y:130.80, Z:0.03 [[-1.24128254e-01 -9.92266182e-01 0.00000000e+00 1.75955431e+02] [ 9.92266182e-01 -1.24128254e-01 0.00000000e+00 1.30804458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.88086120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.730371743 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:175.96, Y:130.80, Z:0.03 [[-1.27007111e-01 -9.91901806e-01 0.00000000e+00 1.75955959e+02] [ 9.91901806e-01 -1.27007111e-01 0.00000000e+00 1.30802446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.96382625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.760371743 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:175.96, Y:130.81, Z:0.03 [[-1.29428429e-01 -9.91588766e-01 0.00000000e+00 1.75957697e+02] [ 9.91588766e-01 -1.29428429e-01 0.00000000e+00 1.30809612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06291497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.790371743 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:175.96, Y:130.81, Z:0.03 [[-1.31694786e-01 -9.91290312e-01 0.00000000e+00 1.75958777e+02] [ 9.91290312e-01 -1.31694786e-01 0.00000000e+00 1.30810729e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03388485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.820371743 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:175.96, Y:130.81, Z:0.03 [[-1.31359147e-01 -9.91334845e-01 0.00000000e+00 1.75958466e+02] [ 9.91334845e-01 -1.31359147e-01 0.00000000e+00 1.30813377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03388485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.850371743 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:175.96, Y:130.81, Z:0.03 [[-1.32087908e-01 -9.91238006e-01 0.00000000e+00 1.75962335e+02] [ 9.91238006e-01 -1.32087908e-01 0.00000000e+00 1.30813865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.03936163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.880371743 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:175.96, Y:130.83, Z:0.03 [[-1.31640108e-01 -9.91297575e-01 0.00000000e+00 1.75963748e+02] [ 9.91297575e-01 -1.31640108e-01 0.00000000e+00 1.30825749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.00616781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.910371743 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:175.95, Y:130.82, Z:0.04 [[-1.52828738e-01 -9.88252689e-01 0.00000000e+00 1.75954619e+02] [ 9.88252689e-01 -1.52828738e-01 0.00000000e+00 1.30817028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83125969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.940371743 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:175.96, Y:130.82, Z:0.04 [[-1.51239601e-01 -9.88497134e-01 0.00000000e+00 1.75955571e+02] [ 9.88497134e-01 -1.51239601e-01 0.00000000e+00 1.30817191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.98192152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.970371743 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:175.96, Y:130.82, Z:0.04 [[-1.49241143e-01 -9.88800830e-01 0.00000000e+00 1.75955849e+02] [ 9.88800830e-01 -1.49241143e-01 0.00000000e+00 1.30824448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78447685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.000371743 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:175.97, Y:130.83, Z:0.03 [[-1.16493031e-01 -9.93191509e-01 0.00000000e+00 1.75971855e+02] [ 9.93191509e-01 -1.16493031e-01 0.00000000e+00 1.30825270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.09900083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.030371743 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:175.96, Y:130.82, Z:0.04 [[-1.40314507e-01 -9.90106984e-01 0.00000000e+00 1.75959638e+02] [ 9.90106984e-01 -1.40314507e-01 0.00000000e+00 1.30822417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95184018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.060371743 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:175.98, Y:130.82, Z:0.03 [[-1.08090653e-01 -9.94141042e-01 0.00000000e+00 1.75975769e+02] [ 9.94141042e-01 -1.08090653e-01 0.00000000e+00 1.30819035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01979862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.090371743 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:175.97, Y:130.82, Z:0.04 [[-1.16565393e-01 -9.93183019e-01 0.00000000e+00 1.75973685e+02] [ 9.93183019e-01 -1.16565393e-01 0.00000000e+00 1.30816726e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.80863726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.120371743 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:175.98, Y:130.83, Z:0.04 [[-1.12698657e-01 -9.93629213e-01 0.00000000e+00 1.75975291e+02] [ 9.93629213e-01 -1.12698657e-01 0.00000000e+00 1.30826025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68289508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.150371743 meters Centerline goodness : 0.993907 Centerline is valid? [True, True] Translation: X:175.97, Y:130.84, Z:0.03 [[-1.09457158e-01 -9.93991514e-01 0.00000000e+00 1.75974243e+02] [ 9.93991514e-01 -1.09457158e-01 0.00000000e+00 1.30835574e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.21558872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.180371743 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:175.97, Y:130.84, Z:0.03 [[-1.08798738e-01 -9.94063798e-01 0.00000000e+00 1.75974007e+02] [ 9.94063798e-01 -1.08798738e-01 0.00000000e+00 1.30839195e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16912157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.210371743 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:175.97, Y:130.85, Z:0.04 [[-1.10144086e-01 -9.93915630e-01 0.00000000e+00 1.75973438e+02] [ 9.93915630e-01 -1.10144086e-01 0.00000000e+00 1.30852215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.56007309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.240371743 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:175.98, Y:130.84, Z:0.03 [[-1.08168980e-01 -9.94132522e-01 0.00000000e+00 1.75975990e+02] [ 9.94132522e-01 -1.08168980e-01 0.00000000e+00 1.30835782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.48515031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.270371743 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:175.98, Y:130.85, Z:0.03 [[-1.09731134e-01 -9.93961306e-01 0.00000000e+00 1.75976271e+02] [ 9.93961306e-01 -1.09731134e-01 0.00000000e+00 1.30847103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.35145244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.300371743 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:175.98, Y:130.84, Z:0.03 [[-1.12465786e-01 -9.93655598e-01 0.00000000e+00 1.75977859e+02] [ 9.93655598e-01 -1.12465786e-01 0.00000000e+00 1.30843073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.39017241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.330371743 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:175.98, Y:130.85, Z:0.03 [[-1.13619218e-01 -9.93524370e-01 0.00000000e+00 1.75977040e+02] [ 9.93524370e-01 -1.13619218e-01 0.00000000e+00 1.30851686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.07521625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36037174300003 meters Centerline goodness : 0.992580 Centerline is valid? [True, True] Translation: X:175.98, Y:130.86, Z:0.03 [[-1.14985586e-01 -9.93367160e-01 0.00000000e+00 1.75978959e+02] [ 9.93367160e-01 -1.14985586e-01 0.00000000e+00 1.30855380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.33763693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.390371743 meters Centerline goodness : 0.992069 Centerline is valid? [True, True] Translation: X:175.96, Y:131.02, Z:0.04 [[-1.22810928e-01 -9.92430086e-01 0.00000000e+00 1.75964814e+02] [ 9.92430086e-01 -1.22810928e-01 0.00000000e+00 1.31020111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50303537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42037174300003 meters Centerline goodness : 0.992936 Centerline is valid? [True, True] Translation: X:175.98, Y:130.86, Z:0.03 [[-1.18577005e-01 -9.92944859e-01 0.00000000e+00 1.75978598e+02] [ 9.92944859e-01 -1.18577005e-01 0.00000000e+00 1.30864807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.42358758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.450371743 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:175.98, Y:130.87, Z:0.03 [[-1.22512885e-01 -9.92466923e-01 0.00000000e+00 1.75980385e+02] [ 9.92466923e-01 -1.22512885e-01 0.00000000e+00 1.30869385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.27458219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.480371743 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:175.98, Y:130.87, Z:0.03 [[-1.22571475e-01 -9.92459689e-01 0.00000000e+00 1.75980362e+02] [ 9.92459689e-01 -1.22571475e-01 0.00000000e+00 1.30871970e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.01132500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.510371743 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:175.98, Y:130.87, Z:0.03 [[-1.25570038e-01 -9.92084757e-01 0.00000000e+00 1.75982996e+02] [ 9.92084757e-01 -1.25570038e-01 0.00000000e+00 1.30869787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.06589826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.540371743 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:175.98, Y:130.87, Z:0.04 [[-1.29889245e-01 -9.91528509e-01 0.00000000e+00 1.75982159e+02] [ 9.91528509e-01 -1.29889245e-01 0.00000000e+00 1.30871671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.50309686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.570371743 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:175.98, Y:130.87, Z:0.04 [[-1.30281627e-01 -9.91477028e-01 0.00000000e+00 1.75983693e+02] [ 9.91477028e-01 -1.30281627e-01 0.00000000e+00 1.30874775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54044537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.600371743 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:175.98, Y:130.91, Z:0.04 [[-1.30557268e-01 -9.91440770e-01 0.00000000e+00 1.75982568e+02] [ 9.91440770e-01 -1.30557268e-01 0.00000000e+00 1.30905719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.54619609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.630371743 meters Centerline goodness : 0.993084 Centerline is valid? [True, True] Translation: X:175.98, Y:130.89, Z:0.03 [[-1.29999807e-01 -9.91514019e-01 0.00000000e+00 1.75983446e+02] [ 9.91514019e-01 -1.29999807e-01 0.00000000e+00 1.30887252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.16810389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.660371743 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:175.98, Y:130.90, Z:0.03 [[-1.28513493e-01 -9.91707760e-01 0.00000000e+00 1.75983759e+02] [ 9.91707760e-01 -1.28513493e-01 0.00000000e+00 1.30896559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.12278297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.690371743 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:175.98, Y:130.89, Z:0.03 [[-1.28256551e-01 -9.91741023e-01 0.00000000e+00 1.75982596e+02] [ 9.91741023e-01 -1.28256551e-01 0.00000000e+00 1.30888527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.18050798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.720371743 meters Centerline goodness : 0.993800 Centerline is valid? [True, True] Translation: X:175.98, Y:130.89, Z:0.03 [[-1.26544165e-01 -9.91960974e-01 0.00000000e+00 1.75983710e+02] [ 9.91960974e-01 -1.26544165e-01 0.00000000e+00 1.30889624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.23920533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.750371743 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:175.98, Y:130.91, Z:0.03 [[-1.22513735e-01 -9.92466818e-01 0.00000000e+00 1.75982536e+02] [ 9.92466818e-01 -1.22513735e-01 0.00000000e+00 1.30908168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14189147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.780371743 meters Centerline goodness : 0.993532 Centerline is valid? [True, True] Translation: X:175.98, Y:130.90, Z:0.03 [[-1.23609227e-01 -9.92330972e-01 0.00000000e+00 1.75982719e+02] [ 9.92330972e-01 -1.23609227e-01 0.00000000e+00 1.30902841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.14408264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.810371743 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:175.98, Y:130.89, Z:0.04 [[-1.21218983e-01 -9.92625790e-01 0.00000000e+00 1.75984850e+02] [ 9.92625790e-01 -1.21218983e-01 0.00000000e+00 1.30894308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.60615407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.840371743 meters Centerline goodness : 0.993013 Centerline is valid? [True, True] Translation: X:175.98, Y:130.89, Z:0.04 [[-1.19913228e-01 -9.92784376e-01 0.00000000e+00 1.75984673e+02] [ 9.92784376e-01 -1.19913228e-01 0.00000000e+00 1.30890708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.55715867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.870371743 meters Centerline goodness : 0.992424 Centerline is valid? [True, True] Translation: X:175.98, Y:130.89, Z:0.04 [[-1.19195166e-01 -9.92870844e-01 0.00000000e+00 1.75984255e+02] [ 9.92870844e-01 -1.19195166e-01 0.00000000e+00 1.30893495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.53392431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.900371743 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:175.98, Y:130.89, Z:0.03 [[-1.18037700e-01 -9.93009114e-01 0.00000000e+00 1.75983202e+02] [ 9.93009114e-01 -1.18037700e-01 0.00000000e+00 1.30894374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.25585961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.930371743 meters Centerline goodness : 0.993997 Centerline is valid? [True, True] Translation: X:175.98, Y:130.89, Z:0.03 [[-1.18769524e-01 -9.92921850e-01 0.00000000e+00 1.75983770e+02] [ 9.92921850e-01 -1.18769524e-01 0.00000000e+00 1.30890817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31111765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.960371743 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:175.98, Y:130.89, Z:0.03 [[-1.18706033e-01 -9.92929442e-01 0.00000000e+00 1.75984404e+02] [ 9.92929442e-01 -1.18706033e-01 0.00000000e+00 1.30894623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.31919263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.990371743 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:175.99, Y:130.89, Z:0.03 [[-1.18925625e-01 -9.92903165e-01 0.00000000e+00 1.75987233e+02] [ 9.92903165e-01 -1.18925625e-01 0.00000000e+00 1.30889864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41932780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.020371743 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:175.95, Y:131.26, Z:0.04 [[-1.31747409e-01 -9.91283320e-01 0.00000000e+00 1.75954668e+02] [ 9.91283320e-01 -1.31747409e-01 0.00000000e+00 1.31257454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76913588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.050371743 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:176.78, Y:131.08, Z:0.85 [[-1.07538644e-01 9.94200905e-01 0.00000000e+00 1.76780330e+02] [ 9.94200905e-01 1.07538644e-01 0.00000000e+00 1.31080870e+02] [ 0.00000000e+00 0.00000000e+00 -1.00000000e+00 8.53823322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.080371743 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:176.02, Y:131.00, Z:0.03 [[-1.81311844e-01 -9.83425653e-01 0.00000000e+00 1.76022870e+02] [ 9.83425653e-01 -1.81311844e-01 0.00000000e+00 1.30999464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.41273785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11037174300003 meters Centerline goodness : 0.992426 Centerline is valid? [True, True] Translation: X:175.94, Y:131.48, Z:0.04 [[-2.12745246e-01 -9.77107701e-01 0.00000000e+00 1.75942640e+02] [ 9.77107701e-01 -2.12745246e-01 0.00000000e+00 1.31476555e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.78498827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.140371743 meters Centerline goodness : 0.984523 Centerline is valid? [True, True] Translation: X:175.85, Y:132.05, Z:0.03 [[-2.20121967e-01 -9.75472357e-01 0.00000000e+00 1.75852441e+02] [ 9.75472357e-01 -2.20121967e-01 0.00000000e+00 1.32045580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.99544681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17037174300003 meters Centerline goodness : 0.992556 Centerline is valid? [True, True] Translation: X:175.94, Y:131.47, Z:0.04 [[-2.07961236e-01 -9.78137068e-01 0.00000000e+00 1.75944502e+02] [ 9.78137068e-01 -2.07961236e-01 0.00000000e+00 1.31471613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70383257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.200371743 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:176.01, Y:131.06, Z:0.04 [[-1.91763372e-01 -9.81441190e-01 0.00000000e+00 1.76008684e+02] [ 9.81441190e-01 -1.91763372e-01 0.00000000e+00 1.31057704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.65996267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.230371743 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:176.00, Y:131.07, Z:0.04 [[-2.10031904e-01 -9.77694533e-01 0.00000000e+00 1.75996991e+02] [ 9.77694533e-01 -2.10031904e-01 0.00000000e+00 1.31068747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.72535559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.260371743 meters Centerline goodness : 0.984273 Centerline is valid? [True, True] Translation: X:175.86, Y:132.07, Z:0.04 [[-2.19465311e-01 -9.75620304e-01 0.00000000e+00 1.75855003e+02] [ 9.75620304e-01 -2.19465311e-01 0.00000000e+00 1.32067375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62647855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.290371743 meters Centerline goodness : 0.984535 Centerline is valid? [True, True] Translation: X:175.85, Y:132.09, Z:0.03 [[-2.07431941e-01 -9.78249452e-01 0.00000000e+00 1.75854213e+02] [ 9.78249452e-01 -2.07431941e-01 0.00000000e+00 1.32086018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.02498566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.320371743 meters Centerline goodness : 0.992331 Centerline is valid? [True, True] Translation: X:175.92, Y:131.59, Z:0.04 [[-1.97747339e-01 -9.80253023e-01 0.00000000e+00 1.75923821e+02] [ 9.80253023e-01 -1.97747339e-01 0.00000000e+00 1.31594074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.70444873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.350371743 meters Centerline goodness : 0.991984 Centerline is valid? [True, True] Translation: X:175.99, Y:131.10, Z:0.04 [[-1.81760846e-01 -9.83342766e-01 0.00000000e+00 1.75990577e+02] [ 9.83342766e-01 -1.81760846e-01 0.00000000e+00 1.31097469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75164939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.380371743 meters Centerline goodness : 0.993069 Centerline is valid? [True, True] Translation: X:175.98, Y:131.15, Z:0.04 [[-1.84716204e-01 -9.82791903e-01 0.00000000e+00 1.75982632e+02] [ 9.82791903e-01 -1.84716204e-01 0.00000000e+00 1.31148855e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.59742230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.410371743 meters Centerline goodness : 0.990737 Centerline is valid? [True, True] Translation: X:175.91, Y:131.70, Z:0.04 [[-2.00487685e-01 -9.79696222e-01 0.00000000e+00 1.75907174e+02] [ 9.79696222e-01 -2.00487685e-01 0.00000000e+00 1.31702366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.90041641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.440371743 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:175.98, Y:131.14, Z:0.04 [[-1.80464442e-01 -9.83581509e-01 0.00000000e+00 1.75983818e+02] [ 9.83581509e-01 -1.80464442e-01 0.00000000e+00 1.31135598e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75883354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.470371743 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:175.98, Y:131.13, Z:0.04 [[-1.83254166e-01 -9.83065568e-01 0.00000000e+00 1.75982447e+02] [ 9.83065568e-01 -1.83254166e-01 0.00000000e+00 1.31127263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83994309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.500371743 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:175.98, Y:131.12, Z:0.04 [[-1.81911616e-01 -9.83314886e-01 0.00000000e+00 1.75982682e+02] [ 9.83314886e-01 -1.81911616e-01 0.00000000e+00 1.31123646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.85938179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.530371743 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:175.98, Y:131.13, Z:0.04 [[-1.82424217e-01 -9.83219917e-01 0.00000000e+00 1.75981514e+02] [ 9.83219917e-01 -1.82424217e-01 0.00000000e+00 1.31132931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.83311252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.560371743 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:175.98, Y:131.15, Z:0.04 [[-1.80896588e-01 -9.83502122e-01 0.00000000e+00 1.75978923e+02] [ 9.83502122e-01 -1.80896588e-01 0.00000000e+00 1.31148885e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.62662928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.590371743 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:175.98, Y:131.14, Z:0.04 [[-1.80353785e-01 -9.83601806e-01 0.00000000e+00 1.75978322e+02] [ 9.83601806e-01 -1.80353785e-01 0.00000000e+00 1.31141908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.68214475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.620371743 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:175.98, Y:131.14, Z:0.04 [[-1.78705813e-01 -9.83902552e-01 0.00000000e+00 1.75975786e+02] [ 9.83902552e-01 -1.78705813e-01 0.00000000e+00 1.31139828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03200290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.650371743 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:175.97, Y:131.14, Z:0.04 [[-1.77775707e-01 -9.84071033e-01 0.00000000e+00 1.75974164e+02] [ 9.84071033e-01 -1.77775707e-01 0.00000000e+00 1.31140696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16357330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.680371743 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:175.97, Y:131.14, Z:0.04 [[-1.76190949e-01 -9.84356008e-01 0.00000000e+00 1.75973138e+02] [ 9.84356008e-01 -1.76190949e-01 0.00000000e+00 1.31138538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19549381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.710371743 meters Centerline goodness : 0.993960 Centerline is valid? [True, True] Translation: X:175.97, Y:131.14, Z:0.04 [[-1.75839190e-01 -9.84418904e-01 0.00000000e+00 1.75972750e+02] [ 9.84418904e-01 -1.75839190e-01 0.00000000e+00 1.31141170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19549381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.740371743 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:175.97, Y:131.14, Z:0.04 [[-1.71260674e-01 -9.85225751e-01 0.00000000e+00 1.75971309e+02] [ 9.85225751e-01 -1.71260674e-01 0.00000000e+00 1.31140934e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17534915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.770371743 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:175.97, Y:131.15, Z:0.04 [[-1.69169512e-01 -9.85586970e-01 0.00000000e+00 1.75969199e+02] [ 9.85586970e-01 -1.69169512e-01 0.00000000e+00 1.31150094e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22189649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.800371743 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:175.96, Y:131.14, Z:0.04 [[-1.75134461e-01 -9.84544524e-01 0.00000000e+00 1.75961274e+02] [ 9.84544524e-01 -1.75134461e-01 0.00000000e+00 1.31142372e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99824425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.830371743 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:175.97, Y:131.14, Z:0.04 [[-1.59338880e-01 -9.87223947e-01 0.00000000e+00 1.75967884e+02] [ 9.87223947e-01 -1.59338880e-01 0.00000000e+00 1.31139412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29070190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86037174300003 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:175.96, Y:131.14, Z:0.04 [[-1.64304857e-01 -9.86409608e-01 0.00000000e+00 1.75957943e+02] [ 9.86409608e-01 -1.64304857e-01 0.00000000e+00 1.31142770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99162775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.890371743 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:175.96, Y:131.14, Z:0.04 [[-1.60489855e-01 -9.87037490e-01 0.00000000e+00 1.75957128e+02] [ 9.87037490e-01 -1.60489855e-01 0.00000000e+00 1.31141565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.95176880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92037174300003 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:175.96, Y:131.15, Z:0.04 [[-1.54077323e-01 -9.88058793e-01 0.00000000e+00 1.75955510e+02] [ 9.88058793e-01 -1.54077323e-01 0.00000000e+00 1.31147187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.99230721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.950371743 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:175.96, Y:131.14, Z:0.04 [[-1.50837702e-01 -9.88558540e-01 0.00000000e+00 1.75955842e+02] [ 9.88558540e-01 -1.50837702e-01 0.00000000e+00 1.31140362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01624627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.980371743 meters Centerline goodness : 0.992727 Centerline is valid? [True, True] Translation: X:175.96, Y:131.15, Z:0.04 [[-1.35260090e-01 -9.90810127e-01 0.00000000e+00 1.75960380e+02] [ 9.90810127e-01 -1.35260090e-01 0.00000000e+00 1.31154191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48484538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.010371743 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:175.96, Y:131.14, Z:0.04 [[-1.30404211e-01 -9.91460913e-01 0.00000000e+00 1.75962096e+02] [ 9.91460913e-01 -1.30404211e-01 0.00000000e+00 1.31143697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15842723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.040371743 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:175.96, Y:131.15, Z:0.04 [[-1.29980415e-01 -9.91516561e-01 0.00000000e+00 1.75960960e+02] [ 9.91516561e-01 -1.29980415e-01 0.00000000e+00 1.31149215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25288899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.070371743 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:175.96, Y:131.14, Z:0.04 [[-1.40689234e-01 -9.90053806e-01 0.00000000e+00 1.75955326e+02] [ 9.90053806e-01 -1.40689234e-01 0.00000000e+00 1.31141828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92277889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.100371743 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:175.97, Y:131.13, Z:0.04 [[-1.24467240e-01 -9.92223718e-01 0.00000000e+00 1.75966504e+02] [ 9.92223718e-01 -1.24467240e-01 0.00000000e+00 1.31133915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.76503515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.130371743 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:175.96, Y:131.15, Z:0.04 [[-1.40969815e-01 -9.90013895e-01 0.00000000e+00 1.75956357e+02] [ 9.90013895e-01 -1.40969815e-01 0.00000000e+00 1.31150615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.75756421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.160371743 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:175.97, Y:131.14, Z:0.04 [[-1.26170013e-01 -9.92008633e-01 0.00000000e+00 1.75966419e+02] [ 9.92008633e-01 -1.26170013e-01 0.00000000e+00 1.31136295e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.01373926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.190371743 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:175.97, Y:131.15, Z:0.04 [[-1.27812469e-01 -9.91798353e-01 0.00000000e+00 1.75966893e+02] [ 9.91798353e-01 -1.27812469e-01 0.00000000e+00 1.31148021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.92204854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.220371743 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:175.96, Y:131.16, Z:0.04 [[-1.45508306e-01 -9.89357030e-01 0.00000000e+00 1.75956360e+02] [ 9.89357030e-01 -1.45508306e-01 0.00000000e+00 1.31163867e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.31336258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.250371743 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:175.97, Y:131.16, Z:0.04 [[-1.29567656e-01 -9.91570584e-01 0.00000000e+00 1.75969879e+02] [ 9.91570584e-01 -1.29567656e-01 0.00000000e+00 1.31155669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.93893959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.280371743 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:175.97, Y:131.16, Z:0.04 [[-1.32897497e-01 -9.91129787e-01 0.00000000e+00 1.75970320e+02] [ 9.91129787e-01 -1.32897497e-01 0.00000000e+00 1.31157487e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.10729437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.310371743 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:175.96, Y:131.18, Z:0.05 [[-1.51459241e-01 -9.88463504e-01 0.00000000e+00 1.75959728e+02] [ 9.88463504e-01 -1.51459241e-01 0.00000000e+00 1.31175881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62217977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.340371743 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:175.97, Y:131.17, Z:0.04 [[-1.39377136e-01 -9.90239372e-01 0.00000000e+00 1.75971055e+02] [ 9.90239372e-01 -1.39377136e-01 0.00000000e+00 1.31171065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45137749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.370371743 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:175.97, Y:131.18, Z:0.04 [[-1.40588269e-01 -9.90068148e-01 0.00000000e+00 1.75971221e+02] [ 9.90068148e-01 -1.40588269e-01 0.00000000e+00 1.31180472e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.35365422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.400371743 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:175.97, Y:131.19, Z:0.04 [[-1.44479184e-01 -9.89507840e-01 0.00000000e+00 1.75973431e+02] [ 9.89507840e-01 -1.44479184e-01 0.00000000e+00 1.31186458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40280752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.430371743 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:175.98, Y:131.19, Z:0.04 [[-1.46461618e-01 -9.89216354e-01 0.00000000e+00 1.75975052e+02] [ 9.89216354e-01 -1.46461618e-01 0.00000000e+00 1.31185889e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39412612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.460371743 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:175.98, Y:131.20, Z:0.05 [[-1.52509557e-01 -9.88301996e-01 0.00000000e+00 1.75976344e+02] [ 9.88301996e-01 -1.52509557e-01 0.00000000e+00 1.31195923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58165161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.490371743 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:175.98, Y:131.20, Z:0.04 [[-1.53675945e-01 -9.88121300e-01 0.00000000e+00 1.75977027e+02] [ 9.88121300e-01 -1.53675945e-01 0.00000000e+00 1.31199341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.49812154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.520371743 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:175.98, Y:131.21, Z:0.05 [[-1.55908332e-01 -9.87771528e-01 0.00000000e+00 1.75976000e+02] [ 9.87771528e-01 -1.55908332e-01 0.00000000e+00 1.31214059e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.62247246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.550371743 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:175.98, Y:131.21, Z:0.05 [[-1.57926128e-01 -9.87450929e-01 0.00000000e+00 1.75977374e+02] [ 9.87450929e-01 -1.57926128e-01 0.00000000e+00 1.31211743e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69075154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.580371743 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:175.98, Y:131.21, Z:0.05 [[-1.57013953e-01 -9.87596384e-01 0.00000000e+00 1.75978654e+02] [ 9.87596384e-01 -1.57013953e-01 0.00000000e+00 1.31209698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53704363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61037174300003 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:175.98, Y:131.21, Z:0.05 [[-1.54899751e-01 -9.87930193e-01 0.00000000e+00 1.75978374e+02] [ 9.87930193e-01 -1.54899751e-01 0.00000000e+00 1.31210690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.69484001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.640371743 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:175.98, Y:131.21, Z:0.05 [[-1.53082162e-01 -9.88213465e-01 0.00000000e+00 1.75977432e+02] [ 9.88213465e-01 -1.53082162e-01 0.00000000e+00 1.31212530e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74348931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67037174300003 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:175.98, Y:131.21, Z:0.05 [[-1.50402700e-01 -9.88624817e-01 0.00000000e+00 1.75977057e+02] [ 9.88624817e-01 -1.50402700e-01 0.00000000e+00 1.31208270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85481279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.700371743 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:175.98, Y:131.21, Z:0.05 [[-1.45160873e-01 -9.89408066e-01 0.00000000e+00 1.75975407e+02] [ 9.89408066e-01 -1.45160873e-01 0.00000000e+00 1.31206663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01269611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.730371743 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:175.98, Y:131.20, Z:0.05 [[-1.39203249e-01 -9.90263831e-01 0.00000000e+00 1.75976363e+02] [ 9.90263831e-01 -1.39203249e-01 0.00000000e+00 1.31201935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74320439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.760371743 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:175.97, Y:131.21, Z:0.05 [[-1.50820436e-01 -9.88561175e-01 0.00000000e+00 1.75966160e+02] [ 9.88561175e-01 -1.50820436e-01 0.00000000e+00 1.31212421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27003512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.790371743 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:175.98, Y:131.19, Z:0.05 [[-1.31760025e-01 -9.91281643e-01 0.00000000e+00 1.75977077e+02] [ 9.91281643e-01 -1.31760025e-01 0.00000000e+00 1.31191771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.72721599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.820371743 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:175.97, Y:131.22, Z:0.05 [[-1.46513540e-01 -9.89208665e-01 0.00000000e+00 1.75966109e+02] [ 9.89208665e-01 -1.46513540e-01 0.00000000e+00 1.31215413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11168117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.850371743 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:175.98, Y:131.20, Z:0.05 [[-1.29577502e-01 -9.91569297e-01 0.00000000e+00 1.75976236e+02] [ 9.91569297e-01 -1.29577502e-01 0.00000000e+00 1.31202310e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58360620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.880371743 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:175.98, Y:131.20, Z:0.04 [[-1.27520396e-01 -9.91835948e-01 0.00000000e+00 1.75976889e+02] [ 9.91835948e-01 -1.27520396e-01 0.00000000e+00 1.31204663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45659339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.910371743 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:175.97, Y:131.22, Z:0.05 [[-1.42878725e-01 -9.89740203e-01 0.00000000e+00 1.75966627e+02] [ 9.89740203e-01 -1.42878725e-01 0.00000000e+00 1.31218315e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99089964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.940371743 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:175.98, Y:131.21, Z:0.05 [[-1.26486371e-01 -9.91968345e-01 0.00000000e+00 1.75975934e+02] [ 9.91968345e-01 -1.26486371e-01 0.00000000e+00 1.31212751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70487746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.970371743 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:175.98, Y:131.22, Z:0.05 [[-1.24251489e-01 -9.92250758e-01 0.00000000e+00 1.75976009e+02] [ 9.92250758e-01 -1.24251489e-01 0.00000000e+00 1.31216434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87419175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.000371743 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:175.97, Y:131.22, Z:0.05 [[-1.37700032e-01 -9.90473978e-01 0.00000000e+00 1.75967218e+02] [ 9.90473978e-01 -1.37700032e-01 0.00000000e+00 1.31222514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24179291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.030371743 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:175.97, Y:131.22, Z:0.05 [[-1.33548241e-01 -9.91042314e-01 0.00000000e+00 1.75967023e+02] [ 9.91042314e-01 -1.33548241e-01 0.00000000e+00 1.31223026e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37684188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.060371743 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:175.98, Y:131.21, Z:0.05 [[-1.17115515e-01 -9.93118299e-01 0.00000000e+00 1.75975767e+02] [ 9.93118299e-01 -1.17115515e-01 0.00000000e+00 1.31210193e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20337262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.090371743 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:175.97, Y:131.23, Z:0.05 [[-1.28924745e-01 -9.91654380e-01 0.00000000e+00 1.75965598e+02] [ 9.91654380e-01 -1.28924745e-01 0.00000000e+00 1.31232756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48314691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.120371743 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:175.98, Y:131.21, Z:0.05 [[-1.09333734e-01 -9.94005098e-01 0.00000000e+00 1.75976875e+02] [ 9.94005098e-01 -1.09333734e-01 0.00000000e+00 1.31212486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20851754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.150371743 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:175.98, Y:131.21, Z:0.05 [[-1.08363084e-01 -9.94111383e-01 0.00000000e+00 1.75977938e+02] [ 9.94111383e-01 -1.08363084e-01 0.00000000e+00 1.31212078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.13645223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.180371743 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:175.98, Y:131.21, Z:0.05 [[-1.07338203e-01 -9.94222566e-01 0.00000000e+00 1.75979413e+02] [ 9.94222566e-01 -1.07338203e-01 0.00000000e+00 1.31212294e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20523193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.210371743 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:175.97, Y:131.24, Z:0.06 [[-1.23672555e-01 -9.92323082e-01 0.00000000e+00 1.75969503e+02] [ 9.92323082e-01 -1.23672555e-01 0.00000000e+00 1.31236938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54360507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.240371743 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:175.98, Y:131.23, Z:0.05 [[-1.09429388e-01 -9.93994572e-01 0.00000000e+00 1.75980147e+02] [ 9.93994572e-01 -1.09429388e-01 0.00000000e+00 1.31226287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18382401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.270371743 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:175.97, Y:131.24, Z:0.05 [[-1.30470649e-01 -9.91452172e-01 0.00000000e+00 1.75973784e+02] [ 9.91452172e-01 -1.30470649e-01 0.00000000e+00 1.31244324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42523267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.300371743 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:175.98, Y:131.24, Z:0.06 [[-1.20308129e-01 -9.92736599e-01 0.00000000e+00 1.75984575e+02] [ 9.92736599e-01 -1.20308129e-01 0.00000000e+00 1.31235803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52867059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.330371743 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:175.99, Y:131.25, Z:0.06 [[-1.27317033e-01 -9.91862074e-01 0.00000000e+00 1.75987359e+02] [ 9.91862074e-01 -1.27317033e-01 0.00000000e+00 1.31245888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53672111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36037174300003 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:175.99, Y:131.24, Z:0.06 [[-1.29816524e-01 -9.91538033e-01 0.00000000e+00 1.75989414e+02] [ 9.91538033e-01 -1.29816524e-01 0.00000000e+00 1.31244557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56107380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.390371743 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:175.99, Y:131.25, Z:0.06 [[-1.33266902e-01 -9.91080185e-01 0.00000000e+00 1.75990881e+02] [ 9.91080185e-01 -1.33266902e-01 0.00000000e+00 1.31249456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67738795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42037174300003 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:175.99, Y:131.27, Z:0.05 [[-1.38278269e-01 -9.90393417e-01 0.00000000e+00 1.75993275e+02] [ 9.90393417e-01 -1.38278269e-01 0.00000000e+00 1.31267427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47661375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.450371743 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:176.00, Y:131.27, Z:0.05 [[-1.40135774e-01 -9.90132297e-01 0.00000000e+00 1.75995466e+02] [ 9.90132297e-01 -1.40135774e-01 0.00000000e+00 1.31268690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39284446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.480371743 meters Centerline goodness : 0.993999 Centerline is valid? [True, True] Translation: X:176.00, Y:131.27, Z:0.05 [[-1.43518941e-01 -9.89647570e-01 0.00000000e+00 1.75998901e+02] [ 9.89647570e-01 -1.43518941e-01 0.00000000e+00 1.31274224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28330863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.510371743 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:176.00, Y:131.29, Z:0.05 [[-1.44805619e-01 -9.89460122e-01 0.00000000e+00 1.75999436e+02] [ 9.89460122e-01 -1.44805619e-01 0.00000000e+00 1.31289405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04981816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.540371743 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:176.00, Y:131.29, Z:0.05 [[-1.47049795e-01 -9.89129091e-01 0.00000000e+00 1.76000023e+02] [ 9.89129091e-01 -1.47049795e-01 0.00000000e+00 1.31293359e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12065540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.570371743 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:176.00, Y:131.28, Z:0.05 [[-1.48477475e-01 -9.88915790e-01 0.00000000e+00 1.76004196e+02] [ 9.88915790e-01 -1.48477475e-01 0.00000000e+00 1.31282514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.85860348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.600371743 meters Centerline goodness : 0.993875 Centerline is valid? [True, True] Translation: X:176.00, Y:131.29, Z:0.05 [[-1.52804772e-01 -9.88256395e-01 0.00000000e+00 1.76003750e+02] [ 9.88256395e-01 -1.52804772e-01 0.00000000e+00 1.31290322e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05605914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.630371743 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:176.01, Y:131.29, Z:0.05 [[-1.53862384e-01 -9.88092287e-01 0.00000000e+00 1.76005482e+02] [ 9.88092287e-01 -1.53862384e-01 0.00000000e+00 1.31294042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92401470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.660371743 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:176.01, Y:131.30, Z:0.05 [[-1.53514820e-01 -9.88146345e-01 0.00000000e+00 1.76005141e+02] [ 9.88146345e-01 -1.53514820e-01 0.00000000e+00 1.31296661e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92401470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.690371743 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:176.00, Y:131.30, Z:0.05 [[-1.67952479e-01 -9.85795093e-01 0.00000000e+00 1.75997692e+02] [ 9.85795093e-01 -1.67952479e-01 0.00000000e+00 1.31300762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17277468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.720371743 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:176.01, Y:131.30, Z:0.05 [[-1.54891883e-01 -9.87931427e-01 0.00000000e+00 1.76005873e+02] [ 9.87931427e-01 -1.54891883e-01 0.00000000e+00 1.31301653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92162800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.750371743 meters Centerline goodness : 0.993517 Centerline is valid? [True, True] Translation: X:176.01, Y:131.30, Z:0.05 [[-1.55336514e-01 -9.87861613e-01 0.00000000e+00 1.76006394e+02] [ 9.87861613e-01 -1.55336514e-01 0.00000000e+00 1.31300517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02966944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.780371743 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:176.01, Y:131.30, Z:0.05 [[-1.54664565e-01 -9.87967040e-01 0.00000000e+00 1.76007110e+02] [ 9.87967040e-01 -1.54664565e-01 0.00000000e+00 1.31299002e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97847612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.810371743 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:176.01, Y:131.31, Z:0.05 [[-1.56749257e-01 -9.87638431e-01 0.00000000e+00 1.76005631e+02] [ 9.87638431e-01 -1.56749257e-01 0.00000000e+00 1.31313688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97989869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.840371743 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:176.01, Y:131.30, Z:0.05 [[-1.54669490e-01 -9.87966269e-01 0.00000000e+00 1.76006510e+02] [ 9.87966269e-01 -1.54669490e-01 0.00000000e+00 1.31303564e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04455505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.870371743 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:176.01, Y:131.30, Z:0.05 [[-1.50193271e-01 -9.88656655e-01 0.00000000e+00 1.76007811e+02] [ 9.88656655e-01 -1.50193271e-01 0.00000000e+00 1.31298603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83519059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.900371743 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:176.00, Y:131.31, Z:0.05 [[-1.54347129e-01 -9.88016682e-01 0.00000000e+00 1.76004766e+02] [ 9.88016682e-01 -1.54347129e-01 0.00000000e+00 1.31311950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.14031479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.930371743 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:176.01, Y:131.31, Z:0.05 [[-1.52416024e-01 -9.88316425e-01 0.00000000e+00 1.76005210e+02] [ 9.88316425e-01 -1.52416024e-01 0.00000000e+00 1.31306137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07072215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.960371743 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:176.00, Y:131.32, Z:0.05 [[-1.51432754e-01 -9.88467562e-01 0.00000000e+00 1.76002853e+02] [ 9.88467562e-01 -1.51432754e-01 0.00000000e+00 1.31315463e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05245405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.990371743 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:176.00, Y:131.31, Z:0.05 [[-1.51142944e-01 -9.88511917e-01 0.00000000e+00 1.76002342e+02] [ 9.88511917e-01 -1.51142944e-01 0.00000000e+00 1.31313390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99830937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.020371743 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:176.00, Y:131.31, Z:0.05 [[-1.50062151e-01 -9.88676565e-01 0.00000000e+00 1.76002412e+02] [ 9.88676565e-01 -1.50062151e-01 0.00000000e+00 1.31308643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02470196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.050371743 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:176.00, Y:131.32, Z:0.05 [[-1.51284728e-01 -9.88490228e-01 0.00000000e+00 1.76000074e+02] [ 9.88490228e-01 -1.51284728e-01 0.00000000e+00 1.31322411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02673313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.080371743 meters Centerline goodness : 0.993780 Centerline is valid? [True, True] Translation: X:176.00, Y:131.32, Z:0.05 [[-1.52187509e-01 -9.88351639e-01 0.00000000e+00 1.75999926e+02] [ 9.88351639e-01 -1.52187509e-01 0.00000000e+00 1.31321743e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97708900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11037174300003 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:176.00, Y:131.33, Z:0.05 [[-1.52102184e-01 -9.88364774e-01 0.00000000e+00 1.75997125e+02] [ 9.88364774e-01 -1.52102184e-01 0.00000000e+00 1.31326718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09376833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.140371743 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:176.00, Y:131.33, Z:0.05 [[-1.51067845e-01 -9.88523397e-01 0.00000000e+00 1.75995853e+02] [ 9.88523397e-01 -1.51067845e-01 0.00000000e+00 1.31326288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.03374050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17037174300003 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:175.99, Y:131.32, Z:0.05 [[-1.46804921e-01 -9.89165464e-01 0.00000000e+00 1.75994627e+02] [ 9.89165464e-01 -1.46804921e-01 0.00000000e+00 1.31317898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92828085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.200371743 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:175.99, Y:131.33, Z:0.05 [[-1.50547898e-01 -9.88602716e-01 0.00000000e+00 1.75991421e+02] [ 9.88602716e-01 -1.50547898e-01 0.00000000e+00 1.31325704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22556686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.230371743 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:175.98, Y:131.34, Z:0.06 [[-1.65323603e-01 -9.86239376e-01 0.00000000e+00 1.75980595e+02] [ 9.86239376e-01 -1.65323603e-01 0.00000000e+00 1.31341268e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64557872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.260371743 meters Centerline goodness : 0.994252 Centerline is valid? [True, True] Translation: X:175.99, Y:131.33, Z:0.05 [[-1.50315026e-01 -9.88638151e-01 0.00000000e+00 1.75987347e+02] [ 9.88638151e-01 -1.50315026e-01 0.00000000e+00 1.31325110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37865358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.290371743 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:175.98, Y:131.33, Z:0.06 [[-1.51864796e-01 -9.88401277e-01 0.00000000e+00 1.75984692e+02] [ 9.88401277e-01 -1.51864796e-01 0.00000000e+00 1.31334100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53105573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.320371743 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:175.98, Y:131.33, Z:0.06 [[-1.52248218e-01 -9.88342289e-01 0.00000000e+00 1.75981705e+02] [ 9.88342289e-01 -1.52248218e-01 0.00000000e+00 1.31333289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65493702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.350371743 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:175.98, Y:131.33, Z:0.06 [[-1.52429552e-01 -9.88314339e-01 0.00000000e+00 1.75979904e+02] [ 9.88314339e-01 -1.52429552e-01 0.00000000e+00 1.31334461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61398645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.380371743 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:175.98, Y:131.35, Z:0.06 [[-1.54087984e-01 -9.88057130e-01 0.00000000e+00 1.75976703e+02] [ 9.88057130e-01 -1.54087984e-01 0.00000000e+00 1.31351087e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.67196564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.410371743 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:175.97, Y:131.35, Z:0.05 [[-1.53475536e-01 -9.88152448e-01 0.00000000e+00 1.75974856e+02] [ 9.88152448e-01 -1.53475536e-01 0.00000000e+00 1.31349464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48871298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.440371743 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:175.97, Y:131.36, Z:0.05 [[-1.54418679e-01 -9.88005502e-01 0.00000000e+00 1.75971839e+02] [ 9.88005502e-01 -1.54418679e-01 0.00000000e+00 1.31357823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40517363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.470371743 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:175.97, Y:131.36, Z:0.05 [[-1.56062681e-01 -9.87747154e-01 0.00000000e+00 1.75970272e+02] [ 9.87747154e-01 -1.56062681e-01 0.00000000e+00 1.31356036e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45150817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.500371743 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:175.97, Y:131.35, Z:0.05 [[-1.53166639e-01 -9.88200375e-01 0.00000000e+00 1.75968548e+02] [ 9.88200375e-01 -1.53166639e-01 0.00000000e+00 1.31352167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42909669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.530371743 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:175.96, Y:131.36, Z:0.05 [[-1.52060368e-01 -9.88371208e-01 0.00000000e+00 1.75964146e+02] [ 9.88371208e-01 -1.52060368e-01 0.00000000e+00 1.31362562e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.37845971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.560371743 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:175.96, Y:131.36, Z:0.05 [[-1.51257627e-01 -9.88494375e-01 0.00000000e+00 1.75962485e+02] [ 9.88494375e-01 -1.51257627e-01 0.00000000e+00 1.31362064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39719209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.590371743 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:175.96, Y:131.36, Z:0.05 [[-1.48703158e-01 -9.88881879e-01 0.00000000e+00 1.75959297e+02] [ 9.88881879e-01 -1.48703158e-01 0.00000000e+00 1.31360849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42292849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.620371743 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:175.96, Y:131.36, Z:0.06 [[-1.48382137e-01 -9.88930099e-01 0.00000000e+00 1.75957431e+02] [ 9.88930099e-01 -1.48382137e-01 0.00000000e+00 1.31359639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50822735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.650371743 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:175.95, Y:131.37, Z:0.06 [[-1.46056718e-01 -9.89276218e-01 0.00000000e+00 1.75953549e+02] [ 9.89276218e-01 -1.46056718e-01 0.00000000e+00 1.31367234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50676915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.680371743 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:175.95, Y:131.36, Z:0.06 [[-1.45998252e-01 -9.89284848e-01 0.00000000e+00 1.75951858e+02] [ 9.89284848e-01 -1.45998252e-01 0.00000000e+00 1.31361960e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54192348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.710371743 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:175.95, Y:131.37, Z:0.06 [[-1.46487602e-01 -9.89212506e-01 0.00000000e+00 1.75949702e+02] [ 9.89212506e-01 -1.46487602e-01 0.00000000e+00 1.31366165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54626829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.740371743 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:175.95, Y:131.37, Z:0.06 [[-1.46776669e-01 -9.89169657e-01 0.00000000e+00 1.75945794e+02] [ 9.89169657e-01 -1.46776669e-01 0.00000000e+00 1.31371003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.56761457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.770371743 meters Centerline goodness : 0.994013 Centerline is valid? [True, True] Translation: X:175.94, Y:131.37, Z:0.06 [[-1.47013971e-01 -9.89134416e-01 0.00000000e+00 1.75944280e+02] [ 9.89134416e-01 -1.47013971e-01 0.00000000e+00 1.31368661e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61813633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.800371743 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:175.93, Y:131.37, Z:0.06 [[-1.64641307e-01 -9.86353507e-01 0.00000000e+00 1.75931933e+02] [ 9.86353507e-01 -1.64641307e-01 0.00000000e+00 1.31372354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.07125257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.830371743 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:175.94, Y:131.37, Z:0.06 [[-1.50470913e-01 -9.88614437e-01 0.00000000e+00 1.75939050e+02] [ 9.88614437e-01 -1.50470913e-01 0.00000000e+00 1.31372013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.75966191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86037174300003 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:175.94, Y:131.40, Z:0.06 [[-1.51906083e-01 -9.88394932e-01 0.00000000e+00 1.75935133e+02] [ 9.88394932e-01 -1.51906083e-01 0.00000000e+00 1.31397010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76925360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.890371743 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:175.94, Y:131.37, Z:0.06 [[-1.52012752e-01 -9.88378532e-01 0.00000000e+00 1.75935293e+02] [ 9.88378532e-01 -1.52012752e-01 0.00000000e+00 1.31373058e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59403143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92037174300003 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:175.93, Y:131.38, Z:0.06 [[-1.52870495e-01 -9.88246230e-01 0.00000000e+00 1.75932962e+02] [ 9.88246230e-01 -1.52870495e-01 0.00000000e+00 1.31377286e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83367943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.950371743 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:175.93, Y:131.38, Z:0.06 [[-1.51955326e-01 -9.88387363e-01 0.00000000e+00 1.75930939e+02] [ 9.88387363e-01 -1.51955326e-01 0.00000000e+00 1.31377170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77229299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.980371743 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:175.93, Y:131.37, Z:0.06 [[-1.49509865e-01 -9.88760234e-01 0.00000000e+00 1.75930128e+02] [ 9.88760234e-01 -1.49509865e-01 0.00000000e+00 1.31373911e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71291030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.010371743 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:175.93, Y:131.37, Z:0.06 [[-1.52502637e-01 -9.88303064e-01 0.00000000e+00 1.75926702e+02] [ 9.88303064e-01 -1.52502637e-01 0.00000000e+00 1.31370900e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24654439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.040371743 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:175.92, Y:131.38, Z:0.06 [[-1.46719825e-01 -9.89178090e-01 0.00000000e+00 1.75922999e+02] [ 9.89178090e-01 -1.46719825e-01 0.00000000e+00 1.31383011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91229157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.070371743 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:175.92, Y:131.38, Z:0.06 [[-1.43629983e-01 -9.89631461e-01 0.00000000e+00 1.75921392e+02] [ 9.89631461e-01 -1.43629983e-01 0.00000000e+00 1.31381690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93242770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.100371743 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:175.92, Y:131.38, Z:0.06 [[-1.39453242e-01 -9.90228657e-01 0.00000000e+00 1.75918441e+02] [ 9.90228657e-01 -1.39453242e-01 0.00000000e+00 1.31383928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90003731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.130371743 meters Centerline goodness : 0.994165 Centerline is valid? [True, True] Translation: X:175.92, Y:131.39, Z:0.06 [[-1.37955428e-01 -9.90438438e-01 0.00000000e+00 1.75915888e+02] [ 9.90438438e-01 -1.37955428e-01 0.00000000e+00 1.31393919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84857052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.160371743 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:175.91, Y:131.39, Z:0.06 [[-1.36146536e-01 -9.90688710e-01 0.00000000e+00 1.75914803e+02] [ 9.90688710e-01 -1.36146536e-01 0.00000000e+00 1.31387519e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85161459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.190371743 meters Centerline goodness : 0.994269 Centerline is valid? [True, True] Translation: X:175.91, Y:131.40, Z:0.06 [[-1.31785958e-01 -9.91278196e-01 0.00000000e+00 1.75911439e+02] [ 9.91278196e-01 -1.31785958e-01 0.00000000e+00 1.31395701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73225631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.220371743 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:175.91, Y:131.40, Z:0.06 [[-1.30902513e-01 -9.91395245e-01 0.00000000e+00 1.75909536e+02] [ 9.91395245e-01 -1.30902513e-01 0.00000000e+00 1.31398256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71765877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.250371743 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:175.91, Y:131.41, Z:0.06 [[-1.32330920e-01 -9.91205593e-01 0.00000000e+00 1.75905388e+02] [ 9.91205593e-01 -1.32330920e-01 0.00000000e+00 1.31413468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66340047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.280371743 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:175.90, Y:131.42, Z:0.06 [[-1.33526334e-01 -9.91045265e-01 0.00000000e+00 1.75903407e+02] [ 9.91045265e-01 -1.33526334e-01 0.00000000e+00 1.31416626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71347545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.310371743 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:175.90, Y:131.42, Z:0.06 [[-1.33190755e-01 -9.91090421e-01 0.00000000e+00 1.75902686e+02] [ 9.91090421e-01 -1.33190755e-01 0.00000000e+00 1.31415243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65706889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.340371743 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:175.90, Y:131.43, Z:0.06 [[-1.35582176e-01 -9.90766104e-01 0.00000000e+00 1.75899539e+02] [ 9.90766104e-01 -1.35582176e-01 0.00000000e+00 1.31430108e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71632534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.370371743 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:175.90, Y:131.42, Z:0.06 [[-1.37562122e-01 -9.90493141e-01 0.00000000e+00 1.75899446e+02] [ 9.90493141e-01 -1.37562122e-01 0.00000000e+00 1.31418243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.72807104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.400371743 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:175.90, Y:131.42, Z:0.06 [[-1.40296572e-01 -9.90109525e-01 0.00000000e+00 1.75898291e+02] [ 9.90109525e-01 -1.40296572e-01 0.00000000e+00 1.31417607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.87847958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.430371743 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:175.90, Y:131.42, Z:0.06 [[-1.40780650e-01 -9.90040812e-01 0.00000000e+00 1.75897839e+02] [ 9.90040812e-01 -1.40780650e-01 0.00000000e+00 1.31422897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.74385417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.460371743 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:175.90, Y:131.42, Z:0.06 [[-1.43229001e-01 -9.89689574e-01 0.00000000e+00 1.75896747e+02] [ 9.89689574e-01 -1.43229001e-01 0.00000000e+00 1.31423280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82963886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.490371743 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:175.90, Y:131.43, Z:0.06 [[-1.43246042e-01 -9.89687108e-01 0.00000000e+00 1.75896318e+02] [ 9.89687108e-01 -1.43246042e-01 0.00000000e+00 1.31427255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62158250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.520371743 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:175.90, Y:131.43, Z:0.06 [[-1.42898126e-01 -9.89737402e-01 0.00000000e+00 1.75896014e+02] [ 9.89737402e-01 -1.42898126e-01 0.00000000e+00 1.31429913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.62158250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.550371743 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:175.89, Y:131.45, Z:0.06 [[-1.43655187e-01 -9.89627802e-01 0.00000000e+00 1.75893225e+02] [ 9.89627802e-01 -1.43655187e-01 0.00000000e+00 1.31451888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.59697410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.580371743 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:175.89, Y:131.45, Z:0.05 [[-1.41372240e-01 -9.89956509e-01 0.00000000e+00 1.75892499e+02] [ 9.89956509e-01 -1.41372240e-01 0.00000000e+00 1.31448751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39432029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61037174300003 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:175.89, Y:131.44, Z:0.05 [[-1.41639440e-01 -9.89918314e-01 0.00000000e+00 1.75891519e+02] [ 9.89918314e-01 -1.41639440e-01 0.00000000e+00 1.31442919e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.45490412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.640371743 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:175.89, Y:131.45, Z:0.05 [[-1.38624602e-01 -9.90345000e-01 0.00000000e+00 1.75890353e+02] [ 9.90345000e-01 -1.38624602e-01 0.00000000e+00 1.31446451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32458464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67037174300003 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:175.89, Y:131.43, Z:0.05 [[-1.31594541e-01 -9.91303625e-01 0.00000000e+00 1.75887858e+02] [ 9.91303625e-01 -1.31594541e-01 0.00000000e+00 1.31433254e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.27052454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.700371743 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:175.88, Y:131.43, Z:0.05 [[-1.20514474e-01 -9.92711570e-01 0.00000000e+00 1.75883390e+02] [ 9.92711570e-01 -1.20514474e-01 0.00000000e+00 1.31426287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.44978952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.730371743 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:175.88, Y:131.41, Z:0.05 [[-1.07499060e-01 -9.94205186e-01 0.00000000e+00 1.75884001e+02] [ 9.94205186e-01 -1.07499060e-01 0.00000000e+00 1.31413061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24794416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.760371743 meters Centerline goodness : 0.993687 Centerline is valid? [True, True] Translation: X:175.88, Y:131.43, Z:0.06 [[-1.09797521e-01 -9.93953975e-01 0.00000000e+00 1.75877548e+02] [ 9.93953975e-01 -1.09797521e-01 0.00000000e+00 1.31431187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60219148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.790371743 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:175.88, Y:131.43, Z:0.06 [[-1.02667357e-01 -9.94715745e-01 0.00000000e+00 1.75876318e+02] [ 9.94715745e-01 -1.02667357e-01 0.00000000e+00 1.31429158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.58635682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.820371743 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:175.87, Y:131.43, Z:0.06 [[-9.34589581e-02 -9.95623133e-01 0.00000000e+00 1.75872709e+02] [ 9.95623133e-01 -9.34589581e-02 0.00000000e+00 1.31432472e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.68548344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.850371743 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:175.87, Y:131.43, Z:0.06 [[-9.23475219e-02 -9.95726838e-01 0.00000000e+00 1.75869903e+02] [ 9.95726838e-01 -9.23475219e-02 0.00000000e+00 1.31434112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89737944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.880371743 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:175.86, Y:131.44, Z:0.06 [[-9.24692446e-02 -9.95715541e-01 0.00000000e+00 1.75864344e+02] [ 9.95715541e-01 -9.24692446e-02 0.00000000e+00 1.31441927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14789687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.910371743 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:175.87, Y:131.43, Z:0.06 [[-8.57810813e-02 -9.96314010e-01 0.00000000e+00 1.75867401e+02] [ 9.96314010e-01 -8.57810813e-02 0.00000000e+00 1.31432884e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86781349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.940371743 meters Centerline goodness : 0.992904 Centerline is valid? [True, True] Translation: X:175.86, Y:131.43, Z:0.06 [[-9.04761626e-02 -9.95898621e-01 0.00000000e+00 1.75863663e+02] [ 9.95898621e-01 -9.04761626e-02 0.00000000e+00 1.31432959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19292659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.970371743 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:175.86, Y:131.45, Z:0.07 [[-1.01517493e-01 -9.94833754e-01 0.00000000e+00 1.75855490e+02] [ 9.94833754e-01 -1.01517493e-01 0.00000000e+00 1.31446038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.58262009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.000371743 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:175.85, Y:131.47, Z:0.07 [[-1.01548071e-01 -9.94830633e-01 0.00000000e+00 1.75854132e+02] [ 9.94830633e-01 -1.01548071e-01 0.00000000e+00 1.31470012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.57195750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.030371743 meters Centerline goodness : 0.993312 Centerline is valid? [True, True] Translation: X:175.86, Y:131.47, Z:0.06 [[-9.03167565e-02 -9.95913090e-01 0.00000000e+00 1.75863041e+02] [ 9.95913090e-01 -9.03167565e-02 0.00000000e+00 1.31465063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12382802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.060371743 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:175.87, Y:131.47, Z:0.06 [[-8.86539816e-02 -9.96062484e-01 0.00000000e+00 1.75865627e+02] [ 9.96062484e-01 -8.86539816e-02 0.00000000e+00 1.31467569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94695297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.090371743 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:175.86, Y:131.46, Z:0.06 [[-1.05487481e-01 -9.94420631e-01 0.00000000e+00 1.75860459e+02] [ 9.94420631e-01 -1.05487481e-01 0.00000000e+00 1.31459079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.42646394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.120371743 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:175.86, Y:131.46, Z:0.06 [[-1.05847267e-01 -9.94382399e-01 0.00000000e+00 1.75861269e+02] [ 9.94382399e-01 -1.05847267e-01 0.00000000e+00 1.31464716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36212309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.150371743 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:175.87, Y:131.48, Z:0.06 [[-8.66409219e-02 -9.96239605e-01 0.00000000e+00 1.75872083e+02] [ 9.96239605e-01 -8.66409219e-02 0.00000000e+00 1.31475765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66784646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.180371743 meters Centerline goodness : 0.993271 Centerline is valid? [True, True] Translation: X:175.87, Y:131.47, Z:0.06 [[-8.56100687e-02 -9.96328719e-01 0.00000000e+00 1.75874150e+02] [ 9.96328719e-01 -8.56100687e-02 0.00000000e+00 1.31468247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.76724752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.210371743 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:175.88, Y:131.47, Z:0.06 [[-8.38971974e-02 -9.96474415e-01 0.00000000e+00 1.75875261e+02] [ 9.96474415e-01 -8.38971974e-02 0.00000000e+00 1.31471159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84258934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.240371743 meters Centerline goodness : 0.992393 Centerline is valid? [True, True] Translation: X:175.88, Y:131.46, Z:0.06 [[-7.99734042e-02 -9.96796998e-01 0.00000000e+00 1.75878601e+02] [ 9.96796998e-01 -7.99734042e-02 0.00000000e+00 1.31464511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94248489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.270371743 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:175.88, Y:131.48, Z:0.06 [[-7.79152241e-02 -9.96959988e-01 0.00000000e+00 1.75879759e+02] [ 9.96959988e-01 -7.79152241e-02 0.00000000e+00 1.31478012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01167265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.300371743 meters Centerline goodness : 0.992456 Centerline is valid? [True, True] Translation: X:175.87, Y:131.48, Z:0.07 [[-9.77430786e-02 -9.95211681e-01 0.00000000e+00 1.75869948e+02] [ 9.95211681e-01 -9.77430786e-02 0.00000000e+00 1.31481307e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59653579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.330371743 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:175.89, Y:131.48, Z:0.06 [[-7.57177123e-02 -9.97129294e-01 0.00000000e+00 1.75886510e+02] [ 9.97129294e-01 -7.57177123e-02 0.00000000e+00 1.31478397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.83584287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36037174300003 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:175.89, Y:131.48, Z:0.06 [[-7.69912830e-02 -9.97031766e-01 0.00000000e+00 1.75888510e+02] [ 9.97031766e-01 -7.69912830e-02 0.00000000e+00 1.31478035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73823103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.390371743 meters Centerline goodness : 0.992885 Centerline is valid? [True, True] Translation: X:175.89, Y:131.48, Z:0.06 [[-7.85423584e-02 -9.96910777e-01 0.00000000e+00 1.75892859e+02] [ 9.96910777e-01 -7.85423584e-02 0.00000000e+00 1.31475228e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66530630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42037174300003 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:175.89, Y:131.50, Z:0.06 [[-7.83743035e-02 -9.96924003e-01 0.00000000e+00 1.75894423e+02] [ 9.96924003e-01 -7.83743035e-02 0.00000000e+00 1.31495046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57382414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.450371743 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:175.90, Y:131.49, Z:0.05 [[-7.85581958e-02 -9.96909529e-01 0.00000000e+00 1.75897595e+02] [ 9.96909529e-01 -7.85581958e-02 0.00000000e+00 1.31489250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48874127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.480371743 meters Centerline goodness : 0.993101 Centerline is valid? [True, True] Translation: X:175.90, Y:131.49, Z:0.06 [[-8.23945284e-02 -9.96599790e-01 0.00000000e+00 1.75901061e+02] [ 9.96599790e-01 -8.23945284e-02 0.00000000e+00 1.31488962e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.50098716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.510371743 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:175.90, Y:131.50, Z:0.05 [[-8.22105355e-02 -9.96614985e-01 0.00000000e+00 1.75903807e+02] [ 9.96614985e-01 -8.22105355e-02 0.00000000e+00 1.31495796e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.43215132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.540371743 meters Centerline goodness : 0.992939 Centerline is valid? [True, True] Translation: X:175.91, Y:131.51, Z:0.05 [[-8.69995741e-02 -9.96208349e-01 0.00000000e+00 1.75906462e+02] [ 9.96208349e-01 -8.69995741e-02 0.00000000e+00 1.31507668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46716204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.570371743 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:175.91, Y:131.51, Z:0.06 [[-8.84845688e-02 -9.96077548e-01 0.00000000e+00 1.75907780e+02] [ 9.96077548e-01 -8.84845688e-02 0.00000000e+00 1.31506227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54587057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.600371743 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:175.91, Y:131.51, Z:0.06 [[-9.10926094e-02 -9.95842426e-01 0.00000000e+00 1.75908472e+02] [ 9.95842426e-01 -9.10926094e-02 0.00000000e+00 1.31505024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60345044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.630371743 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:175.91, Y:131.54, Z:0.06 [[-9.92243155e-02 -9.95065091e-01 0.00000000e+00 1.75909466e+02] [ 9.95065091e-01 -9.92243155e-02 0.00000000e+00 1.31536240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.86945298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.660371743 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:175.91, Y:131.53, Z:0.06 [[-1.01850994e-01 -9.94799666e-01 0.00000000e+00 1.75910441e+02] [ 9.94799666e-01 -1.01850994e-01 0.00000000e+00 1.31533948e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.61708443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.690371743 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:175.91, Y:131.54, Z:0.06 [[-1.07501864e-01 -9.94204883e-01 0.00000000e+00 1.75912741e+02] [ 9.94204883e-01 -1.07501864e-01 0.00000000e+00 1.31538493e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.64411373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.720371743 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:175.90, Y:131.54, Z:0.06 [[-1.27355971e-01 -9.91857075e-01 0.00000000e+00 1.75903506e+02] [ 9.91857075e-01 -1.27355971e-01 0.00000000e+00 1.31536376e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17428954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.750371743 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:175.90, Y:131.54, Z:0.06 [[-1.28431411e-01 -9.91718394e-01 0.00000000e+00 1.75903961e+02] [ 9.91718394e-01 -1.28431411e-01 0.00000000e+00 1.31539321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10055899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.780371743 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:175.91, Y:131.55, Z:0.06 [[-1.14970664e-01 -9.93368887e-01 0.00000000e+00 1.75913833e+02] [ 9.93368887e-01 -1.14970664e-01 0.00000000e+00 1.31546078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.71601918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.810371743 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:175.90, Y:131.54, Z:0.06 [[-1.29427110e-01 -9.91588939e-01 0.00000000e+00 1.75903696e+02] [ 9.91588939e-01 -1.29427110e-01 0.00000000e+00 1.31544851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.17121143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.840371743 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:175.90, Y:131.55, Z:0.06 [[-1.28330236e-01 -9.91731491e-01 0.00000000e+00 1.75903033e+02] [ 9.91731491e-01 -1.28330236e-01 0.00000000e+00 1.31546461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.21363313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.870371743 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:175.90, Y:131.56, Z:0.06 [[-1.27828231e-01 -9.91796322e-01 0.00000000e+00 1.75902233e+02] [ 9.91796322e-01 -1.27828231e-01 0.00000000e+00 1.31556812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.26152170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.900371743 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:175.91, Y:131.55, Z:0.06 [[-1.13047204e-01 -9.93589618e-01 0.00000000e+00 1.75910619e+02] [ 9.93589618e-01 -1.13047204e-01 0.00000000e+00 1.31548653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89218941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.930371743 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:175.91, Y:131.56, Z:0.06 [[-1.09908487e-01 -9.93941711e-01 0.00000000e+00 1.75910170e+02] [ 9.93941711e-01 -1.09908487e-01 0.00000000e+00 1.31556126e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90036851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.960371743 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:175.91, Y:131.56, Z:0.07 [[-1.15510254e-01 -9.93306288e-01 0.00000000e+00 1.75908001e+02] [ 9.93306288e-01 -1.15510254e-01 0.00000000e+00 1.31562301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52551182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.990371743 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:175.91, Y:131.57, Z:0.06 [[-1.13187474e-01 -9.93573649e-01 0.00000000e+00 1.75905561e+02] [ 9.93573649e-01 -1.13187474e-01 0.00000000e+00 1.31568723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93974936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.020371743 meters Centerline goodness : 0.994407 Centerline is valid? [True, True] Translation: X:175.91, Y:131.56, Z:0.06 [[-1.12157199e-01 -9.93690476e-01 0.00000000e+00 1.75905691e+02] [ 9.93690476e-01 -1.12157199e-01 0.00000000e+00 1.31559060e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.84176496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.050371743 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:175.90, Y:131.57, Z:0.06 [[-1.12859087e-01 -9.93611004e-01 0.00000000e+00 1.75904084e+02] [ 9.93611004e-01 -1.12859087e-01 0.00000000e+00 1.31565279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.77311634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.080371743 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:175.90, Y:131.56, Z:0.06 [[-1.10112885e-01 -9.93919087e-01 0.00000000e+00 1.75902883e+02] [ 9.93919087e-01 -1.10112885e-01 0.00000000e+00 1.31564100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55539741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11037174300003 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:175.90, Y:131.58, Z:0.06 [[-1.10340705e-01 -9.93893822e-01 0.00000000e+00 1.75900371e+02] [ 9.93893822e-01 -1.10340705e-01 0.00000000e+00 1.31578541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54144673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.140371743 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:175.90, Y:131.58, Z:0.06 [[-1.07123429e-01 -9.94245730e-01 0.00000000e+00 1.75897439e+02] [ 9.94245730e-01 -1.07123429e-01 0.00000000e+00 1.31584928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.52873279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17037174300003 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:175.90, Y:131.58, Z:0.05 [[-1.05961144e-01 -9.94370271e-01 0.00000000e+00 1.75896982e+02] [ 9.94370271e-01 -1.05961144e-01 0.00000000e+00 1.31575550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48722628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.200371743 meters Centerline goodness : 0.994603 Centerline is valid? [True, True] Translation: X:175.90, Y:131.57, Z:0.05 [[-9.79836641e-02 -9.95188023e-01 0.00000000e+00 1.75898360e+02] [ 9.95188023e-01 -9.79836641e-02 0.00000000e+00 1.31570181e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.34070899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.230371743 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:175.90, Y:131.57, Z:0.05 [[-9.90395703e-02 -9.95083496e-01 0.00000000e+00 1.75895520e+02] [ 9.95083496e-01 -9.90395703e-02 0.00000000e+00 1.31565897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47915092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.260371743 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:175.89, Y:131.57, Z:0.06 [[-9.68451597e-02 -9.95299460e-01 0.00000000e+00 1.75894159e+02] [ 9.95299460e-01 -9.68451597e-02 0.00000000e+00 1.31566476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.60282066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.290371743 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:175.89, Y:131.58, Z:0.06 [[-9.04935476e-02 -9.95897042e-01 0.00000000e+00 1.75892510e+02] [ 9.95897042e-01 -9.04935476e-02 0.00000000e+00 1.31576114e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63017256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.320371743 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:175.89, Y:131.58, Z:0.06 [[-8.70475799e-02 -9.96204155e-01 0.00000000e+00 1.75892420e+02] [ 9.96204155e-01 -8.70475799e-02 0.00000000e+00 1.31576661e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.65926878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.350371743 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:175.89, Y:131.59, Z:0.06 [[-8.80050992e-02 -9.96120024e-01 0.00000000e+00 1.75889826e+02] [ 9.96120024e-01 -8.80050992e-02 0.00000000e+00 1.31586677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73316412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.380371743 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:175.89, Y:131.59, Z:0.06 [[-8.18471871e-02 -9.96644891e-01 0.00000000e+00 1.75890685e+02] [ 9.96644891e-01 -8.18471871e-02 0.00000000e+00 1.31585177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.55856042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.410371743 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:175.89, Y:131.59, Z:0.06 [[-8.28145519e-02 -9.96564975e-01 0.00000000e+00 1.75889005e+02] [ 9.96564975e-01 -8.28145519e-02 0.00000000e+00 1.31591950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53172321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.440371743 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:175.89, Y:131.59, Z:0.05 [[-8.51815140e-02 -9.96365450e-01 0.00000000e+00 1.75886420e+02] [ 9.96365450e-01 -8.51815140e-02 0.00000000e+00 1.31594386e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46868711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.470371743 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:175.89, Y:131.60, Z:0.05 [[-8.48448288e-02 -9.96394177e-01 0.00000000e+00 1.75886169e+02] [ 9.96394177e-01 -8.48448288e-02 0.00000000e+00 1.31597041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46868711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.500371743 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:175.89, Y:131.60, Z:0.05 [[-8.66427593e-02 -9.96239445e-01 0.00000000e+00 1.75885026e+02] [ 9.96239445e-01 -8.66427593e-02 0.00000000e+00 1.31599875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.47263223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.530371743 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:175.88, Y:131.60, Z:0.05 [[-8.76702839e-02 -9.96149548e-01 0.00000000e+00 1.75884118e+02] [ 9.96149548e-01 -8.76702839e-02 0.00000000e+00 1.31598709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40743341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.560371743 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:175.88, Y:131.60, Z:0.05 [[-9.10093574e-02 -9.95850037e-01 0.00000000e+00 1.75881471e+02] [ 9.95850037e-01 -9.10093574e-02 0.00000000e+00 1.31599817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46084212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.590371743 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:175.88, Y:131.62, Z:0.05 [[-9.01131106e-02 -9.95931537e-01 0.00000000e+00 1.75880468e+02] [ 9.95931537e-01 -9.01131106e-02 0.00000000e+00 1.31617404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.46458977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.620371743 meters Centerline goodness : 0.994365 Centerline is valid? [True, True] Translation: X:175.87, Y:131.60, Z:0.06 [[-1.03411996e-01 -9.94638607e-01 0.00000000e+00 1.75871972e+02] [ 9.94638607e-01 -1.03411996e-01 0.00000000e+00 1.31604417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.90798501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.650371743 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:175.88, Y:131.60, Z:0.06 [[-8.78839518e-02 -9.96130720e-01 0.00000000e+00 1.75879986e+02] [ 9.96130720e-01 -8.78839518e-02 0.00000000e+00 1.31600475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54089874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.680371743 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:175.87, Y:131.60, Z:0.06 [[-1.00627312e-01 -9.94924190e-01 0.00000000e+00 1.75870448e+02] [ 9.94924190e-01 -1.00627312e-01 0.00000000e+00 1.31604378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.04879975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.710371743 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:175.87, Y:131.62, Z:0.06 [[-1.00042691e-01 -9.94983146e-01 0.00000000e+00 1.75869139e+02] [ 9.94983146e-01 -1.00042691e-01 0.00000000e+00 1.31621412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.00683490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.740371743 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:175.88, Y:131.61, Z:0.06 [[-8.73616188e-02 -9.96176665e-01 0.00000000e+00 1.75878963e+02] [ 9.96176665e-01 -8.73616188e-02 0.00000000e+00 1.31607204e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.54354464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.770371743 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:175.88, Y:131.60, Z:0.05 [[-8.50243712e-02 -9.96378872e-01 0.00000000e+00 1.75880667e+02] [ 9.96378872e-01 -8.50243712e-02 0.00000000e+00 1.31603478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40365046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.800371743 meters Centerline goodness : 0.994496 Centerline is valid? [True, True] Translation: X:175.88, Y:131.61, Z:0.05 [[-8.71844987e-02 -9.96192182e-01 0.00000000e+00 1.75880723e+02] [ 9.96192182e-01 -8.71844987e-02 0.00000000e+00 1.31609788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.33602506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.830371743 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:175.88, Y:131.61, Z:0.05 [[-9.29210877e-02 -9.95673476e-01 0.00000000e+00 1.75880895e+02] [ 9.95673476e-01 -9.29210877e-02 0.00000000e+00 1.31614025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.30760529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86037174300003 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:175.88, Y:131.60, Z:0.05 [[-9.28508957e-02 -9.95680024e-01 0.00000000e+00 1.75883613e+02] [ 9.95680024e-01 -9.28508957e-02 0.00000000e+00 1.31600532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16847632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.890371743 meters Centerline goodness : 0.994935 Centerline is valid? [True, True] Translation: X:175.88, Y:131.63, Z:0.05 [[-1.10062356e-01 -9.93924684e-01 0.00000000e+00 1.75875775e+02] [ 9.93924684e-01 -1.10062356e-01 0.00000000e+00 1.31630153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42943739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92037174300003 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:175.88, Y:131.64, Z:0.05 [[-1.00644169e-01 -9.94922485e-01 0.00000000e+00 1.75883077e+02] [ 9.94922485e-01 -1.00644169e-01 0.00000000e+00 1.31640252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17651200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.950371743 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:175.88, Y:131.66, Z:0.05 [[-1.15679163e-01 -9.93286631e-01 0.00000000e+00 1.75877162e+02] [ 9.93286631e-01 -1.15679163e-01 0.00000000e+00 1.31662619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.19940221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.980371743 meters Centerline goodness : 0.995695 Centerline is valid? [True, True] Translation: X:175.88, Y:131.64, Z:0.05 [[-1.16609759e-01 -9.93177811e-01 0.00000000e+00 1.75879212e+02] [ 9.93177811e-01 -1.16609759e-01 0.00000000e+00 1.31639229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28157548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.010371743 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:175.88, Y:131.65, Z:0.05 [[-1.17974829e-01 -9.93016586e-01 0.00000000e+00 1.75880434e+02] [ 9.93016586e-01 -1.17974829e-01 0.00000000e+00 1.31645887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36546663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.040371743 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:175.88, Y:131.65, Z:0.05 [[-1.18099721e-01 -9.93001740e-01 0.00000000e+00 1.75880824e+02] [ 9.93001740e-01 -1.18099721e-01 0.00000000e+00 1.31646543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.39069809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.070371743 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:175.89, Y:131.64, Z:0.05 [[-1.05154151e-01 -9.94455934e-01 0.00000000e+00 1.75888317e+02] [ 9.94455934e-01 -1.05154151e-01 0.00000000e+00 1.31638569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18586901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.100371743 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:175.89, Y:131.65, Z:0.05 [[-1.06274222e-01 -9.94336859e-01 0.00000000e+00 1.75887868e+02] [ 9.94336859e-01 -1.06274222e-01 0.00000000e+00 1.31654231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24654159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.130371743 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:175.89, Y:131.65, Z:0.05 [[-1.06819665e-01 -9.94278411e-01 0.00000000e+00 1.75888459e+02] [ 9.94278411e-01 -1.06819665e-01 0.00000000e+00 1.31654168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.32244851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.160371743 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:175.89, Y:131.66, Z:0.05 [[-1.07399745e-01 -9.94215920e-01 0.00000000e+00 1.75889359e+02] [ 9.94215920e-01 -1.07399745e-01 0.00000000e+00 1.31664457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.20809324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.190371743 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:175.89, Y:131.67, Z:0.05 [[-1.06814548e-01 -9.94278961e-01 0.00000000e+00 1.75890413e+02] [ 9.94278961e-01 -1.06814548e-01 0.00000000e+00 1.31666871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01782449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.220371743 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:175.89, Y:131.66, Z:0.05 [[-1.06783103e-01 -9.94282339e-01 0.00000000e+00 1.75891332e+02] [ 9.94282339e-01 -1.06783103e-01 0.00000000e+00 1.31664551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.93394740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.250371743 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:175.89, Y:131.67, Z:0.05 [[-1.20598812e-01 -9.92701328e-01 0.00000000e+00 1.75886003e+02] [ 9.92701328e-01 -1.20598812e-01 0.00000000e+00 1.31669727e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10809747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.280371743 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:175.90, Y:131.67, Z:0.05 [[-1.08050665e-01 -9.94145389e-01 0.00000000e+00 1.75895209e+02] [ 9.94145389e-01 -1.08050665e-01 0.00000000e+00 1.31674179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.51599757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.310371743 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:175.90, Y:131.67, Z:0.05 [[-1.11507808e-01 -9.93763558e-01 0.00000000e+00 1.75895271e+02] [ 9.93763558e-01 -1.11507808e-01 0.00000000e+00 1.31673978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58742655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.340371743 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:175.90, Y:131.68, Z:0.04 [[-1.10930932e-01 -9.93828118e-01 0.00000000e+00 1.75896475e+02] [ 9.93828118e-01 -1.10930932e-01 0.00000000e+00 1.31678406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.45487767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.370371743 meters Centerline goodness : 0.995178 Centerline is valid? [True, True] Translation: X:175.90, Y:131.69, Z:0.04 [[-1.13966070e-01 -9.93484643e-01 0.00000000e+00 1.75897165e+02] [ 9.93484643e-01 -1.13966070e-01 0.00000000e+00 1.31685563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48330861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.400371743 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:175.90, Y:131.70, Z:0.05 [[-1.15995448e-01 -9.93249745e-01 0.00000000e+00 1.75896788e+02] [ 9.93249745e-01 -1.15995448e-01 0.00000000e+00 1.31704639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50702586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.430371743 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:175.90, Y:131.72, Z:0.04 [[-1.18389162e-01 -9.92967274e-01 0.00000000e+00 1.75897614e+02] [ 9.92967274e-01 -1.18389162e-01 0.00000000e+00 1.31721517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47898150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.460371743 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:175.90, Y:131.69, Z:0.05 [[-1.17305180e-01 -9.93095914e-01 0.00000000e+00 1.75899774e+02] [ 9.93095914e-01 -1.17305180e-01 0.00000000e+00 1.31686403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63333336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.490371743 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:175.90, Y:131.71, Z:0.04 [[-1.16284450e-01 -9.93215952e-01 0.00000000e+00 1.75900750e+02] [ 9.93215952e-01 -1.16284450e-01 0.00000000e+00 1.31705599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28759528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.520371743 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:175.90, Y:131.70, Z:0.04 [[-1.14244702e-01 -9.93452640e-01 0.00000000e+00 1.75902214e+02] [ 9.93452640e-01 -1.14244702e-01 0.00000000e+00 1.31703953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23363766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.550371743 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:175.90, Y:131.71, Z:0.04 [[-1.13031971e-01 -9.93591351e-01 0.00000000e+00 1.75902051e+02] [ 9.93591351e-01 -1.13031971e-01 0.00000000e+00 1.31710127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30868090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.580371743 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:175.90, Y:131.72, Z:0.04 [[-1.08804867e-01 -9.94063127e-01 0.00000000e+00 1.75903867e+02] [ 9.94063127e-01 -1.08804867e-01 0.00000000e+00 1.31717477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.15800867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61037174300003 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:175.90, Y:131.72, Z:0.04 [[-1.06783991e-01 -9.94282243e-01 0.00000000e+00 1.75903894e+02] [ 9.94282243e-01 -1.06783991e-01 0.00000000e+00 1.31720662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20725087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.640371743 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:175.90, Y:131.72, Z:0.04 [[-1.06346992e-01 -9.94329079e-01 0.00000000e+00 1.75903451e+02] [ 9.94329079e-01 -1.06346992e-01 0.00000000e+00 1.31719413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.26201492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67037174300003 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:175.90, Y:131.72, Z:0.04 [[-1.02683100e-01 -9.94714120e-01 0.00000000e+00 1.75903707e+02] [ 9.94714120e-01 -1.02683100e-01 0.00000000e+00 1.31719974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24694200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.700371743 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:175.90, Y:131.72, Z:0.05 [[-1.13230408e-01 -9.93568757e-01 0.00000000e+00 1.75896654e+02] [ 9.93568757e-01 -1.13230408e-01 0.00000000e+00 1.31716833e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63513953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.730371743 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:175.90, Y:131.71, Z:0.04 [[-9.74625425e-02 -9.95239194e-01 0.00000000e+00 1.75904854e+02] [ 9.95239194e-01 -9.74625425e-02 0.00000000e+00 1.31711698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.17744436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.760371743 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:175.90, Y:131.71, Z:0.05 [[-1.09792945e-01 -9.93954480e-01 0.00000000e+00 1.75896995e+02] [ 9.93954480e-01 -1.09792945e-01 0.00000000e+00 1.31714434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63726748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.790371743 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:175.90, Y:131.71, Z:0.04 [[-9.29269236e-02 -9.95672932e-01 0.00000000e+00 1.75904648e+02] [ 9.95672932e-01 -9.29269236e-02 0.00000000e+00 1.31705127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.38874274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.820371743 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:175.90, Y:131.72, Z:0.04 [[-9.16824933e-02 -9.95788291e-01 0.00000000e+00 1.75903594e+02] [ 9.95788291e-01 -9.16824933e-02 0.00000000e+00 1.31720282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36213850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.850371743 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:175.90, Y:131.70, Z:0.04 [[-8.84079840e-02 -9.96084348e-01 0.00000000e+00 1.75903986e+02] [ 9.96084348e-01 -8.84079840e-02 0.00000000e+00 1.31702657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44456272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.880371743 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:175.90, Y:131.72, Z:0.04 [[-8.66802586e-02 -9.96236183e-01 0.00000000e+00 1.75904102e+02] [ 9.96236183e-01 -8.66802586e-02 0.00000000e+00 1.31715490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41612897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.910371743 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:175.90, Y:131.73, Z:0.04 [[-8.64752091e-02 -9.96254003e-01 0.00000000e+00 1.75904296e+02] [ 9.96254003e-01 -8.64752091e-02 0.00000000e+00 1.31725358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.39391974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.940371743 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:175.91, Y:131.72, Z:0.04 [[-8.52642743e-02 -9.96358371e-01 0.00000000e+00 1.75905855e+02] [ 9.96358371e-01 -8.52642743e-02 0.00000000e+00 1.31718371e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36942554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.970371743 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:175.91, Y:131.72, Z:0.04 [[-8.37268866e-02 -9.96488740e-01 0.00000000e+00 1.75906547e+02] [ 9.96488740e-01 -8.37268866e-02 0.00000000e+00 1.31717881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29537504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.000371743 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:175.90, Y:131.73, Z:0.05 [[-1.02664277e-01 -9.94716063e-01 0.00000000e+00 1.75896534e+02] [ 9.94716063e-01 -1.02664277e-01 0.00000000e+00 1.31733453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82943549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.030371743 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:175.91, Y:131.72, Z:0.04 [[-8.32381121e-02 -9.96529687e-01 0.00000000e+00 1.75907782e+02] [ 9.96529687e-01 -8.32381121e-02 0.00000000e+00 1.31724580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.25906078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.060371743 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:175.91, Y:131.74, Z:0.04 [[-8.24954456e-02 -9.96591442e-01 0.00000000e+00 1.75908082e+02] [ 9.96591442e-01 -8.24954456e-02 0.00000000e+00 1.31738684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.18970906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.090371743 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:175.91, Y:131.75, Z:0.04 [[-8.56661645e-02 -9.96323897e-01 0.00000000e+00 1.75907197e+02] [ 9.96323897e-01 -8.56661645e-02 0.00000000e+00 1.31745111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19378784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.120371743 meters Centerline goodness : 0.995120 Centerline is valid? [True, True] Translation: X:175.91, Y:131.75, Z:0.04 [[-8.66152326e-02 -9.96241839e-01 0.00000000e+00 1.75906692e+02] [ 9.96241839e-01 -8.66152326e-02 0.00000000e+00 1.31745996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24661045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.150371743 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:175.90, Y:131.74, Z:0.05 [[-1.08322927e-01 -9.94115760e-01 0.00000000e+00 1.75895808e+02] [ 9.94115760e-01 -1.08322927e-01 0.00000000e+00 1.31742121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.80975325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.180371743 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:175.89, Y:131.77, Z:0.05 [[-1.09362022e-01 -9.94001986e-01 0.00000000e+00 1.75894214e+02] [ 9.94001986e-01 -1.09362022e-01 0.00000000e+00 1.31770537e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70448058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.210371743 meters Centerline goodness : 0.994815 Centerline is valid? [True, True] Translation: X:175.90, Y:131.74, Z:0.05 [[-9.70903658e-02 -9.95275570e-01 0.00000000e+00 1.75902225e+02] [ 9.95275570e-01 -9.70903658e-02 0.00000000e+00 1.31744512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77537702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.240371743 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:175.90, Y:131.74, Z:0.05 [[-1.00588782e-01 -9.94928086e-01 0.00000000e+00 1.75901602e+02] [ 9.94928086e-01 -1.00588782e-01 0.00000000e+00 1.31736999e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79790655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.270371743 meters Centerline goodness : 0.994547 Centerline is valid? [True, True] Translation: X:175.90, Y:131.74, Z:0.05 [[-1.03691675e-01 -9.94609489e-01 0.00000000e+00 1.75900202e+02] [ 9.94609489e-01 -1.03691675e-01 0.00000000e+00 1.31739265e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94486068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.300371743 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:175.89, Y:131.76, Z:0.05 [[-1.17532832e-01 -9.93068997e-01 0.00000000e+00 1.75891852e+02] [ 9.93068997e-01 -1.17532832e-01 0.00000000e+00 1.31762970e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00648504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.330371743 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:175.89, Y:131.77, Z:0.05 [[-1.17139936e-01 -9.93115419e-01 0.00000000e+00 1.75891663e+02] [ 9.93115419e-01 -1.17139936e-01 0.00000000e+00 1.31765646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00648504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36037174300003 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:175.89, Y:131.77, Z:0.05 [[-1.17778794e-01 -9.93039856e-01 0.00000000e+00 1.75890870e+02] [ 9.93039856e-01 -1.17778794e-01 0.00000000e+00 1.31766939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.04385913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.390371743 meters Centerline goodness : 0.995035 Centerline is valid? [True, True] Translation: X:175.89, Y:131.78, Z:0.05 [[-1.18402537e-01 -9.92965679e-01 0.00000000e+00 1.75889221e+02] [ 9.92965679e-01 -1.18402537e-01 0.00000000e+00 1.31777054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00518262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42037174300003 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:175.89, Y:131.78, Z:0.05 [[-1.19092673e-01 -9.92883143e-01 0.00000000e+00 1.75887361e+02] [ 9.92883143e-01 -1.19092673e-01 0.00000000e+00 1.31778631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10129820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.450371743 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:175.89, Y:131.78, Z:0.05 [[-1.19352607e-01 -9.92851930e-01 0.00000000e+00 1.75885343e+02] [ 9.92851930e-01 -1.19352607e-01 0.00000000e+00 1.31778335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.00762228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.480371743 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:175.89, Y:131.78, Z:0.05 [[-1.03094969e-01 -9.94671517e-01 0.00000000e+00 1.75893271e+02] [ 9.94671517e-01 -1.03094969e-01 0.00000000e+00 1.31780618e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58688701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.510371743 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:175.88, Y:131.79, Z:0.05 [[-1.19726183e-01 -9.92806951e-01 0.00000000e+00 1.75882698e+02] [ 9.92806951e-01 -1.19726183e-01 0.00000000e+00 1.31793743e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.99443487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.540371743 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:175.89, Y:131.78, Z:0.04 [[-9.80651746e-02 -9.95179995e-01 0.00000000e+00 1.75891630e+02] [ 9.95179995e-01 -9.80651746e-02 0.00000000e+00 1.31783798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.30798581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.570371743 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:175.89, Y:131.78, Z:0.04 [[-9.49185229e-02 -9.95485045e-01 0.00000000e+00 1.75891386e+02] [ 9.95485045e-01 -9.49185229e-02 0.00000000e+00 1.31782297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.29360707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.600371743 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:175.89, Y:131.81, Z:0.05 [[-9.80188286e-02 -9.95184560e-01 0.00000000e+00 1.75885341e+02] [ 9.95184560e-01 -9.80188286e-02 0.00000000e+00 1.31811319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.55730799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.630371743 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:175.89, Y:131.78, Z:0.05 [[-9.62246322e-02 -9.95359644e-01 0.00000000e+00 1.75885676e+02] [ 9.95359644e-01 -9.62246322e-02 0.00000000e+00 1.31782184e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.16335058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.660371743 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:175.88, Y:131.79, Z:0.04 [[-9.26399102e-02 -9.95699677e-01 0.00000000e+00 1.75883940e+02] [ 9.95699677e-01 -9.26399102e-02 0.00000000e+00 1.31793438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.46187740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.690371743 meters Centerline goodness : 0.994369 Centerline is valid? [True, True] Translation: X:175.88, Y:131.80, Z:0.04 [[-8.98036550e-02 -9.95959489e-01 0.00000000e+00 1.75880459e+02] [ 9.95959489e-01 -8.98036550e-02 0.00000000e+00 1.31796249e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37665390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.720371743 meters Centerline goodness : 0.994426 Centerline is valid? [True, True] Translation: X:175.88, Y:131.80, Z:0.05 [[-8.79395188e-02 -9.96125816e-01 0.00000000e+00 1.75879516e+02] [ 9.96125816e-01 -8.79395188e-02 0.00000000e+00 1.31797508e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92240124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.750371743 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:175.86, Y:131.79, Z:0.05 [[-1.03652744e-01 -9.94613547e-01 0.00000000e+00 1.75864150e+02] [ 9.94613547e-01 -1.03652744e-01 0.00000000e+00 1.31789405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.02686130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.780371743 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:175.87, Y:131.80, Z:0.04 [[-7.76567944e-02 -9.96980151e-01 0.00000000e+00 1.75874367e+02] [ 9.96980151e-01 -7.76567944e-02 0.00000000e+00 1.31795080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27429996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.810371743 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:175.87, Y:131.81, Z:0.05 [[-8.09606051e-02 -9.96717302e-01 0.00000000e+00 1.75870348e+02] [ 9.96717302e-01 -8.09606051e-02 0.00000000e+00 1.31805848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.50327084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.840371743 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:175.87, Y:131.81, Z:0.04 [[-7.22517029e-02 -9.97386430e-01 0.00000000e+00 1.75868462e+02] [ 9.97386430e-01 -7.22517029e-02 0.00000000e+00 1.31813761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.44040249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.870371743 meters Centerline goodness : 0.994458 Centerline is valid? [True, True] Translation: X:175.87, Y:131.80, Z:0.04 [[-7.00060074e-02 -9.97546570e-01 0.00000000e+00 1.75867548e+02] [ 9.97546570e-01 -7.00060074e-02 0.00000000e+00 1.31802954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.43658181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.900371743 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:175.87, Y:131.80, Z:0.04 [[-6.52094665e-02 -9.97871598e-01 0.00000000e+00 1.75866064e+02] [ 9.97871598e-01 -6.52094665e-02 0.00000000e+00 1.31801013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24545636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.930371743 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:175.87, Y:131.82, Z:0.04 [[-6.01773828e-02 -9.98187699e-01 0.00000000e+00 1.75865818e+02] [ 9.98187699e-01 -6.01773828e-02 0.00000000e+00 1.31820459e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.14746091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.960371743 meters Centerline goodness : 0.993992 Centerline is valid? [True, True] Translation: X:175.85, Y:131.80, Z:0.05 [[-7.84462688e-02 -9.96918343e-01 0.00000000e+00 1.75853635e+02] [ 9.96918343e-01 -7.84462688e-02 0.00000000e+00 1.31795874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.86811916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.990371743 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:175.86, Y:131.82, Z:0.04 [[-5.58625191e-02 -9.98438470e-01 0.00000000e+00 1.75861790e+02] [ 9.98438470e-01 -5.58625191e-02 0.00000000e+00 1.31817899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.16971820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.020371743 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:175.86, Y:131.83, Z:0.04 [[-5.33426126e-02 -9.98576269e-01 0.00000000e+00 1.75861117e+02] [ 9.98576269e-01 -5.33426126e-02 0.00000000e+00 1.31826395e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20782692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.050371743 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:175.85, Y:131.81, Z:0.05 [[-6.79365465e-02 -9.97689644e-01 0.00000000e+00 1.75849615e+02] [ 9.97689644e-01 -6.79365465e-02 0.00000000e+00 1.31808839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94395273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.080371743 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:175.85, Y:131.80, Z:0.05 [[-6.58859572e-02 -9.97827160e-01 0.00000000e+00 1.75849291e+02] [ 9.97827160e-01 -6.58859572e-02 0.00000000e+00 1.31803192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94425298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11037174300003 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:175.86, Y:131.82, Z:0.04 [[-4.72016089e-02 -9.98885383e-01 0.00000000e+00 1.75858911e+02] [ 9.98885383e-01 -4.72016089e-02 0.00000000e+00 1.31822166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28802949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.140371743 meters Centerline goodness : 0.993537 Centerline is valid? [True, True] Translation: X:175.86, Y:131.81, Z:0.04 [[-4.81601868e-02 -9.98839625e-01 0.00000000e+00 1.75857384e+02] [ 9.98839625e-01 -4.81601868e-02 0.00000000e+00 1.31814285e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.33055682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17037174300003 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:175.86, Y:131.82, Z:0.04 [[-4.68323706e-02 -9.98902763e-01 0.00000000e+00 1.75858465e+02] [ 9.98902763e-01 -4.68323706e-02 0.00000000e+00 1.31816953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27812152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.200371743 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:175.86, Y:131.82, Z:0.04 [[-4.78070430e-02 -9.98856590e-01 0.00000000e+00 1.75858488e+02] [ 9.98856590e-01 -4.78070430e-02 0.00000000e+00 1.31821024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.23919267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.230371743 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:175.86, Y:131.82, Z:0.04 [[-4.82327281e-02 -9.98836125e-01 0.00000000e+00 1.75858625e+02] [ 9.98836125e-01 -4.82327281e-02 0.00000000e+00 1.31824143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.20469809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.260371743 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:175.86, Y:131.82, Z:0.04 [[-4.97074374e-02 -9.98763821e-01 0.00000000e+00 1.75858482e+02] [ 9.98763821e-01 -4.97074374e-02 0.00000000e+00 1.31821952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22139336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.290371743 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:175.86, Y:131.82, Z:0.04 [[-5.38372287e-02 -9.98549725e-01 0.00000000e+00 1.75859059e+02] [ 9.98549725e-01 -5.38372287e-02 0.00000000e+00 1.31822759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.28965695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.320371743 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:175.86, Y:131.84, Z:0.04 [[-5.50101485e-02 -9.98485795e-01 0.00000000e+00 1.75859563e+02] [ 9.98485795e-01 -5.50101485e-02 0.00000000e+00 1.31837929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.24457326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.350371743 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:175.86, Y:131.83, Z:0.04 [[-5.87914453e-02 -9.98270287e-01 0.00000000e+00 1.75861714e+02] [ 9.98270287e-01 -5.87914453e-02 0.00000000e+00 1.31834052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.27930166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.380371743 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:175.86, Y:131.83, Z:0.04 [[-6.15569647e-02 -9.98103572e-01 0.00000000e+00 1.75862519e+02] [ 9.98103572e-01 -6.15569647e-02 0.00000000e+00 1.31834193e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36321264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.410371743 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:175.86, Y:131.84, Z:0.05 [[-6.14631227e-02 -9.98109355e-01 0.00000000e+00 1.75864821e+02] [ 9.98109355e-01 -6.14631227e-02 0.00000000e+00 1.31839478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52258236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.440371743 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:175.87, Y:131.85, Z:0.04 [[-6.85660744e-02 -9.97646577e-01 0.00000000e+00 1.75865643e+02] [ 9.97646577e-01 -6.85660744e-02 0.00000000e+00 1.31846576e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47696223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.470371743 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:175.87, Y:131.86, Z:0.04 [[-6.94373096e-02 -9.97586317e-01 0.00000000e+00 1.75865722e+02] [ 9.97586317e-01 -6.94373096e-02 0.00000000e+00 1.31856191e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.41750537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.500371743 meters Centerline goodness : 0.993971 Centerline is valid? [True, True] Translation: X:175.87, Y:131.87, Z:0.04 [[-6.94732815e-02 -9.97583813e-01 0.00000000e+00 1.75867417e+02] [ 9.97583813e-01 -6.94732815e-02 0.00000000e+00 1.31867474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.09616702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.530371743 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:175.87, Y:131.87, Z:0.04 [[-7.07839105e-02 -9.97491673e-01 0.00000000e+00 1.75868711e+02] [ 9.97491673e-01 -7.07839105e-02 0.00000000e+00 1.31874113e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36574706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.560371743 meters Centerline goodness : 0.992997 Centerline is valid? [True, True] Translation: X:175.87, Y:131.86, Z:0.04 [[-6.82080107e-02 -9.97671122e-01 0.00000000e+00 1.75870934e+02] [ 9.97671122e-01 -6.82080107e-02 0.00000000e+00 1.31864857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37975407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.590371743 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:175.87, Y:131.88, Z:0.04 [[-6.91957043e-02 -9.97603105e-01 0.00000000e+00 1.75870445e+02] [ 9.97603105e-01 -6.91957043e-02 0.00000000e+00 1.31876873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.91556379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.620371743 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:175.87, Y:131.89, Z:0.04 [[-6.84288298e-02 -9.97656000e-01 0.00000000e+00 1.75870313e+02] [ 9.97656000e-01 -6.84288298e-02 0.00000000e+00 1.31894657e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.88862260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.650371743 meters Centerline goodness : 0.993033 Centerline is valid? [True, True] Translation: X:175.87, Y:131.87, Z:0.04 [[-6.70254786e-02 -9.97751264e-01 0.00000000e+00 1.75870497e+02] [ 9.97751264e-01 -6.70254786e-02 0.00000000e+00 1.31871278e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97768050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.680371743 meters Centerline goodness : 0.992569 Centerline is valid? [True, True] Translation: X:175.87, Y:131.88, Z:0.04 [[-6.41604661e-02 -9.97939595e-01 0.00000000e+00 1.75871191e+02] [ 9.97939595e-01 -6.41604661e-02 0.00000000e+00 1.31880092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 3.97873696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.710371743 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:175.87, Y:131.88, Z:0.04 [[-6.46416257e-02 -9.97908543e-01 0.00000000e+00 1.75871041e+02] [ 9.97908543e-01 -6.46416257e-02 0.00000000e+00 1.31883508e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.07858813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.740371743 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:175.87, Y:131.89, Z:0.04 [[-6.24798275e-02 -9.98046227e-01 0.00000000e+00 1.75872315e+02] [ 9.98046227e-01 -6.24798275e-02 0.00000000e+00 1.31894382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12627489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.770371743 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:175.87, Y:131.90, Z:0.04 [[-6.14890766e-02 -9.98107756e-01 0.00000000e+00 1.75873149e+02] [ 9.98107756e-01 -6.14890766e-02 0.00000000e+00 1.31900025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.12869104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.800371743 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:175.88, Y:131.89, Z:0.04 [[-6.13192649e-02 -9.98118203e-01 0.00000000e+00 1.75875096e+02] [ 9.98118203e-01 -6.13192649e-02 0.00000000e+00 1.31891730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.47805150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.830371743 meters Centerline goodness : 0.992276 Centerline is valid? [True, True] Translation: X:175.88, Y:131.89, Z:0.04 [[-6.21501495e-02 -9.98066811e-01 0.00000000e+00 1.75875369e+02] [ 9.98066811e-01 -6.21501495e-02 0.00000000e+00 1.31892246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.40360804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86037174300003 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:175.87, Y:131.90, Z:0.04 [[-7.81871305e-02 -9.96938701e-01 0.00000000e+00 1.75867521e+02] [ 9.96938701e-01 -7.81871305e-02 0.00000000e+00 1.31898564e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.48594576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.890371743 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:175.88, Y:131.91, Z:0.04 [[-6.45511132e-02 -9.97914402e-01 0.00000000e+00 1.75876199e+02] [ 9.97914402e-01 -6.45511132e-02 0.00000000e+00 1.31908065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.03931636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92037174300003 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:175.88, Y:131.90, Z:0.04 [[-6.59860310e-02 -9.97820547e-01 0.00000000e+00 1.75876702e+02] [ 9.97820547e-01 -6.59860310e-02 0.00000000e+00 1.31903671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.08062379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.950371743 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:175.88, Y:131.89, Z:0.04 [[-7.28363045e-02 -9.97343909e-01 0.00000000e+00 1.75875111e+02] [ 9.97343909e-01 -7.28363045e-02 0.00000000e+00 1.31892017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.22308990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.980371743 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:175.87, Y:131.91, Z:0.04 [[-8.12539322e-02 -9.96693433e-01 0.00000000e+00 1.75871162e+02] [ 9.96693433e-01 -8.12539322e-02 0.00000000e+00 1.31907984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.36692096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.010371743 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:175.88, Y:131.91, Z:0.04 [[-7.59001378e-02 -9.97115424e-01 0.00000000e+00 1.75877262e+02] [ 9.97115424e-01 -7.59001378e-02 0.00000000e+00 1.31907594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.32573809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.040371743 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:175.88, Y:131.92, Z:0.04 [[-7.80947540e-02 -9.96945941e-01 0.00000000e+00 1.75877698e+02] [ 9.96945941e-01 -7.80947540e-02 0.00000000e+00 1.31922436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.37096229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.070371743 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:175.88, Y:131.88, Z:0.04 [[-7.65178591e-02 -9.97068211e-01 0.00000000e+00 1.75881008e+02] [ 9.97068211e-01 -7.65178591e-02 0.00000000e+00 1.31883693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.19677008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.100371743 meters Centerline goodness : 0.993090 Centerline is valid? [True, True] Translation: X:175.88, Y:131.92, Z:0.05 [[-8.00685990e-02 -9.96789356e-01 0.00000000e+00 1.75882824e+02] [ 9.96789356e-01 -8.00685990e-02 0.00000000e+00 1.31915073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.53796004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.130371743 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:175.88, Y:131.91, Z:0.05 [[-7.98574411e-02 -9.96806295e-01 0.00000000e+00 1.75882561e+02] [ 9.96806295e-01 -7.98574411e-02 0.00000000e+00 1.31907161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.56488843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.160371743 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:175.88, Y:131.91, Z:0.05 [[-8.18495028e-02 -9.96644700e-01 0.00000000e+00 1.75883719e+02] [ 9.96644700e-01 -8.18495028e-02 0.00000000e+00 1.31908452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.65120542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.190371743 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:175.89, Y:131.91, Z:0.05 [[-8.15052404e-02 -9.96672913e-01 0.00000000e+00 1.75885110e+02] [ 9.96672913e-01 -8.15052404e-02 0.00000000e+00 1.31911777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.63850492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.220371743 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:175.89, Y:131.92, Z:0.05 [[-8.22260982e-02 -9.96613701e-01 0.00000000e+00 1.75887410e+02] [ 9.96613701e-01 -8.22260982e-02 0.00000000e+00 1.31915436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74629873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.250371743 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:175.89, Y:131.92, Z:0.05 [[-8.26863383e-02 -9.96575622e-01 0.00000000e+00 1.75887889e+02] [ 9.96575622e-01 -8.26863383e-02 0.00000000e+00 1.31924708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67371990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.280371743 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:175.89, Y:131.93, Z:0.05 [[-8.23354126e-02 -9.96604676e-01 0.00000000e+00 1.75887752e+02] [ 9.96604676e-01 -8.23354126e-02 0.00000000e+00 1.31927369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67371990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.310371743 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:175.89, Y:131.92, Z:0.05 [[-8.16454322e-02 -9.96661439e-01 0.00000000e+00 1.75888829e+02] [ 9.96661439e-01 -8.16454322e-02 0.00000000e+00 1.31921463e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.70658439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.340371743 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:175.89, Y:131.92, Z:0.05 [[-8.20782141e-02 -9.96625891e-01 0.00000000e+00 1.75890353e+02] [ 9.96625891e-01 -8.20782141e-02 0.00000000e+00 1.31920871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.77428759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.370371743 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:175.89, Y:131.93, Z:0.05 [[-8.02786900e-02 -9.96772457e-01 0.00000000e+00 1.75891226e+02] [ 9.96772457e-01 -8.02786900e-02 0.00000000e+00 1.31930207e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89593527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.400371743 meters Centerline goodness : 0.992572 Centerline is valid? [True, True] Translation: X:175.89, Y:131.93, Z:0.05 [[-7.98339548e-02 -9.96808176e-01 0.00000000e+00 1.75891412e+02] [ 9.96808176e-01 -7.98339548e-02 0.00000000e+00 1.31926582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05999318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.430371743 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:175.89, Y:131.94, Z:0.05 [[-7.99606912e-02 -9.96798018e-01 0.00000000e+00 1.75891594e+02] [ 9.96798018e-01 -7.99606912e-02 0.00000000e+00 1.31939851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.07206948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.460371743 meters Centerline goodness : 0.992819 Centerline is valid? [True, True] Translation: X:175.89, Y:131.95, Z:0.05 [[-7.95052290e-02 -9.96834449e-01 0.00000000e+00 1.75891184e+02] [ 9.96834449e-01 -7.95052290e-02 0.00000000e+00 1.31953396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22047541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.490371743 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:175.89, Y:131.95, Z:0.05 [[-7.94027810e-02 -9.96842615e-01 0.00000000e+00 1.75891236e+02] [ 9.96842615e-01 -7.94027810e-02 0.00000000e+00 1.31947844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.24759716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.520371743 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:175.89, Y:131.95, Z:0.05 [[-7.74422218e-02 -9.96996842e-01 0.00000000e+00 1.75891539e+02] [ 9.96996842e-01 -7.74422218e-02 0.00000000e+00 1.31947021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.17350273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.550371743 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:175.89, Y:131.97, Z:0.05 [[-7.70740651e-02 -9.97025370e-01 0.00000000e+00 1.75890622e+02] [ 9.97025370e-01 -7.70740651e-02 0.00000000e+00 1.31968233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09667679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.580371743 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:175.89, Y:131.99, Z:0.05 [[-7.62681310e-02 -9.97087344e-01 0.00000000e+00 1.75891273e+02] [ 9.97087344e-01 -7.62681310e-02 0.00000000e+00 1.31988518e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.10699795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61037174300003 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:175.89, Y:131.96, Z:0.05 [[-7.38040445e-02 -9.97272763e-01 0.00000000e+00 1.75893482e+02] [ 9.97272763e-01 -7.38040445e-02 0.00000000e+00 1.31957898e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.23899975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.640371743 meters Centerline goodness : 0.994814 Centerline is valid? [True, True] Translation: X:175.90, Y:131.96, Z:0.05 [[-6.93553587e-02 -9.97592018e-01 0.00000000e+00 1.75895395e+02] [ 9.97592018e-01 -6.93553587e-02 0.00000000e+00 1.31961292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58273025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67037174300003 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:175.89, Y:131.97, Z:0.05 [[-8.81749134e-02 -9.96105007e-01 0.00000000e+00 1.75886044e+02] [ 9.96105007e-01 -8.81749134e-02 0.00000000e+00 1.31974301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09745909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.700371743 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:175.90, Y:131.98, Z:0.05 [[-7.13667705e-02 -9.97450141e-01 0.00000000e+00 1.75895382e+02] [ 9.97450141e-01 -7.13667705e-02 0.00000000e+00 1.31975958e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.01447950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.730371743 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:175.89, Y:131.97, Z:0.05 [[-8.71324431e-02 -9.96196736e-01 0.00000000e+00 1.75886913e+02] [ 9.96196736e-01 -8.71324431e-02 0.00000000e+00 1.31974260e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.12256132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.760371743 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:175.89, Y:131.98, Z:0.05 [[-8.55126616e-02 -9.96337084e-01 0.00000000e+00 1.75887069e+02] [ 9.96337084e-01 -8.55126616e-02 0.00000000e+00 1.31977763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06030684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.790371743 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:175.90, Y:132.00, Z:0.05 [[-6.47817236e-02 -9.97899458e-01 0.00000000e+00 1.75897190e+02] [ 9.97899458e-01 -6.47817236e-02 0.00000000e+00 1.31999038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.73798592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.820371743 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:175.89, Y:132.00, Z:0.05 [[-8.37891537e-02 -9.96483506e-01 0.00000000e+00 1.75886885e+02] [ 9.96483506e-01 -8.37891537e-02 0.00000000e+00 1.31997099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.09124825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.850371743 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:175.90, Y:132.00, Z:0.05 [[-6.51783320e-02 -9.97873632e-01 0.00000000e+00 1.75898438e+02] [ 9.97873632e-01 -6.51783320e-02 0.00000000e+00 1.31996613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.96614360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.880371743 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:175.90, Y:131.98, Z:0.05 [[-6.59389873e-02 -9.97823657e-01 0.00000000e+00 1.75898507e+02] [ 9.97823657e-01 -6.59389873e-02 0.00000000e+00 1.31983950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.94383721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.910371743 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:175.90, Y:131.99, Z:0.05 [[-6.69880528e-02 -9.97753778e-01 0.00000000e+00 1.75898825e+02] [ 9.97753778e-01 -6.69880528e-02 0.00000000e+00 1.31993541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.74509760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.940371743 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:175.90, Y:131.99, Z:0.05 [[-6.89704761e-02 -9.97618701e-01 0.00000000e+00 1.75898734e+02] [ 9.97618701e-01 -6.89704761e-02 0.00000000e+00 1.31992785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78620731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.970371743 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:175.90, Y:132.01, Z:0.05 [[-7.32770090e-02 -9.97311626e-01 0.00000000e+00 1.75899014e+02] [ 9.97311626e-01 -7.32770090e-02 0.00000000e+00 1.32007046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.08214527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.000371743 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:175.90, Y:132.01, Z:0.05 [[-7.37743955e-02 -9.97274956e-01 0.00000000e+00 1.75900325e+02] [ 9.97274956e-01 -7.37743955e-02 0.00000000e+00 1.32005360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.79701203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.030371743 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:175.90, Y:132.00, Z:0.05 [[-7.31205150e-02 -9.97323112e-01 0.00000000e+00 1.75901746e+02] [ 9.97323112e-01 -7.31205150e-02 0.00000000e+00 1.32002795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.67822715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.060371743 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:175.90, Y:132.00, Z:0.05 [[-7.47311991e-02 -9.97203714e-01 0.00000000e+00 1.75902100e+02] [ 9.97203714e-01 -7.47311991e-02 0.00000000e+00 1.32002218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91893346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.090371743 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:175.90, Y:132.03, Z:0.05 [[-7.52195410e-02 -9.97166997e-01 0.00000000e+00 1.75901559e+02] [ 9.97166997e-01 -7.52195410e-02 0.00000000e+00 1.32025933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.11365851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.120371743 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:175.90, Y:132.04, Z:0.05 [[-7.36549962e-02 -9.97283782e-01 0.00000000e+00 1.75901669e+02] [ 9.97283782e-01 -7.36549962e-02 0.00000000e+00 1.32043832e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.06656855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.150371743 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:175.89, Y:132.01, Z:0.05 [[-8.71040197e-02 -9.96199222e-01 0.00000000e+00 1.75893637e+02] [ 9.96199222e-01 -8.71040197e-02 0.00000000e+00 1.32013495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.22596300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.180371743 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:175.90, Y:132.02, Z:0.05 [[-6.97169054e-02 -9.97566816e-01 0.00000000e+00 1.75902340e+02] [ 9.97566816e-01 -6.97169054e-02 0.00000000e+00 1.32016524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97872249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.210371743 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:175.90, Y:132.01, Z:0.05 [[-6.61041470e-02 -9.97812729e-01 0.00000000e+00 1.75901300e+02] [ 9.97812729e-01 -6.61041470e-02 0.00000000e+00 1.32005931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.18131809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.240371743 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:175.90, Y:131.99, Z:0.05 [[-5.17385550e-02 -9.98660664e-01 0.00000000e+00 1.75903601e+02] [ 9.98660664e-01 -5.17385550e-02 0.00000000e+00 1.31988135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.52057123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.270371743 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:175.90, Y:132.01, Z:0.05 [[-5.51564146e-02 -9.98477726e-01 0.00000000e+00 1.75899479e+02] [ 9.98477726e-01 -5.51564146e-02 0.00000000e+00 1.32011817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.05814345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.300371743 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:175.90, Y:132.04, Z:0.05 [[-5.23169160e-02 -9.98630532e-01 0.00000000e+00 1.75898718e+02] [ 9.98630532e-01 -5.23169160e-02 0.00000000e+00 1.32038804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.97574755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.330371743 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:175.88, Y:132.05, Z:0.05 [[-5.66550172e-02 -9.98393815e-01 0.00000000e+00 1.75884538e+02] [ 9.98393815e-01 -5.66550172e-02 0.00000000e+00 1.32051742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.28928760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36037174300003 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:175.90, Y:132.09, Z:0.05 [[-4.64260532e-02 -9.98921729e-01 0.00000000e+00 1.75896594e+02] [ 9.98921729e-01 -4.64260532e-02 0.00000000e+00 1.32094524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.92576801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.390371743 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:175.90, Y:132.09, Z:0.05 [[-4.28821218e-02 -9.99080139e-01 0.00000000e+00 1.75896187e+02] [ 9.99080139e-01 -4.28821218e-02 0.00000000e+00 1.32089812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.87775019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42037174300003 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:175.90, Y:132.12, Z:0.05 [[-4.26356363e-02 -9.99090688e-01 0.00000000e+00 1.75895649e+02] [ 9.99090688e-01 -4.26356363e-02 0.00000000e+00 1.32118243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.82747828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.450371743 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:175.89, Y:132.14, Z:0.05 [[-4.27008919e-02 -9.99087901e-01 0.00000000e+00 1.75893880e+02] [ 9.99087901e-01 -4.27008919e-02 0.00000000e+00 1.32144893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.91622897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.480371743 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:175.89, Y:132.17, Z:0.06 [[-4.55172102e-02 -9.98963555e-01 0.00000000e+00 1.75889406e+02] [ 9.98963555e-01 -4.55172102e-02 0.00000000e+00 1.32171852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.53406587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.510371743 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:175.89, Y:132.20, Z:0.05 [[-4.25125423e-02 -9.99095933e-01 0.00000000e+00 1.75893527e+02] [ 9.99095933e-01 -4.25125423e-02 0.00000000e+00 1.32203027e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.58114832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.540371743 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:175.89, Y:132.22, Z:0.05 [[-4.30886860e-02 -9.99071251e-01 0.00000000e+00 1.75892809e+02] [ 9.99071251e-01 -4.30886860e-02 0.00000000e+00 1.32220794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.78793847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.570371743 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:175.89, Y:132.23, Z:0.05 [[-4.43224882e-02 -9.99017276e-01 0.00000000e+00 1.75891896e+02] [ 9.99017276e-01 -4.43224882e-02 0.00000000e+00 1.32225307e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.83619823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.600371743 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:175.88, Y:132.24, Z:0.06 [[-7.04166674e-02 -9.97517665e-01 0.00000000e+00 1.75878413e+02] [ 9.97517665e-01 -7.04166674e-02 0.00000000e+00 1.32236927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.57668277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.630371743 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:175.88, Y:132.66, Z:0.05 [[-6.23106752e-02 -9.98056802e-01 0.00000000e+00 1.75878303e+02] [ 9.98056802e-01 -6.23106752e-02 0.00000000e+00 1.32662151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.40866011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.660371743 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:175.88, Y:132.66, Z:0.05 [[-6.29264918e-02 -9.98018164e-01 0.00000000e+00 1.75878736e+02] [ 9.98018164e-01 -6.29264918e-02 0.00000000e+00 1.32664870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.42920772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.690371743 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:175.88, Y:132.69, Z:0.05 [[-6.71539969e-02 -9.97742622e-01 0.00000000e+00 1.75878153e+02] [ 9.97742622e-01 -6.71539969e-02 0.00000000e+00 1.32692119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41079851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.720371743 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:176.73, Y:132.43, Z:0.83 [[-1.96805711e-02 9.99806319e-01 0.00000000e+00 1.76726005e+02] [ 9.99806319e-01 1.96805711e-02 0.00000000e+00 1.32427393e+02] [ 0.00000000e+00 0.00000000e+00 -1.00000000e+00 8.34958234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.750371743 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:175.88, Y:132.88, Z:0.05 [[-1.42575384e-01 -9.89783946e-01 0.00000000e+00 1.75876950e+02] [ 9.89783946e-01 -1.42575384e-01 0.00000000e+00 1.32884920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.48037192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.780371743 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:176.75, Y:132.60, Z:0.83 [[-8.36943597e-02 9.96491472e-01 0.00000000e+00 1.76749618e+02] [ 9.96491472e-01 8.36943597e-02 0.00000000e+00 1.32600288e+02] [ 0.00000000e+00 0.00000000e+00 -1.00000000e+00 8.32735267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.810371743 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:175.96, Y:132.47, Z:0.05 [[-1.96625276e-01 -9.80478710e-01 0.00000000e+00 1.75961625e+02] [ 9.80478710e-01 -1.96625276e-01 0.00000000e+00 1.32473822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.36863737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.840371743 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:175.97, Y:132.47, Z:0.05 [[-1.92522694e-01 -9.81292521e-01 0.00000000e+00 1.75966255e+02] [ 9.81292521e-01 -1.92522694e-01 0.00000000e+00 1.32465587e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 4.89151165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.870371743 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:175.95, Y:132.49, Z:0.06 [[-2.17214659e-01 -9.76123861e-01 0.00000000e+00 1.75948770e+02] [ 9.76123861e-01 -2.17214659e-01 0.00000000e+00 1.32489875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.66588229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.900371743 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:175.95, Y:132.49, Z:0.06 [[-2.17418825e-01 -9.76078406e-01 0.00000000e+00 1.75947566e+02] [ 9.76078406e-01 -2.17418825e-01 0.00000000e+00 1.32492239e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.85039750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.930371743 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:175.96, Y:132.49, Z:0.05 [[-1.96189479e-01 -9.80566004e-01 0.00000000e+00 1.75960305e+02] [ 9.80566004e-01 -1.96189479e-01 0.00000000e+00 1.32488277e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.15199197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.960371743 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:175.95, Y:132.50, Z:0.06 [[-2.16982353e-01 -9.76175526e-01 0.00000000e+00 1.75946412e+02] [ 9.76175526e-01 -2.16982353e-01 0.00000000e+00 1.32499014e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.82941602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.990371743 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:175.95, Y:132.51, Z:0.06 [[-2.16765978e-01 -9.76223597e-01 0.00000000e+00 1.75945658e+02] [ 9.76223597e-01 -2.16765978e-01 0.00000000e+00 1.32505034e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.79373276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.020371743 meters Centerline goodness : 0.994235 Centerline is valid? [True, True] Translation: X:175.95, Y:132.50, Z:0.06 [[-2.16524687e-01 -9.76277143e-01 0.00000000e+00 1.75945116e+02] [ 9.76277143e-01 -2.16524687e-01 0.00000000e+00 1.32504156e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.70676177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.050371743 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:175.95, Y:132.49, Z:0.06 [[-2.01138035e-01 -9.79562908e-01 0.00000000e+00 1.75953490e+02] [ 9.79562908e-01 -2.01138035e-01 0.00000000e+00 1.32493983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.94512669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.080371743 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:175.94, Y:132.51, Z:0.06 [[-2.15403328e-01 -9.76525169e-01 0.00000000e+00 1.75942726e+02] [ 9.76525169e-01 -2.15403328e-01 0.00000000e+00 1.32506168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.93284107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11037174300003 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:175.95, Y:132.51, Z:0.06 [[-2.02345410e-01 -9.79314217e-01 0.00000000e+00 1.75949121e+02] [ 9.79314217e-01 -2.02345410e-01 0.00000000e+00 1.32514690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88930042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.140371743 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:175.95, Y:132.52, Z:0.06 [[-2.01993252e-01 -9.79386913e-01 0.00000000e+00 1.75948654e+02] [ 9.79386913e-01 -2.01993252e-01 0.00000000e+00 1.32517313e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.88930042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17037174300003 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:175.95, Y:132.51, Z:0.06 [[-1.99394598e-01 -9.79919279e-01 0.00000000e+00 1.75949751e+02] [ 9.79919279e-01 -1.99394598e-01 0.00000000e+00 1.32509643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.89991670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.200371743 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:175.95, Y:132.51, Z:0.06 [[-1.99237253e-01 -9.79951283e-01 0.00000000e+00 1.75948356e+02] [ 9.79951283e-01 -1.99237253e-01 0.00000000e+00 1.32512173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.05168524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.230371743 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:175.95, Y:132.51, Z:0.06 [[-1.99819717e-01 -9.79832680e-01 0.00000000e+00 1.75945198e+02] [ 9.79832680e-01 -1.99819717e-01 0.00000000e+00 1.32509343e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.95203601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.260371743 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:175.94, Y:132.52, Z:0.06 [[-1.98827619e-01 -9.80034478e-01 0.00000000e+00 1.75942893e+02] [ 9.80034478e-01 -1.98827619e-01 0.00000000e+00 1.32515558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10383410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.290371743 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:175.94, Y:132.53, Z:0.06 [[-1.98165739e-01 -9.80168526e-01 0.00000000e+00 1.75940061e+02] [ 9.80168526e-01 -1.98165739e-01 0.00000000e+00 1.32527697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.09646446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.320371743 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:175.94, Y:132.52, Z:0.06 [[-1.96295846e-01 -9.80544716e-01 0.00000000e+00 1.75938979e+02] [ 9.80544716e-01 -1.96295846e-01 0.00000000e+00 1.32518804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.99841097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.350371743 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:175.94, Y:132.53, Z:0.06 [[-1.95620246e-01 -9.80679723e-01 0.00000000e+00 1.75935544e+02] [ 9.80679723e-01 -1.95620246e-01 0.00000000e+00 1.32534128e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.29239766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.380371743 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:175.93, Y:132.52, Z:0.06 [[-2.02248988e-01 -9.79334134e-01 0.00000000e+00 1.75929232e+02] [ 9.79334134e-01 -2.02248988e-01 0.00000000e+00 1.32521674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31779981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.410371743 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:175.93, Y:132.54, Z:0.06 [[-1.90431134e-01 -9.81700557e-01 0.00000000e+00 1.75930628e+02] [ 9.81700557e-01 -1.90431134e-01 0.00000000e+00 1.32535771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.38804043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.440371743 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:175.92, Y:132.54, Z:0.06 [[-1.98019696e-01 -9.80198041e-01 0.00000000e+00 1.75924054e+02] [ 9.80198041e-01 -1.98019696e-01 0.00000000e+00 1.32539001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.36931143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.470371743 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:175.93, Y:132.53, Z:0.06 [[-1.85451330e-01 -9.82653451e-01 0.00000000e+00 1.75930554e+02] [ 9.82653451e-01 -1.85451330e-01 0.00000000e+00 1.32529900e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.31082928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.500371743 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:175.89, Y:132.75, Z:0.06 [[-1.93793199e-01 -9.81042403e-01 0.00000000e+00 1.75891328e+02] [ 9.81042403e-01 -1.93793199e-01 0.00000000e+00 1.32751527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13594564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.530371743 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:175.93, Y:132.54, Z:0.06 [[-1.72482568e-01 -9.85012570e-01 0.00000000e+00 1.75929890e+02] [ 9.85012570e-01 -1.72482568e-01 0.00000000e+00 1.32537872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.10251971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.560371743 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:175.93, Y:132.53, Z:0.07 [[-1.72876250e-01 -9.84943553e-01 0.00000000e+00 1.75929398e+02] [ 9.84943553e-01 -1.72876250e-01 0.00000000e+00 1.32530257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67379889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.590371743 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:175.93, Y:132.53, Z:0.07 [[-1.72321112e-01 -9.85040829e-01 0.00000000e+00 1.75928871e+02] [ 9.85040829e-01 -1.72321112e-01 0.00000000e+00 1.32530592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77409572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.620371743 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:175.93, Y:132.53, Z:0.07 [[-1.71483537e-01 -9.85186986e-01 0.00000000e+00 1.75928135e+02] [ 9.85186986e-01 -1.71483537e-01 0.00000000e+00 1.32534143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.77899526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.650371743 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:175.92, Y:132.54, Z:0.06 [[-1.80729424e-01 -9.83532854e-01 0.00000000e+00 1.75921138e+02] [ 9.83532854e-01 -1.80729424e-01 0.00000000e+00 1.32537722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.32477775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.680371743 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:175.92, Y:132.54, Z:0.06 [[-1.79343567e-01 -9.83786504e-01 0.00000000e+00 1.75921188e+02] [ 9.83786504e-01 -1.79343567e-01 0.00000000e+00 1.32540432e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.27010662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.710371743 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:175.93, Y:132.52, Z:0.06 [[-1.60215659e-01 -9.87082034e-01 0.00000000e+00 1.75932521e+02] [ 9.87082034e-01 -1.60215659e-01 0.00000000e+00 1.32523131e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12425078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.740371743 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:175.94, Y:132.51, Z:0.06 [[-1.52430264e-01 -9.88314229e-01 0.00000000e+00 1.75938168e+02] [ 9.88314229e-01 -1.52430264e-01 0.00000000e+00 1.32508723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.73238474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.770371743 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:175.94, Y:132.51, Z:0.06 [[-1.50808255e-01 -9.88563033e-01 0.00000000e+00 1.75938434e+02] [ 9.88563033e-01 -1.50808255e-01 0.00000000e+00 1.32514275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.69915026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.800371743 meters Centerline goodness : 0.992145 Centerline is valid? [True, True] Translation: X:175.94, Y:132.52, Z:0.07 [[-1.57317269e-01 -9.87548114e-01 0.00000000e+00 1.75936119e+02] [ 9.87548114e-01 -1.57317269e-01 0.00000000e+00 1.32521947e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.71087883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.830371743 meters Centerline goodness : 0.991683 Centerline is valid? [True, True] Translation: X:175.93, Y:132.54, Z:0.07 [[-1.56995210e-01 -9.87599364e-01 0.00000000e+00 1.75933443e+02] [ 9.87599364e-01 -1.56995210e-01 0.00000000e+00 1.32541064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.67922354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86037174300003 meters Centerline goodness : 0.991957 Centerline is valid? [True, True] Translation: X:175.93, Y:132.54, Z:0.07 [[-1.54631155e-01 -9.87972270e-01 0.00000000e+00 1.75934511e+02] [ 9.87972270e-01 -1.54631155e-01 0.00000000e+00 1.32538736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.80380010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.890371743 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:175.94, Y:132.52, Z:0.06 [[-1.42997969e-01 -9.89722982e-01 0.00000000e+00 1.75942308e+02] [ 9.89722982e-01 -1.42997969e-01 0.00000000e+00 1.32516047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06359534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92037174300003 meters Centerline goodness : 0.992220 Centerline is valid? [True, True] Translation: X:175.94, Y:132.52, Z:0.06 [[-1.44341099e-01 -9.89527992e-01 0.00000000e+00 1.75941774e+02] [ 9.89527992e-01 -1.44341099e-01 0.00000000e+00 1.32524439e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18846447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.950371743 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:175.94, Y:132.53, Z:0.06 [[-1.43973432e-01 -9.89581553e-01 0.00000000e+00 1.75942699e+02] [ 9.89581553e-01 -1.43973432e-01 0.00000000e+00 1.32532088e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.37743982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.980371743 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:175.94, Y:132.54, Z:0.06 [[-1.43372867e-01 -9.89668743e-01 0.00000000e+00 1.75942561e+02] [ 9.89668743e-01 -1.43372867e-01 0.00000000e+00 1.32538177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49191896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.010371743 meters Centerline goodness : 0.987595 Centerline is valid? [True, True] Translation: X:175.94, Y:132.54, Z:0.06 [[-1.44992131e-01 -9.89432808e-01 0.00000000e+00 1.75942109e+02] [ 9.89432808e-01 -1.44992131e-01 0.00000000e+00 1.32540977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.23564208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.040371743 meters Centerline goodness : 0.987414 Centerline is valid? [True, True] Translation: X:175.87, Y:133.00, Z:0.05 [[-1.65433601e-01 -9.86220930e-01 0.00000000e+00 1.75873031e+02] [ 9.86220930e-01 -1.65433601e-01 0.00000000e+00 1.33004609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.41689979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.070371743 meters Centerline goodness : 0.986682 Centerline is valid? [True, True] Translation: X:175.95, Y:132.55, Z:0.06 [[-1.45973892e-01 -9.89288443e-01 0.00000000e+00 1.75946123e+02] [ 9.89288443e-01 -1.45973892e-01 0.00000000e+00 1.32553177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.15830441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.100371743 meters Centerline goodness : 0.985701 Centerline is valid? [True, True] Translation: X:175.89, Y:132.92, Z:0.06 [[-1.58547258e-01 -9.87351390e-01 0.00000000e+00 1.75892987e+02] [ 9.87351390e-01 -1.58547258e-01 0.00000000e+00 1.32923336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91143682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.130371743 meters Centerline goodness : 0.983785 Centerline is valid? [True, True] Translation: X:175.78, Y:133.64, Z:0.06 [[-1.93586966e-01 -9.81083119e-01 0.00000000e+00 1.75777789e+02] [ 9.81083119e-01 -1.93586966e-01 0.00000000e+00 1.33643696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.63459187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.160371743 meters Centerline goodness : 0.984917 Centerline is valid? [True, True] Translation: X:175.95, Y:132.60, Z:0.06 [[-1.52776840e-01 -9.88260713e-01 0.00000000e+00 1.75947600e+02] [ 9.88260713e-01 -1.52776840e-01 0.00000000e+00 1.32595891e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.01102355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.190371743 meters Centerline goodness : 0.986431 Centerline is valid? [True, True] Translation: X:175.95, Y:132.61, Z:0.06 [[-1.59129599e-01 -9.87257702e-01 0.00000000e+00 1.75948465e+02] [ 9.87257702e-01 -1.59129599e-01 0.00000000e+00 1.32612587e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.14242950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.220371743 meters Centerline goodness : 0.984689 Centerline is valid? [True, True] Translation: X:175.95, Y:132.61, Z:0.06 [[-1.61821630e-01 -9.86820024e-01 0.00000000e+00 1.75951713e+02] [ 9.86820024e-01 -1.61821630e-01 0.00000000e+00 1.32611917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 5.91483702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.250371743 meters Centerline goodness : 0.985955 Centerline is valid? [True, True] Translation: X:175.95, Y:132.61, Z:0.06 [[-1.64445855e-01 -9.86386111e-01 0.00000000e+00 1.75953474e+02] [ 9.86386111e-01 -1.64445855e-01 0.00000000e+00 1.32605344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18679270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.280371743 meters Centerline goodness : 0.984997 Centerline is valid? [True, True] Translation: X:175.95, Y:132.61, Z:0.06 [[-1.67504709e-01 -9.85871276e-01 0.00000000e+00 1.75953689e+02] [ 9.85871276e-01 -1.67504709e-01 0.00000000e+00 1.32614698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18040222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.310371743 meters Centerline goodness : 0.985430 Centerline is valid? [True, True] Translation: X:175.95, Y:132.63, Z:0.06 [[-1.75943709e-01 -9.84400229e-01 0.00000000e+00 1.75952860e+02] [ 9.84400229e-01 -1.75943709e-01 0.00000000e+00 1.32631223e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.24638524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.340371743 meters Centerline goodness : 0.984911 Centerline is valid? [True, True] Translation: X:175.95, Y:132.63, Z:0.06 [[-1.78985273e-01 -9.83851753e-01 0.00000000e+00 1.75954402e+02] [ 9.83851753e-01 -1.78985273e-01 0.00000000e+00 1.32630965e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.19510462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.370371743 meters Centerline goodness : 0.985584 Centerline is valid? [True, True] Translation: X:175.96, Y:132.63, Z:0.06 [[-1.84874780e-01 -9.82762085e-01 0.00000000e+00 1.75957299e+02] [ 9.82762085e-01 -1.84874780e-01 0.00000000e+00 1.32626165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.11252235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.400371743 meters Centerline goodness : 0.985906 Centerline is valid? [True, True] Translation: X:175.96, Y:132.63, Z:0.06 [[-1.87299157e-01 -9.82302919e-01 0.00000000e+00 1.75957680e+02] [ 9.82302919e-01 -1.87299157e-01 0.00000000e+00 1.32634890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.16089529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.430371743 meters Centerline goodness : 0.985695 Centerline is valid? [True, True] Translation: X:175.96, Y:132.65, Z:0.06 [[-1.90137178e-01 -9.81757533e-01 0.00000000e+00 1.75956346e+02] [ 9.81757533e-01 -1.90137178e-01 0.00000000e+00 1.32648536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.12030972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.460371743 meters Centerline goodness : 0.985708 Centerline is valid? [True, True] Translation: X:175.96, Y:132.63, Z:0.06 [[-1.92987454e-01 -9.81201224e-01 0.00000000e+00 1.75959645e+02] [ 9.81201224e-01 -1.92987454e-01 0.00000000e+00 1.32631400e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.18939793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.490371743 meters Centerline goodness : 0.985941 Centerline is valid? [True, True] Translation: X:175.96, Y:132.64, Z:0.06 [[-1.95603494e-01 -9.80683065e-01 0.00000000e+00 1.75959099e+02] [ 9.80683065e-01 -1.95603494e-01 0.00000000e+00 1.32637859e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.22411120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.520371743 meters Centerline goodness : 0.984288 Centerline is valid? [True, True] Translation: X:175.96, Y:132.65, Z:0.06 [[-1.98874141e-01 -9.80025038e-01 0.00000000e+00 1.75960396e+02] [ 9.80025038e-01 -1.98874141e-01 0.00000000e+00 1.32646290e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.28930873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.550371743 meters Centerline goodness : 0.985634 Centerline is valid? [True, True] Translation: X:175.96, Y:132.65, Z:0.06 [[-2.00887716e-01 -9.79614274e-01 0.00000000e+00 1.75960071e+02] [ 9.79614274e-01 -2.00887716e-01 0.00000000e+00 1.32649945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.06218479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.580371743 meters Centerline goodness : 0.985203 Centerline is valid? [True, True] Translation: X:175.96, Y:132.65, Z:0.06 [[-2.00238376e-01 -9.79747209e-01 0.00000000e+00 1.75961495e+02] [ 9.79747209e-01 -2.00238376e-01 0.00000000e+00 1.32647474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.08575876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61037174300003 meters Centerline goodness : 0.985564 Centerline is valid? [True, True] Translation: X:175.96, Y:132.65, Z:0.06 [[-2.01966784e-01 -9.79392372e-01 0.00000000e+00 1.75959030e+02] [ 9.79392372e-01 -2.01966784e-01 0.00000000e+00 1.32654281e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.13618199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.640371743 meters Centerline goodness : 0.984923 Centerline is valid? [True, True] Translation: X:175.96, Y:132.68, Z:0.06 [[-2.03410629e-01 -9.79093517e-01 0.00000000e+00 1.75955065e+02] [ 9.79093517e-01 -2.03410629e-01 0.00000000e+00 1.32677082e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.41072364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67037174300003 meters Centerline goodness : 0.984461 Centerline is valid? [True, True] Translation: X:175.96, Y:132.67, Z:0.06 [[-2.01480964e-01 -9.79492430e-01 0.00000000e+00 1.75955295e+02] [ 9.79492430e-01 -2.01480964e-01 0.00000000e+00 1.32672551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.48676039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.700371743 meters Centerline goodness : 0.984923 Centerline is valid? [True, True] Translation: X:175.95, Y:132.68, Z:0.07 [[-2.02169610e-01 -9.79350524e-01 0.00000000e+00 1.75953208e+02] [ 9.79350524e-01 -2.02169610e-01 0.00000000e+00 1.32675359e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52628797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.730371743 meters Centerline goodness : 0.985266 Centerline is valid? [True, True] Translation: X:175.88, Y:133.20, Z:0.07 [[-2.16805694e-01 -9.76214777e-01 0.00000000e+00 1.75875100e+02] [ 9.76214777e-01 -2.16805694e-01 0.00000000e+00 1.33198023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52177500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.760371743 meters Centerline goodness : 0.982415 Centerline is valid? [True, True] Translation: X:175.95, Y:132.68, Z:0.07 [[-1.97670175e-01 -9.80268587e-01 0.00000000e+00 1.75953783e+02] [ 9.80268587e-01 -1.97670175e-01 0.00000000e+00 1.32683495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.94852192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.790371743 meters Centerline goodness : 0.985448 Centerline is valid? [True, True] Translation: X:175.88, Y:133.16, Z:0.06 [[-2.05045192e-01 -9.78752507e-01 0.00000000e+00 1.75883266e+02] [ 9.78752507e-01 -2.05045192e-01 0.00000000e+00 1.33164834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.49659039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.820371743 meters Centerline goodness : 0.985331 Centerline is valid? [True, True] Translation: X:175.90, Y:133.03, Z:0.07 [[-1.96424317e-01 -9.80518989e-01 0.00000000e+00 1.75903178e+02] [ 9.80518989e-01 -1.96424317e-01 0.00000000e+00 1.33025264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.52806234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.850371743 meters Centerline goodness : 0.983274 Centerline is valid? [True, True] Translation: X:175.86, Y:133.25, Z:0.07 [[-2.09260992e-01 -9.77859825e-01 0.00000000e+00 1.75864667e+02] [ 9.77859825e-01 -2.09260992e-01 0.00000000e+00 1.33254113e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54231399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.880371743 meters Centerline goodness : 0.984142 Centerline is valid? [True, True] Translation: X:175.90, Y:133.05, Z:0.07 [[-1.87733379e-01 -9.82220025e-01 0.00000000e+00 1.75895980e+02] [ 9.82220025e-01 -1.87733379e-01 0.00000000e+00 1.33051288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.59571699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.910371743 meters Centerline goodness : 0.979617 Centerline is valid? [True, True] Translation: X:175.79, Y:133.74, Z:0.06 [[-2.13308573e-01 -9.76984878e-01 0.00000000e+00 1.75792389e+02] [ 9.76984878e-01 -2.13308573e-01 0.00000000e+00 1.33739263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.47436455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.940371743 meters Centerline goodness : 0.982242 Centerline is valid? [True, True] Translation: X:175.89, Y:133.02, Z:0.07 [[-1.75092488e-01 -9.84551990e-01 0.00000000e+00 1.75894239e+02] [ 9.84551990e-01 -1.75092488e-01 0.00000000e+00 1.33022174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.62521867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.970371743 meters Centerline goodness : 0.981478 Centerline is valid? [True, True] Translation: X:175.87, Y:133.16, Z:0.07 [[-1.75643361e-01 -9.84453864e-01 0.00000000e+00 1.75874595e+02] [ 9.84453864e-01 -1.75643361e-01 0.00000000e+00 1.33156298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.64220415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.000371743 meters Centerline goodness : 0.980636 Centerline is valid? [True, True] Translation: X:175.78, Y:133.77, Z:0.07 [[-2.04706311e-01 -9.78823440e-01 0.00000000e+00 1.75783310e+02] [ 9.78823440e-01 -2.04706311e-01 0.00000000e+00 1.33765830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.54882173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.030371743 meters Centerline goodness : 0.980119 Centerline is valid? [True, True] Translation: X:175.78, Y:133.80, Z:0.07 [[-1.86959640e-01 -9.82367596e-01 0.00000000e+00 1.75777262e+02] [ 9.82367596e-01 -1.86959640e-01 0.00000000e+00 1.33798161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.76806739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.060371743 meters Centerline goodness : 0.979244 Centerline is valid? [True, True] Translation: X:175.78, Y:133.73, Z:0.07 [[-1.89300179e-01 -9.81919265e-01 0.00000000e+00 1.75782651e+02] [ 9.81919265e-01 -1.89300179e-01 0.00000000e+00 1.33727966e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02461286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.090371743 meters Centerline goodness : 0.979244 Centerline is valid? [True, True] Translation: X:175.78, Y:133.74, Z:0.07 [[-1.85178698e-01 -9.82704864e-01 0.00000000e+00 1.75781673e+02] [ 9.82704864e-01 -1.85178698e-01 0.00000000e+00 1.33736393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02461286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.120371743 meters Centerline goodness : 0.979894 Centerline is valid? [True, True] Translation: X:175.77, Y:133.81, Z:0.07 [[-1.72619432e-01 -9.84988595e-01 0.00000000e+00 1.75773613e+02] [ 9.84988595e-01 -1.72619432e-01 0.00000000e+00 1.33808812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.25910210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.150371743 meters Centerline goodness : 0.978089 Centerline is valid? [True, True] Translation: X:175.77, Y:133.80, Z:0.07 [[-1.67993894e-01 -9.85788036e-01 0.00000000e+00 1.75771654e+02] [ 9.85788036e-01 -1.67993894e-01 0.00000000e+00 1.33804950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12331784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.180371743 meters Centerline goodness : 0.978890 Centerline is valid? [True, True] Translation: X:175.77, Y:133.81, Z:0.07 [[-1.63480818e-01 -9.86546513e-01 0.00000000e+00 1.75769406e+02] [ 9.86546513e-01 -1.63480818e-01 0.00000000e+00 1.33810047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01610716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.210371743 meters Centerline goodness : 0.980356 Centerline is valid? [True, True] Translation: X:175.77, Y:133.81, Z:0.07 [[-1.60022288e-01 -9.87113401e-01 0.00000000e+00 1.75766254e+02] [ 9.87113401e-01 -1.60022288e-01 0.00000000e+00 1.33811871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86636121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.240371743 meters Centerline goodness : 0.980512 Centerline is valid? [True, True] Translation: X:175.77, Y:133.77, Z:0.07 [[-1.51124406e-01 -9.88514752e-01 0.00000000e+00 1.75768586e+02] [ 9.88514752e-01 -1.51124406e-01 0.00000000e+00 1.33767858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.93167901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.270371743 meters Centerline goodness : 0.981530 Centerline is valid? [True, True] Translation: X:175.87, Y:132.78, Z:0.07 [[-9.95435831e-02 -9.95033203e-01 0.00000000e+00 1.75872586e+02] [ 9.95033203e-01 -9.95435831e-02 0.00000000e+00 1.32782756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05419239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.300371743 meters Centerline goodness : 0.981830 Centerline is valid? [True, True] Translation: X:175.82, Y:133.31, Z:0.07 [[-1.21057728e-01 -9.92645469e-01 0.00000000e+00 1.75820719e+02] [ 9.92645469e-01 -1.21057728e-01 0.00000000e+00 1.33310239e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.15738935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.330371743 meters Centerline goodness : 0.981859 Centerline is valid? [True, True] Translation: X:175.76, Y:133.83, Z:0.07 [[-1.47595177e-01 -9.89047857e-01 0.00000000e+00 1.75762152e+02] [ 9.89047857e-01 -1.47595177e-01 0.00000000e+00 1.33832210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.15752200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36037174300003 meters Centerline goodness : 0.983842 Centerline is valid? [True, True] Translation: X:175.81, Y:133.34, Z:0.07 [[-1.26465298e-01 -9.91971032e-01 0.00000000e+00 1.75810789e+02] [ 9.91971032e-01 -1.26465298e-01 0.00000000e+00 1.33335001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.36027615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.390371743 meters Centerline goodness : 0.982823 Centerline is valid? [True, True] Translation: X:175.77, Y:133.72, Z:0.07 [[-1.43211836e-01 -9.89692058e-01 0.00000000e+00 1.75770667e+02] [ 9.89692058e-01 -1.43211836e-01 0.00000000e+00 1.33715915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.26805198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42037174300003 meters Centerline goodness : 0.985763 Centerline is valid? [True, True] Translation: X:175.83, Y:133.21, Z:0.08 [[-1.08778521e-01 -9.94066011e-01 0.00000000e+00 1.75827744e+02] [ 9.94066011e-01 -1.08778521e-01 0.00000000e+00 1.33213052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60849207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.450371743 meters Centerline goodness : 0.981161 Centerline is valid? [True, True] Translation: X:175.77, Y:133.78, Z:0.07 [[-1.39961887e-01 -9.90156892e-01 0.00000000e+00 1.75765706e+02] [ 9.90156892e-01 -1.39961887e-01 0.00000000e+00 1.33783674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23119709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.480371743 meters Centerline goodness : 0.980035 Centerline is valid? [True, True] Translation: X:175.87, Y:132.82, Z:0.07 [[-1.02749494e-01 -9.94707264e-01 0.00000000e+00 1.75866960e+02] [ 9.94707264e-01 -1.02749494e-01 0.00000000e+00 1.32820381e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.63855675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.510371743 meters Centerline goodness : 0.982025 Centerline is valid? [True, True] Translation: X:175.86, Y:132.88, Z:0.07 [[-1.01633337e-01 -9.94821926e-01 0.00000000e+00 1.75860560e+02] [ 9.94821926e-01 -1.01633337e-01 0.00000000e+00 1.32875496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20046914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.540371743 meters Centerline goodness : 0.981543 Centerline is valid? [True, True] Translation: X:175.81, Y:133.35, Z:0.07 [[-1.19882611e-01 -9.92788074e-01 0.00000000e+00 1.75814833e+02] [ 9.92788074e-01 -1.19882611e-01 0.00000000e+00 1.33351669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.15055017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.570371743 meters Centerline goodness : 0.981991 Centerline is valid? [True, True] Translation: X:175.82, Y:133.32, Z:0.07 [[-1.12286815e-01 -9.93675838e-01 0.00000000e+00 1.75819330e+02] [ 9.93675838e-01 -1.12286815e-01 0.00000000e+00 1.33320229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10082742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.600371743 meters Centerline goodness : 0.980914 Centerline is valid? [True, True] Translation: X:175.82, Y:133.34, Z:0.07 [[-1.08334660e-01 -9.94114481e-01 0.00000000e+00 1.75817773e+02] [ 9.94114481e-01 -1.08334660e-01 0.00000000e+00 1.33337486e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.23876236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.630371743 meters Centerline goodness : 0.982807 Centerline is valid? [True, True] Translation: X:175.81, Y:133.33, Z:0.07 [[-1.05362985e-01 -9.94433830e-01 0.00000000e+00 1.75814310e+02] [ 9.94433830e-01 -1.05362985e-01 0.00000000e+00 1.33332337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.09090253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.660371743 meters Centerline goodness : 0.979648 Centerline is valid? [True, True] Translation: X:175.76, Y:133.92, Z:0.07 [[-1.28722393e-01 -9.91680667e-01 0.00000000e+00 1.75756513e+02] [ 9.91680667e-01 -1.28722393e-01 0.00000000e+00 1.33920810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05637700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.690371743 meters Centerline goodness : 0.982536 Centerline is valid? [True, True] Translation: X:175.86, Y:132.85, Z:0.07 [[-8.36952128e-02 -9.96491401e-01 0.00000000e+00 1.75859262e+02] [ 9.96491401e-01 -8.36952128e-02 0.00000000e+00 1.32848997e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.35146197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.720371743 meters Centerline goodness : 0.982944 Centerline is valid? [True, True] Translation: X:175.83, Y:133.21, Z:0.08 [[-8.96048518e-02 -9.95977395e-01 0.00000000e+00 1.75829515e+02] [ 9.95977395e-01 -8.96048518e-02 0.00000000e+00 1.33207943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.67115904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.750371743 meters Centerline goodness : 0.979096 Centerline is valid? [True, True] Translation: X:175.76, Y:133.90, Z:0.08 [[-1.10933114e-01 -9.93827875e-01 0.00000000e+00 1.75764434e+02] [ 9.93827875e-01 -1.10933114e-01 0.00000000e+00 1.33902215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84227880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.780371743 meters Centerline goodness : 0.983055 Centerline is valid? [True, True] Translation: X:175.83, Y:133.23, Z:0.08 [[-7.93664491e-02 -9.96845508e-01 0.00000000e+00 1.75829943e+02] [ 9.96845508e-01 -7.93664491e-02 0.00000000e+00 1.33234516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83657507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.810371743 meters Centerline goodness : 0.982829 Centerline is valid? [True, True] Translation: X:175.83, Y:133.22, Z:0.08 [[-7.63824096e-02 -9.97078596e-01 0.00000000e+00 1.75833075e+02] [ 9.97078596e-01 -7.63824096e-02 0.00000000e+00 1.33219620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74290559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.840371743 meters Centerline goodness : 0.982298 Centerline is valid? [True, True] Translation: X:175.82, Y:133.34, Z:0.08 [[-7.88106280e-02 -9.96889605e-01 0.00000000e+00 1.75822589e+02] [ 9.96889605e-01 -7.88106280e-02 0.00000000e+00 1.33343637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66165536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.870371743 meters Centerline goodness : 0.985349 Centerline is valid? [True, True] Translation: X:175.82, Y:133.36, Z:0.08 [[-8.29944385e-02 -9.96550010e-01 0.00000000e+00 1.75820283e+02] [ 9.96550010e-01 -8.29944385e-02 0.00000000e+00 1.33360252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51942141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.900371743 meters Centerline goodness : 0.983522 Centerline is valid? [True, True] Translation: X:175.83, Y:133.33, Z:0.08 [[-7.41924545e-02 -9.97243942e-01 0.00000000e+00 1.75830039e+02] [ 9.97243942e-01 -7.41924545e-02 0.00000000e+00 1.33329075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72686772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.930371743 meters Centerline goodness : 0.982494 Centerline is valid? [True, True] Translation: X:175.78, Y:133.89, Z:0.08 [[-1.00121147e-01 -9.94975254e-01 0.00000000e+00 1.75781174e+02] [ 9.94975254e-01 -1.00121147e-01 0.00000000e+00 1.33893358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.26793211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.960371743 meters Centerline goodness : 0.983180 Centerline is valid? [True, True] Translation: X:175.78, Y:133.94, Z:0.08 [[-1.01955616e-01 -9.94788949e-01 0.00000000e+00 1.75782355e+02] [ 9.94788949e-01 -1.01955616e-01 0.00000000e+00 1.33943335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99116973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.990371743 meters Centerline goodness : 0.982922 Centerline is valid? [True, True] Translation: X:175.79, Y:133.85, Z:0.08 [[-9.93350356e-02 -9.95054044e-01 0.00000000e+00 1.75791904e+02] [ 9.95054044e-01 -9.93350356e-02 0.00000000e+00 1.33854181e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03190208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.020371743 meters Centerline goodness : 0.984771 Centerline is valid? [True, True] Translation: X:175.84, Y:133.30, Z:0.07 [[-7.57817552e-02 -9.97124428e-01 0.00000000e+00 1.75843333e+02] [ 9.97124428e-01 -7.57817552e-02 0.00000000e+00 1.33301979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.10080237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.050371743 meters Centerline goodness : 0.982393 Centerline is valid? [True, True] Translation: X:175.85, Y:133.30, Z:0.07 [[-7.64352680e-02 -9.97074546e-01 0.00000000e+00 1.75848041e+02] [ 9.97074546e-01 -7.64352680e-02 0.00000000e+00 1.33300102e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.41809882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.080371743 meters Centerline goodness : 0.981857 Centerline is valid? [True, True] Translation: X:175.80, Y:133.96, Z:0.08 [[-1.07019959e-01 -9.94256872e-01 0.00000000e+00 1.75796139e+02] [ 9.94256872e-01 -1.07019959e-01 0.00000000e+00 1.33959902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62057290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11037174300003 meters Centerline goodness : 0.981545 Centerline is valid? [True, True] Translation: X:175.81, Y:133.85, Z:0.08 [[-1.07832434e-01 -9.94169083e-01 0.00000000e+00 1.75808900e+02] [ 9.94169083e-01 -1.07832434e-01 0.00000000e+00 1.33846950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14358713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.140371743 meters Centerline goodness : 0.981164 Centerline is valid? [True, True] Translation: X:175.81, Y:133.94, Z:0.08 [[-1.11253684e-01 -9.93792039e-01 0.00000000e+00 1.75805947e+02] [ 9.93792039e-01 -1.11253684e-01 0.00000000e+00 1.33940530e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.19148366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17037174300003 meters Centerline goodness : 0.980280 Centerline is valid? [True, True] Translation: X:175.81, Y:133.97, Z:0.08 [[-1.09043916e-01 -9.94036933e-01 0.00000000e+00 1.75807142e+02] [ 9.94036933e-01 -1.09043916e-01 0.00000000e+00 1.33966618e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10268138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.200371743 meters Centerline goodness : 0.980244 Centerline is valid? [True, True] Translation: X:175.81, Y:134.02, Z:0.08 [[-1.10647928e-01 -9.93859666e-01 0.00000000e+00 1.75805519e+02] [ 9.93859666e-01 -1.10647928e-01 0.00000000e+00 1.34023219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22613374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.230371743 meters Centerline goodness : 0.980045 Centerline is valid? [True, True] Translation: X:175.82, Y:133.87, Z:0.08 [[-1.10884443e-01 -9.93833306e-01 0.00000000e+00 1.75818073e+02] [ 9.93833306e-01 -1.10884443e-01 0.00000000e+00 1.33874768e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.20205594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.260371743 meters Centerline goodness : 0.980804 Centerline is valid? [True, True] Translation: X:175.82, Y:133.88, Z:0.08 [[-1.11562278e-01 -9.93757444e-01 0.00000000e+00 1.75819646e+02] [ 9.93757444e-01 -1.11562278e-01 0.00000000e+00 1.33879492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78724705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.290371743 meters Centerline goodness : 0.979136 Centerline is valid? [True, True] Translation: X:175.82, Y:133.93, Z:0.08 [[-1.08902368e-01 -9.94052450e-01 0.00000000e+00 1.75822349e+02] [ 9.94052450e-01 -1.08902368e-01 0.00000000e+00 1.33925765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13384869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.320371743 meters Centerline goodness : 0.988555 Centerline is valid? [True, True] Translation: X:175.87, Y:133.02, Z:0.07 [[-9.40514552e-02 -9.95567338e-01 0.00000000e+00 1.75865909e+02] [ 9.95567338e-01 -9.40514552e-02 0.00000000e+00 1.33024251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04218340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.350371743 meters Centerline goodness : 0.980666 Centerline is valid? [True, True] Translation: X:175.82, Y:133.96, Z:0.08 [[-1.06759930e-01 -9.94284827e-01 0.00000000e+00 1.75824403e+02] [ 9.94284827e-01 -1.06759930e-01 0.00000000e+00 1.33964029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.79355400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.380371743 meters Centerline goodness : 0.981092 Centerline is valid? [True, True] Translation: X:175.82, Y:134.02, Z:0.08 [[-1.00807117e-01 -9.94905988e-01 0.00000000e+00 1.75824465e+02] [ 9.94905988e-01 -1.00807117e-01 0.00000000e+00 1.34021207e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88229782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.410371743 meters Centerline goodness : 0.980065 Centerline is valid? [True, True] Translation: X:175.82, Y:134.03, Z:0.08 [[-9.90284950e-02 -9.95084598e-01 0.00000000e+00 1.75824716e+02] [ 9.95084598e-01 -9.90284950e-02 0.00000000e+00 1.34033388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88710363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.440371743 meters Centerline goodness : 0.979747 Centerline is valid? [True, True] Translation: X:175.83, Y:134.07, Z:0.08 [[-9.11335159e-02 -9.95838683e-01 0.00000000e+00 1.75826171e+02] [ 9.95838683e-01 -9.11335159e-02 0.00000000e+00 1.34070148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02133298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.470371743 meters Centerline goodness : 0.988510 Centerline is valid? [True, True] Translation: X:175.86, Y:133.06, Z:0.07 [[-7.45757273e-02 -9.97215353e-01 0.00000000e+00 1.75859928e+02] [ 9.97215353e-01 -7.45757273e-02 0.00000000e+00 1.33055778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.82423867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.500371743 meters Centerline goodness : 0.981633 Centerline is valid? [True, True] Translation: X:175.83, Y:134.07, Z:0.08 [[-8.59607230e-02 -9.96298527e-01 0.00000000e+00 1.75828813e+02] [ 9.96298527e-01 -8.59607230e-02 0.00000000e+00 1.34071196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51762290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.530371743 meters Centerline goodness : 0.983098 Centerline is valid? [True, True] Translation: X:175.83, Y:134.05, Z:0.07 [[-8.23799509e-02 -9.96600995e-01 0.00000000e+00 1.75829943e+02] [ 9.96600995e-01 -8.23799509e-02 0.00000000e+00 1.34048639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.72650814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.560371743 meters Centerline goodness : 0.980469 Centerline is valid? [True, True] Translation: X:175.83, Y:134.08, Z:0.08 [[-7.69392058e-02 -9.97035786e-01 0.00000000e+00 1.75829852e+02] [ 9.97035786e-01 -7.69392058e-02 0.00000000e+00 1.34077499e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80775618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.590371743 meters Centerline goodness : 0.979663 Centerline is valid? [True, True] Translation: X:175.83, Y:134.09, Z:0.08 [[-7.18294490e-02 -9.97416929e-01 0.00000000e+00 1.75830271e+02] [ 9.97416929e-01 -7.18294490e-02 0.00000000e+00 1.34092292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02110602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.620371743 meters Centerline goodness : 0.988003 Centerline is valid? [True, True] Translation: X:175.85, Y:133.10, Z:0.07 [[-5.57963009e-02 -9.98442173e-01 0.00000000e+00 1.75848299e+02] [ 9.98442173e-01 -5.57963009e-02 0.00000000e+00 1.33099229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.90434582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.650371743 meters Centerline goodness : 0.988248 Centerline is valid? [True, True] Translation: X:175.85, Y:133.10, Z:0.07 [[-5.51538730e-02 -9.98477867e-01 0.00000000e+00 1.75848114e+02] [ 9.98477867e-01 -5.51538730e-02 0.00000000e+00 1.33102994e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.86391673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.680371743 meters Centerline goodness : 0.981910 Centerline is valid? [True, True] Translation: X:175.83, Y:134.10, Z:0.08 [[-6.75107177e-02 -9.97718549e-01 0.00000000e+00 1.75831569e+02] [ 9.97718549e-01 -6.75107177e-02 0.00000000e+00 1.34103767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80142210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.710371743 meters Centerline goodness : 0.983462 Centerline is valid? [True, True] Translation: X:175.83, Y:134.09, Z:0.07 [[-6.22296932e-02 -9.98061854e-01 0.00000000e+00 1.75831375e+02] [ 9.98061854e-01 -6.22296932e-02 0.00000000e+00 1.34094565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97071623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.740371743 meters Centerline goodness : 0.981359 Centerline is valid? [True, True] Translation: X:175.83, Y:134.11, Z:0.08 [[-5.80998207e-02 -9.98310779e-01 0.00000000e+00 1.75831051e+02] [ 9.98310779e-01 -5.80998207e-02 0.00000000e+00 1.34107978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62573754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.770371743 meters Centerline goodness : 0.981260 Centerline is valid? [True, True] Translation: X:175.85, Y:133.13, Z:0.08 [[ 3.12765118e-03 -9.99995109e-01 0.00000000e+00 1.75849612e+02] [ 9.99995109e-01 3.12765118e-03 0.00000000e+00 1.33131406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.50924816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.800371743 meters Centerline goodness : 0.980622 Centerline is valid? [True, True] Translation: X:175.85, Y:133.16, Z:0.07 [[ 2.54377083e-03 -9.99996765e-01 0.00000000e+00 1.75850649e+02] [ 9.99996765e-01 2.54377083e-03 0.00000000e+00 1.33160133e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49321621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.830371743 meters Centerline goodness : 0.988629 Centerline is valid? [True, True] Translation: X:175.83, Y:133.17, Z:0.07 [[-1.79239009e-02 -9.99839354e-01 0.00000000e+00 1.75829116e+02] [ 9.99839354e-01 -1.79239009e-02 0.00000000e+00 1.33172599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.05260392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86037174300003 meters Centerline goodness : 0.980703 Centerline is valid? [True, True] Translation: X:175.85, Y:133.21, Z:0.07 [[ 4.61399972e-04 -9.99999894e-01 0.00000000e+00 1.75851111e+02] [ 9.99999894e-01 4.61399972e-04 0.00000000e+00 1.33213865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.47325811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.890371743 meters Centerline goodness : 0.980866 Centerline is valid? [True, True] Translation: X:175.84, Y:133.23, Z:0.08 [[-1.25478637e-02 -9.99921272e-01 0.00000000e+00 1.75839276e+02] [ 9.99921272e-01 -1.25478637e-02 0.00000000e+00 1.33225887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.65864727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92037174300003 meters Centerline goodness : 0.989070 Centerline is valid? [True, True] Translation: X:175.84, Y:133.26, Z:0.07 [[-1.70747111e-02 -9.99854216e-01 0.00000000e+00 1.75841041e+02] [ 9.99854216e-01 -1.70747111e-02 0.00000000e+00 1.33262386e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24433925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.950371743 meters Centerline goodness : 0.989070 Centerline is valid? [True, True] Translation: X:175.84, Y:133.29, Z:0.07 [[-1.73630832e-02 -9.99849250e-01 0.00000000e+00 1.75841876e+02] [ 9.99849250e-01 -1.73630832e-02 0.00000000e+00 1.33290757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24433925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.980371743 meters Centerline goodness : 0.979609 Centerline is valid? [True, True] Translation: X:175.86, Y:133.33, Z:0.07 [[-2.77825782e-03 -9.99996141e-01 0.00000000e+00 1.75861739e+02] [ 9.99996141e-01 -2.77825782e-03 0.00000000e+00 1.33327718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.48009198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.010371743 meters Centerline goodness : 0.983768 Centerline is valid? [True, True] Translation: X:175.86, Y:133.35, Z:0.07 [[-1.06096229e-02 -9.99943716e-01 0.00000000e+00 1.75855360e+02] [ 9.99943716e-01 -1.06096229e-02 0.00000000e+00 1.33348618e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39194587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.040371743 meters Centerline goodness : 0.981944 Centerline is valid? [True, True] Translation: X:175.85, Y:133.37, Z:0.07 [[-2.25753299e-02 -9.99745145e-01 0.00000000e+00 1.75845864e+02] [ 9.99745145e-01 -2.25753299e-02 0.00000000e+00 1.33366629e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.20883375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.070371743 meters Centerline goodness : 0.981620 Centerline is valid? [True, True] Translation: X:175.85, Y:133.39, Z:0.07 [[-2.40311049e-02 -9.99711211e-01 0.00000000e+00 1.75846463e+02] [ 9.99711211e-01 -2.40311049e-02 0.00000000e+00 1.33394415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.24409289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.100371743 meters Centerline goodness : 0.980453 Centerline is valid? [True, True] Translation: X:175.85, Y:133.42, Z:0.08 [[-2.69516687e-02 -9.99636738e-01 0.00000000e+00 1.75846437e+02] [ 9.99636738e-01 -2.69516687e-02 0.00000000e+00 1.33419382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51277182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.130371743 meters Centerline goodness : 0.983724 Centerline is valid? [True, True] Translation: X:175.85, Y:133.45, Z:0.07 [[-2.25117337e-02 -9.99746579e-01 0.00000000e+00 1.75854119e+02] [ 9.99746579e-01 -2.25117337e-02 0.00000000e+00 1.33454377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.29364053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.160371743 meters Centerline goodness : 0.983200 Centerline is valid? [True, True] Translation: X:175.85, Y:133.48, Z:0.07 [[-2.25401206e-02 -9.99745939e-01 0.00000000e+00 1.75854843e+02] [ 9.99745939e-01 -2.25401206e-02 0.00000000e+00 1.33482405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.38052423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.190371743 meters Centerline goodness : 0.982090 Centerline is valid? [True, True] Translation: X:175.85, Y:133.51, Z:0.08 [[-2.15115500e-02 -9.99768600e-01 0.00000000e+00 1.75853200e+02] [ 9.99768600e-01 -2.15115500e-02 0.00000000e+00 1.33508713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62642875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.220371743 meters Centerline goodness : 0.982694 Centerline is valid? [True, True] Translation: X:175.85, Y:133.54, Z:0.08 [[-2.07131011e-02 -9.99785461e-01 0.00000000e+00 1.75852876e+02] [ 9.99785461e-01 -2.07131011e-02 0.00000000e+00 1.33538179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64420696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.250371743 meters Centerline goodness : 0.983069 Centerline is valid? [True, True] Translation: X:175.85, Y:133.57, Z:0.08 [[-1.52756689e-02 -9.99883320e-01 0.00000000e+00 1.75852552e+02] [ 9.99883320e-01 -1.52756689e-02 0.00000000e+00 1.33565518e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89312655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.280371743 meters Centerline goodness : 0.984417 Centerline is valid? [True, True] Translation: X:175.85, Y:133.59, Z:0.08 [[-1.34616462e-02 -9.99909388e-01 0.00000000e+00 1.75851041e+02] [ 9.99909388e-01 -1.34616462e-02 0.00000000e+00 1.33593142e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92149525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.310371743 meters Centerline goodness : 0.983392 Centerline is valid? [True, True] Translation: X:175.85, Y:133.62, Z:0.08 [[-1.12570788e-02 -9.99936637e-01 0.00000000e+00 1.75848696e+02] [ 9.99936637e-01 -1.12570788e-02 0.00000000e+00 1.33618891e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.87064141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.340371743 meters Centerline goodness : 0.980492 Centerline is valid? [True, True] Translation: X:175.84, Y:133.64, Z:0.08 [[-9.84131116e-03 -9.99951573e-01 0.00000000e+00 1.75839570e+02] [ 9.99951573e-01 -9.84131116e-03 0.00000000e+00 1.33640748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04950166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.370371743 meters Centerline goodness : 0.984389 Centerline is valid? [True, True] Translation: X:175.84, Y:133.68, Z:0.08 [[-2.16146659e-03 -9.99997664e-01 0.00000000e+00 1.75844941e+02] [ 9.99997664e-01 -2.16146659e-03 0.00000000e+00 1.33675820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72982209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.400371743 meters Centerline goodness : 0.984391 Centerline is valid? [True, True] Translation: X:175.84, Y:133.70, Z:0.08 [[ 1.28458585e-03 -9.99999175e-01 0.00000000e+00 1.75844579e+02] [ 9.99999175e-01 1.28458585e-03 0.00000000e+00 1.33703628e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76493886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.430371743 meters Centerline goodness : 0.981183 Centerline is valid? [True, True] Translation: X:175.84, Y:133.72, Z:0.08 [[ 3.78362213e-03 -9.99992842e-01 0.00000000e+00 1.75836837e+02] [ 9.99992842e-01 3.78362213e-03 0.00000000e+00 1.33721675e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89590865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.460371743 meters Centerline goodness : 0.982513 Centerline is valid? [True, True] Translation: X:175.84, Y:133.75, Z:0.08 [[ 7.40707678e-03 -9.99972567e-01 0.00000000e+00 1.75836649e+02] [ 9.99972567e-01 7.40707678e-03 0.00000000e+00 1.33749047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.69480547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.490371743 meters Centerline goodness : 0.982484 Centerline is valid? [True, True] Translation: X:175.84, Y:133.78, Z:0.08 [[ 1.11354707e-02 -9.99937999e-01 0.00000000e+00 1.75836824e+02] [ 9.99937999e-01 1.11354707e-02 0.00000000e+00 1.33777068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75659323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.520371743 meters Centerline goodness : 0.987048 Centerline is valid? [True, True] Translation: X:175.84, Y:133.81, Z:0.08 [[ 2.11947716e-02 -9.99775366e-01 0.00000000e+00 1.75839789e+02] [ 9.99775366e-01 2.11947716e-02 0.00000000e+00 1.33812137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.82803879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.550371743 meters Centerline goodness : 0.982623 Centerline is valid? [True, True] Translation: X:175.86, Y:133.85, Z:0.07 [[ 3.81338927e-02 -9.99272639e-01 0.00000000e+00 1.75860299e+02] [ 9.99272639e-01 3.81338927e-02 0.00000000e+00 1.33854655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.15624814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.580371743 meters Centerline goodness : 0.985348 Centerline is valid? [True, True] Translation: X:175.86, Y:133.88, Z:0.07 [[ 3.64893231e-02 -9.99334043e-01 0.00000000e+00 1.75855248e+02] [ 9.99334043e-01 3.64893231e-02 0.00000000e+00 1.33877933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.25831798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61037174300003 meters Centerline goodness : 0.982537 Centerline is valid? [True, True] Translation: X:175.85, Y:133.89, Z:0.08 [[ 3.59257970e-02 -9.99354460e-01 0.00000000e+00 1.75848450e+02] [ 9.99354460e-01 3.59257970e-02 0.00000000e+00 1.33894154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62373761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.640371743 meters Centerline goodness : 0.983299 Centerline is valid? [True, True] Translation: X:175.86, Y:133.93, Z:0.08 [[ 4.37456607e-02 -9.99042700e-01 0.00000000e+00 1.75858886e+02] [ 9.99042700e-01 4.37456607e-02 0.00000000e+00 1.33931007e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.50538779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67037174300003 meters Centerline goodness : 0.983769 Centerline is valid? [True, True] Translation: X:175.86, Y:133.96, Z:0.08 [[ 4.44808948e-02 -9.99010235e-01 0.00000000e+00 1.75860865e+02] [ 9.99010235e-01 4.44808948e-02 0.00000000e+00 1.33959122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60765978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.700371743 meters Centerline goodness : 0.984058 Centerline is valid? [True, True] Translation: X:175.86, Y:133.99, Z:0.08 [[ 4.29187518e-02 -9.99078566e-01 0.00000000e+00 1.75861977e+02] [ 9.99078566e-01 4.29187518e-02 0.00000000e+00 1.33985621e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62300372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.730371743 meters Centerline goodness : 0.983999 Centerline is valid? [True, True] Translation: X:175.87, Y:134.01, Z:0.08 [[ 4.08797659e-02 -9.99164073e-01 0.00000000e+00 1.75867190e+02] [ 9.99164073e-01 4.08797659e-02 0.00000000e+00 1.34012669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75720929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.760371743 meters Centerline goodness : 0.983453 Centerline is valid? [True, True] Translation: X:175.87, Y:134.04, Z:0.08 [[ 4.02380157e-02 -9.99190123e-01 0.00000000e+00 1.75872196e+02] [ 9.99190123e-01 4.02380157e-02 0.00000000e+00 1.34040777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.66187723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.790371743 meters Centerline goodness : 0.983298 Centerline is valid? [True, True] Translation: X:175.88, Y:134.07, Z:0.08 [[ 3.71499740e-02 -9.99309701e-01 0.00000000e+00 1.75879583e+02] [ 9.99309701e-01 3.71499740e-02 0.00000000e+00 1.34067877e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71240236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.820371743 meters Centerline goodness : 0.984871 Centerline is valid? [True, True] Translation: X:175.88, Y:134.10, Z:0.08 [[ 3.50617336e-02 -9.99385148e-01 0.00000000e+00 1.75883970e+02] [ 9.99385148e-01 3.50617336e-02 0.00000000e+00 1.34096791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64322401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.850371743 meters Centerline goodness : 0.984759 Centerline is valid? [True, True] Translation: X:175.89, Y:134.12, Z:0.07 [[ 3.28662736e-02 -9.99459758e-01 0.00000000e+00 1.75888233e+02] [ 9.99459758e-01 3.28662736e-02 0.00000000e+00 1.34124939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.39851778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.880371743 meters Centerline goodness : 0.983327 Centerline is valid? [True, True] Translation: X:175.89, Y:134.15, Z:0.08 [[ 2.70234186e-02 -9.99634801e-01 0.00000000e+00 1.75893062e+02] [ 9.99634801e-01 2.70234186e-02 0.00000000e+00 1.34150225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.59810858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.910371743 meters Centerline goodness : 0.983105 Centerline is valid? [True, True] Translation: X:175.90, Y:134.18, Z:0.07 [[ 2.43086428e-02 -9.99704501e-01 0.00000000e+00 1.75897142e+02] [ 9.99704501e-01 2.43086428e-02 0.00000000e+00 1.34178187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.25042325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.940371743 meters Centerline goodness : 0.981771 Centerline is valid? [True, True] Translation: X:175.91, Y:134.21, Z:0.08 [[ 2.31123999e-02 -9.99732873e-01 0.00000000e+00 1.75909050e+02] [ 9.99732873e-01 2.31123999e-02 0.00000000e+00 1.34207862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.57200579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.970371743 meters Centerline goodness : 0.982802 Centerline is valid? [True, True] Translation: X:175.91, Y:134.23, Z:0.07 [[ 2.02468653e-02 -9.99795011e-01 0.00000000e+00 1.75912287e+02] [ 9.99795011e-01 2.02468653e-02 0.00000000e+00 1.34234485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.43983255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.000371743 meters Centerline goodness : 0.982991 Centerline is valid? [True, True] Translation: X:175.92, Y:134.26, Z:0.08 [[ 1.77274733e-02 -9.99842856e-01 0.00000000e+00 1.75915934e+02] [ 9.99842856e-01 1.77274733e-02 0.00000000e+00 1.34260353e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.52109331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.030371743 meters Centerline goodness : 0.980574 Centerline is valid? [True, True] Translation: X:175.92, Y:134.28, Z:0.08 [[ 1.15532828e-02 -9.99933259e-01 0.00000000e+00 1.75915408e+02] [ 9.99933259e-01 1.15532828e-02 0.00000000e+00 1.34277327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99940917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.060371743 meters Centerline goodness : 0.981408 Centerline is valid? [True, True] Translation: X:175.93, Y:134.31, Z:0.08 [[ 1.16343121e-02 -9.99932319e-01 0.00000000e+00 1.75927941e+02] [ 9.99932319e-01 1.16343121e-02 0.00000000e+00 1.34313079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.65318607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.090371743 meters Centerline goodness : 0.980745 Centerline is valid? [True, True] Translation: X:175.92, Y:134.33, Z:0.08 [[ 4.70522044e-03 -9.99988930e-01 0.00000000e+00 1.75923865e+02] [ 9.99988930e-01 4.70522044e-03 0.00000000e+00 1.34328590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.87343638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.120371743 meters Centerline goodness : 0.980059 Centerline is valid? [True, True] Translation: X:175.93, Y:134.36, Z:0.08 [[ 4.12535145e-03 -9.99991491e-01 0.00000000e+00 1.75929160e+02] [ 9.99991491e-01 4.12535145e-03 0.00000000e+00 1.34357502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99704470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.150371743 meters Centerline goodness : 0.981262 Centerline is valid? [True, True] Translation: X:175.94, Y:134.39, Z:0.08 [[ 8.05032224e-03 -9.99967596e-01 0.00000000e+00 1.75940951e+02] [ 9.99967596e-01 8.05032224e-03 0.00000000e+00 1.34393659e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80685384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.180371743 meters Centerline goodness : 0.979845 Centerline is valid? [True, True] Translation: X:175.94, Y:134.41, Z:0.08 [[ 3.51478955e-03 -9.99993823e-01 0.00000000e+00 1.75941721e+02] [ 9.99993823e-01 3.51478955e-03 0.00000000e+00 1.34408955e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14515281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.210371743 meters Centerline goodness : 0.979463 Centerline is valid? [True, True] Translation: X:175.94, Y:134.44, Z:0.08 [[ 1.77416894e-03 -9.99998426e-01 0.00000000e+00 1.75943787e+02] [ 9.99998426e-01 1.77416894e-03 0.00000000e+00 1.34436150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97405475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.240371743 meters Centerline goodness : 0.981581 Centerline is valid? [True, True] Translation: X:175.96, Y:134.47, Z:0.08 [[ 6.03259903e-03 -9.99981804e-01 0.00000000e+00 1.75956106e+02] [ 9.99981804e-01 6.03259903e-03 0.00000000e+00 1.34469766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76451701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.270371743 meters Centerline goodness : 0.982381 Centerline is valid? [True, True] Translation: X:175.95, Y:134.49, Z:0.08 [[ 1.45165089e-03 -9.99998946e-01 0.00000000e+00 1.75952590e+02] [ 9.99998946e-01 1.45165089e-03 0.00000000e+00 1.34488637e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.90117313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.300371743 meters Centerline goodness : 0.981121 Centerline is valid? [True, True] Translation: X:175.96, Y:134.52, Z:0.08 [[ 5.18408636e-03 -9.99986563e-01 0.00000000e+00 1.75961923e+02] [ 9.99986563e-01 5.18408636e-03 0.00000000e+00 1.34523263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77337668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.330371743 meters Centerline goodness : 0.981405 Centerline is valid? [True, True] Translation: X:175.97, Y:134.55, Z:0.08 [[ 3.60961640e-03 -9.99993485e-01 0.00000000e+00 1.75965786e+02] [ 9.99993485e-01 3.60961640e-03 0.00000000e+00 1.34550050e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72439385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36037174300003 meters Centerline goodness : 0.981117 Centerline is valid? [True, True] Translation: X:175.97, Y:134.58, Z:0.08 [[ 3.96671697e-03 -9.99992133e-01 0.00000000e+00 1.75969916e+02] [ 9.99992133e-01 3.96671697e-03 0.00000000e+00 1.34578105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.73918083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.390371743 meters Centerline goodness : 0.980922 Centerline is valid? [True, True] Translation: X:175.98, Y:134.60, Z:0.08 [[ 3.35920542e-03 -9.99994358e-01 0.00000000e+00 1.75975245e+02] [ 9.99994358e-01 3.35920542e-03 0.00000000e+00 1.34604654e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.71683425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42037174300003 meters Centerline goodness : 0.979872 Centerline is valid? [True, True] Translation: X:175.98, Y:134.63, Z:0.08 [[ 1.58814030e-03 -9.99998739e-01 0.00000000e+00 1.75977225e+02] [ 9.99998739e-01 1.58814030e-03 0.00000000e+00 1.34632208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72807640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.450371743 meters Centerline goodness : 0.981681 Centerline is valid? [True, True] Translation: X:175.98, Y:134.66, Z:0.08 [[-8.12730587e-04 -9.99999670e-01 0.00000000e+00 1.75979073e+02] [ 9.99999670e-01 -8.12730587e-04 0.00000000e+00 1.34660906e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.87403338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.480371743 meters Centerline goodness : 0.982182 Centerline is valid? [True, True] Translation: X:175.98, Y:134.69, Z:0.08 [[-1.96895245e-03 -9.99998062e-01 0.00000000e+00 1.75981145e+02] [ 9.99998062e-01 -1.96895245e-03 0.00000000e+00 1.34687591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.82825964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.510371743 meters Centerline goodness : 0.981648 Centerline is valid? [True, True] Translation: X:175.98, Y:134.70, Z:0.08 [[-5.43149159e-03 -9.99985249e-01 0.00000000e+00 1.75979716e+02] [ 9.99985249e-01 -5.43149159e-03 0.00000000e+00 1.34701633e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.16427485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.540371743 meters Centerline goodness : 0.981043 Centerline is valid? [True, True] Translation: X:175.99, Y:134.74, Z:0.08 [[-1.13943366e-03 -9.99999351e-01 0.00000000e+00 1.75989632e+02] [ 9.99999351e-01 -1.13943366e-03 0.00000000e+00 1.34736303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91905661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.570371743 meters Centerline goodness : 0.980436 Centerline is valid? [True, True] Translation: X:176.00, Y:134.76, Z:0.08 [[-2.34214667e-03 -9.99997257e-01 0.00000000e+00 1.75995668e+02] [ 9.99997257e-01 -2.34214667e-03 0.00000000e+00 1.34764925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15934931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.600371743 meters Centerline goodness : 0.980606 Centerline is valid? [True, True] Translation: X:175.99, Y:134.78, Z:0.08 [[-7.73938086e-03 -9.99970051e-01 0.00000000e+00 1.75990158e+02] [ 9.99970051e-01 -7.73938086e-03 0.00000000e+00 1.34781764e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.26152041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.630371743 meters Centerline goodness : 0.979553 Centerline is valid? [True, True] Translation: X:176.00, Y:134.82, Z:0.08 [[-5.53628586e-03 -9.99984675e-01 0.00000000e+00 1.75998775e+02] [ 9.99984675e-01 -5.53628586e-03 0.00000000e+00 1.34817112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.16806181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.660371743 meters Centerline goodness : 0.981270 Centerline is valid? [True, True] Translation: X:175.99, Y:134.83, Z:0.08 [[-9.99887543e-03 -9.99950010e-01 0.00000000e+00 1.75994959e+02] [ 9.99950010e-01 -9.99887543e-03 0.00000000e+00 1.34834267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.15105644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.690371743 meters Centerline goodness : 0.981632 Centerline is valid? [True, True] Translation: X:176.00, Y:134.86, Z:0.08 [[-1.23819843e-02 -9.99923340e-01 0.00000000e+00 1.75996338e+02] [ 9.99923340e-01 -1.23819843e-02 0.00000000e+00 1.34863477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.96154095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.720371743 meters Centerline goodness : 0.981438 Centerline is valid? [True, True] Translation: X:176.00, Y:134.89, Z:0.08 [[-9.58322353e-03 -9.99954080e-01 0.00000000e+00 1.75999097e+02] [ 9.99954080e-01 -9.58322353e-03 0.00000000e+00 1.34887902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84600899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.750371743 meters Centerline goodness : 0.982255 Centerline is valid? [True, True] Translation: X:176.00, Y:134.91, Z:0.08 [[-1.09346865e-02 -9.99940215e-01 0.00000000e+00 1.75999398e+02] [ 9.99940215e-01 -1.09346865e-02 0.00000000e+00 1.34913340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.68201959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.780371743 meters Centerline goodness : 0.982348 Centerline is valid? [True, True] Translation: X:176.00, Y:134.94, Z:0.08 [[-1.01951374e-02 -9.99948028e-01 0.00000000e+00 1.76001525e+02] [ 9.99948028e-01 -1.01951374e-02 0.00000000e+00 1.34941540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64154370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.810371743 meters Centerline goodness : 0.981494 Centerline is valid? [True, True] Translation: X:176.00, Y:134.97, Z:0.08 [[-9.07661033e-03 -9.99958807e-01 0.00000000e+00 1.76003441e+02] [ 9.99958807e-01 -9.07661033e-03 0.00000000e+00 1.34968698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74026192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.840371743 meters Centerline goodness : 0.981586 Centerline is valid? [True, True] Translation: X:176.00, Y:135.00, Z:0.08 [[-9.51143665e-03 -9.99954765e-01 0.00000000e+00 1.76004296e+02] [ 9.99954765e-01 -9.51143665e-03 0.00000000e+00 1.34996941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78392900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.870371743 meters Centerline goodness : 0.981831 Centerline is valid? [True, True] Translation: X:176.00, Y:135.02, Z:0.08 [[-1.18196752e-02 -9.99930145e-01 0.00000000e+00 1.76003411e+02] [ 9.99930145e-01 -1.18196752e-02 0.00000000e+00 1.35024469e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.61807712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.900371743 meters Centerline goodness : 0.981831 Centerline is valid? [True, True] Translation: X:176.01, Y:135.05, Z:0.08 [[-1.14692691e-02 -9.99934226e-01 0.00000000e+00 1.76005015e+02] [ 9.99934226e-01 -1.14692691e-02 0.00000000e+00 1.35051335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.61807712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.930371743 meters Centerline goodness : 0.981790 Centerline is valid? [True, True] Translation: X:176.01, Y:135.08, Z:0.08 [[-9.55701840e-03 -9.99954331e-01 0.00000000e+00 1.76005867e+02] [ 9.99954331e-01 -9.55701840e-03 0.00000000e+00 1.35076404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74506182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.960371743 meters Centerline goodness : 0.982483 Centerline is valid? [True, True] Translation: X:176.00, Y:135.10, Z:0.08 [[-1.08465366e-02 -9.99941175e-01 0.00000000e+00 1.76003909e+02] [ 9.99941175e-01 -1.08465366e-02 0.00000000e+00 1.35104895e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.69975797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.990371743 meters Centerline goodness : 0.982307 Centerline is valid? [True, True] Translation: X:176.00, Y:135.13, Z:0.08 [[-8.91115679e-03 -9.99960295e-01 0.00000000e+00 1.76004609e+02] [ 9.99960295e-01 -8.91115679e-03 0.00000000e+00 1.35131163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60516259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.020371743 meters Centerline goodness : 0.982570 Centerline is valid? [True, True] Translation: X:176.00, Y:135.16, Z:0.08 [[-6.74618179e-03 -9.99977244e-01 0.00000000e+00 1.76004048e+02] [ 9.99977244e-01 -6.74618179e-03 0.00000000e+00 1.35156338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78700545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.050371743 meters Centerline goodness : 0.987516 Centerline is valid? [True, True] Translation: X:176.00, Y:135.20, Z:0.07 [[-8.48436007e-03 -9.99964007e-01 0.00000000e+00 1.76002290e+02] [ 9.99964007e-01 -8.48436007e-03 0.00000000e+00 1.35195334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.97462560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.080371743 meters Centerline goodness : 0.982092 Centerline is valid? [True, True] Translation: X:176.00, Y:135.21, Z:0.08 [[-2.24543952e-03 -9.99997479e-01 0.00000000e+00 1.76001175e+02] [ 9.99997479e-01 -2.24543952e-03 0.00000000e+00 1.35209111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.79456289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11037174300003 meters Centerline goodness : 0.987316 Centerline is valid? [True, True] Translation: X:176.00, Y:135.25, Z:0.07 [[-4.99158189e-03 -9.99987542e-01 0.00000000e+00 1.76000879e+02] [ 9.99987542e-01 -4.99158189e-03 0.00000000e+00 1.35247970e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.96690154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.140371743 meters Centerline goodness : 0.981624 Centerline is valid? [True, True] Translation: X:176.00, Y:135.26, Z:0.08 [[ 4.51153947e-03 -9.99989823e-01 0.00000000e+00 1.75998021e+02] [ 9.99989823e-01 4.51153947e-03 0.00000000e+00 1.35260884e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.85109971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17037174300003 meters Centerline goodness : 0.982098 Centerline is valid? [True, True] Translation: X:176.00, Y:135.29, Z:0.07 [[ 4.30049048e-03 -9.99990753e-01 0.00000000e+00 1.75996787e+02] [ 9.99990753e-01 4.30049048e-03 0.00000000e+00 1.35291305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 6.85539783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.200371743 meters Centerline goodness : 0.986084 Centerline is valid? [True, True] Translation: X:175.99, Y:135.33, Z:0.07 [[ 6.33809637e-03 -9.99979914e-01 0.00000000e+00 1.75994504e+02] [ 9.99979914e-01 6.33809637e-03 0.00000000e+00 1.35327895e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02400996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.230371743 meters Centerline goodness : 0.985670 Centerline is valid? [True, True] Translation: X:175.99, Y:135.36, Z:0.07 [[ 7.73413645e-03 -9.99970091e-01 0.00000000e+00 1.75993386e+02] [ 9.99970091e-01 7.73413645e-03 0.00000000e+00 1.35355394e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02568194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.260371743 meters Centerline goodness : 0.986058 Centerline is valid? [True, True] Translation: X:175.99, Y:135.38, Z:0.07 [[ 9.56260667e-03 -9.99954277e-01 0.00000000e+00 1.75992399e+02] [ 9.99954277e-01 9.56260667e-03 0.00000000e+00 1.35383457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03108972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.290371743 meters Centerline goodness : 0.985786 Centerline is valid? [True, True] Translation: X:175.99, Y:135.41, Z:0.07 [[ 1.27856626e-02 -9.99918260e-01 0.00000000e+00 1.75988926e+02] [ 9.99918260e-01 1.27856626e-02 0.00000000e+00 1.35411806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01293817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.320371743 meters Centerline goodness : 0.979636 Centerline is valid? [True, True] Translation: X:175.99, Y:135.43, Z:0.08 [[ 1.74988779e-02 -9.99846883e-01 0.00000000e+00 1.75988310e+02] [ 9.99846883e-01 1.74988779e-02 0.00000000e+00 1.35428068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89795072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.350371743 meters Centerline goodness : 0.985439 Centerline is valid? [True, True] Translation: X:175.99, Y:135.47, Z:0.07 [[ 1.42787816e-02 -9.99898053e-01 0.00000000e+00 1.75987589e+02] [ 9.99898053e-01 1.42787816e-02 0.00000000e+00 1.35466260e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03582653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.380371743 meters Centerline goodness : 0.978828 Centerline is valid? [True, True] Translation: X:175.99, Y:135.48, Z:0.08 [[ 1.82483720e-02 -9.99833485e-01 0.00000000e+00 1.75985843e+02] [ 9.99833485e-01 1.82483720e-02 0.00000000e+00 1.35482517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29612193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.410371743 meters Centerline goodness : 0.985140 Centerline is valid? [True, True] Translation: X:175.99, Y:135.52, Z:0.07 [[ 1.37198522e-02 -9.99905878e-01 0.00000000e+00 1.75985680e+02] [ 9.99905878e-01 1.37198522e-02 0.00000000e+00 1.35519766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.12487924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.440371743 meters Centerline goodness : 0.979273 Centerline is valid? [True, True] Translation: X:175.99, Y:135.54, Z:0.08 [[ 1.27932876e-02 -9.99918163e-01 0.00000000e+00 1.75985012e+02] [ 9.99918163e-01 1.27932876e-02 0.00000000e+00 1.35535589e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.90041675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.470371743 meters Centerline goodness : 0.985518 Centerline is valid? [True, True] Translation: X:175.99, Y:135.57, Z:0.07 [[ 6.37635426e-03 -9.99979671e-01 0.00000000e+00 1.75985729e+02] [ 9.99979671e-01 6.37635426e-03 0.00000000e+00 1.35571948e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.04217123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.500371743 meters Centerline goodness : 0.979477 Centerline is valid? [True, True] Translation: X:175.99, Y:135.59, Z:0.08 [[ 5.84728030e-03 -9.99982905e-01 0.00000000e+00 1.75986471e+02] [ 9.99982905e-01 5.84728030e-03 0.00000000e+00 1.35589077e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.94868832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.530371743 meters Centerline goodness : 0.985528 Centerline is valid? [True, True] Translation: X:175.99, Y:135.62, Z:0.07 [[ 5.77247424e-04 -9.99999833e-01 0.00000000e+00 1.75988164e+02] [ 9.99999833e-01 5.77247424e-04 0.00000000e+00 1.35624701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.02985425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.560371743 meters Centerline goodness : 0.977653 Centerline is valid? [True, True] Translation: X:176.01, Y:135.66, Z:0.08 [[ 9.06065096e-03 -9.99958951e-01 0.00000000e+00 1.76005881e+02] [ 9.99958951e-01 9.06065096e-03 0.00000000e+00 1.35659449e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75210879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.590371743 meters Centerline goodness : 0.986038 Centerline is valid? [True, True] Translation: X:175.99, Y:135.68, Z:0.07 [[-8.43521388e-03 -9.99964423e-01 0.00000000e+00 1.75990084e+02] [ 9.99964423e-01 -8.43521388e-03 0.00000000e+00 1.35678311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.03658380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.620371743 meters Centerline goodness : 0.986223 Centerline is valid? [True, True] Translation: X:175.99, Y:135.71, Z:0.07 [[-1.47584292e-02 -9.99891088e-01 0.00000000e+00 1.75990589e+02] [ 9.99891088e-01 -1.47584292e-02 0.00000000e+00 1.35706298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.01745704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.650371743 meters Centerline goodness : 0.979738 Centerline is valid? [True, True] Translation: X:175.99, Y:135.72, Z:0.07 [[-2.03384024e-02 -9.99793153e-01 0.00000000e+00 1.75987432e+02] [ 9.99793153e-01 -2.03384024e-02 0.00000000e+00 1.35724718e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.18817641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.680371743 meters Centerline goodness : 0.979077 Centerline is valid? [True, True] Translation: X:175.99, Y:135.75, Z:0.08 [[-2.52030837e-02 -9.99682352e-01 0.00000000e+00 1.75987911e+02] [ 9.99682352e-01 -2.52030837e-02 0.00000000e+00 1.35754857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91279393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.710371743 meters Centerline goodness : 0.978817 Centerline is valid? [True, True] Translation: X:175.99, Y:135.78, Z:0.08 [[-2.94925076e-02 -9.99565001e-01 0.00000000e+00 1.75988646e+02] [ 9.99565001e-01 -2.94925076e-02 0.00000000e+00 1.35779878e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77386285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.740371743 meters Centerline goodness : 0.979906 Centerline is valid? [True, True] Translation: X:175.99, Y:135.81, Z:0.07 [[-2.92410294e-02 -9.99572390e-01 0.00000000e+00 1.75990174e+02] [ 9.99572390e-01 -2.92410294e-02 0.00000000e+00 1.35806292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.42138395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.770371743 meters Centerline goodness : 0.978837 Centerline is valid? [True, True] Translation: X:175.99, Y:135.83, Z:0.08 [[-3.07308484e-02 -9.99527696e-01 0.00000000e+00 1.75989714e+02] [ 9.99527696e-01 -3.07308484e-02 0.00000000e+00 1.35833320e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.85129324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.800371743 meters Centerline goodness : 0.981139 Centerline is valid? [True, True] Translation: X:175.99, Y:135.87, Z:0.08 [[-2.86287177e-02 -9.99590114e-01 0.00000000e+00 1.75993678e+02] [ 9.99590114e-01 -2.86287177e-02 0.00000000e+00 1.35867930e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.53960104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.830371743 meters Centerline goodness : 0.981697 Centerline is valid? [True, True] Translation: X:175.99, Y:135.90, Z:0.07 [[-2.93636823e-02 -9.99568794e-01 0.00000000e+00 1.75993670e+02] [ 9.99568794e-01 -2.93636823e-02 0.00000000e+00 1.35896618e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.45342481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86037174300003 meters Centerline goodness : 0.981725 Centerline is valid? [True, True] Translation: X:175.99, Y:135.93, Z:0.07 [[-3.21594590e-02 -9.99482751e-01 0.00000000e+00 1.75990307e+02] [ 9.99482751e-01 -3.21594590e-02 0.00000000e+00 1.35925071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.25878117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.890371743 meters Centerline goodness : 0.981424 Centerline is valid? [True, True] Translation: X:175.99, Y:135.95, Z:0.07 [[-3.17195138e-02 -9.99496810e-01 0.00000000e+00 1.75990756e+02] [ 9.99496810e-01 -3.17195138e-02 0.00000000e+00 1.35952005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.30193269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92037174300003 meters Centerline goodness : 0.980123 Centerline is valid? [True, True] Translation: X:175.99, Y:135.98, Z:0.07 [[-3.00324037e-02 -9.99548926e-01 0.00000000e+00 1.75994015e+02] [ 9.99548926e-01 -3.00324037e-02 0.00000000e+00 1.35983826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.47490058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.950371743 meters Centerline goodness : 0.980471 Centerline is valid? [True, True] Translation: X:175.99, Y:136.01, Z:0.08 [[-3.27774280e-02 -9.99462676e-01 0.00000000e+00 1.75989538e+02] [ 9.99462676e-01 -3.27774280e-02 0.00000000e+00 1.36008488e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.70861494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.980371743 meters Centerline goodness : 0.980151 Centerline is valid? [True, True] Translation: X:175.99, Y:136.04, Z:0.08 [[-3.29211628e-02 -9.99457952e-01 0.00000000e+00 1.75990602e+02] [ 9.99457952e-01 -3.29211628e-02 0.00000000e+00 1.36038425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84383637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.010371743 meters Centerline goodness : 0.979346 Centerline is valid? [True, True] Translation: X:175.99, Y:136.06, Z:0.08 [[-3.65411396e-02 -9.99332150e-01 0.00000000e+00 1.75985922e+02] [ 9.99332150e-01 -3.65411396e-02 0.00000000e+00 1.36062494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.82102529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.040371743 meters Centerline goodness : 0.982046 Centerline is valid? [True, True] Translation: X:175.99, Y:136.09, Z:0.08 [[-3.85733196e-02 -9.99255773e-01 0.00000000e+00 1.75985154e+02] [ 9.99255773e-01 -3.85733196e-02 0.00000000e+00 1.36093993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89178680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.070371743 meters Centerline goodness : 0.981703 Centerline is valid? [True, True] Translation: X:175.98, Y:136.12, Z:0.08 [[-4.26415801e-02 -9.99090434e-01 0.00000000e+00 1.75982265e+02] [ 9.99090434e-01 -4.26415801e-02 0.00000000e+00 1.36122203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.86779373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.100371743 meters Centerline goodness : 0.980453 Centerline is valid? [True, True] Translation: X:175.98, Y:136.15, Z:0.08 [[-4.25148196e-02 -9.99095836e-01 0.00000000e+00 1.75984044e+02] [ 9.99095836e-01 -4.25148196e-02 0.00000000e+00 1.36149927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22852718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.130371743 meters Centerline goodness : 0.980022 Centerline is valid? [True, True] Translation: X:175.97, Y:136.17, Z:0.08 [[-5.21622267e-02 -9.98638624e-01 0.00000000e+00 1.75971378e+02] [ 9.98638624e-01 -5.21622267e-02 0.00000000e+00 1.36165085e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.90911033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.160371743 meters Centerline goodness : 0.983236 Centerline is valid? [True, True] Translation: X:175.98, Y:136.20, Z:0.08 [[-4.77667619e-02 -9.98858517e-01 0.00000000e+00 1.75978375e+02] [ 9.98858517e-01 -4.77667619e-02 0.00000000e+00 1.36202105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.87477886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.190371743 meters Centerline goodness : 0.979945 Centerline is valid? [True, True] Translation: X:175.97, Y:136.22, Z:0.08 [[-5.54757441e-02 -9.98460035e-01 0.00000000e+00 1.75967277e+02] [ 9.98460035e-01 -5.54757441e-02 0.00000000e+00 1.36218539e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.87294322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.220371743 meters Centerline goodness : 0.983198 Centerline is valid? [True, True] Translation: X:175.97, Y:136.26, Z:0.08 [[-5.01347287e-02 -9.98742464e-01 0.00000000e+00 1.75971418e+02] [ 9.98742464e-01 -5.01347287e-02 0.00000000e+00 1.36256256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.80841612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.250371743 meters Centerline goodness : 0.983190 Centerline is valid? [True, True] Translation: X:175.97, Y:136.28, Z:0.08 [[-4.94286134e-02 -9.98777659e-01 0.00000000e+00 1.75971178e+02] [ 9.98777659e-01 -4.94286134e-02 0.00000000e+00 1.36282883e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91551858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.280371743 meters Centerline goodness : 0.982524 Centerline is valid? [True, True] Translation: X:175.97, Y:136.31, Z:0.08 [[-5.13483956e-02 -9.98680801e-01 0.00000000e+00 1.75966849e+02] [ 9.98680801e-01 -5.13483956e-02 0.00000000e+00 1.36305698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91360440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.310371743 meters Centerline goodness : 0.983779 Centerline is valid? [True, True] Translation: X:175.97, Y:136.34, Z:0.08 [[-4.91592131e-02 -9.98790955e-01 0.00000000e+00 1.75965755e+02] [ 9.98790955e-01 -4.91592131e-02 0.00000000e+00 1.36337346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.00465017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.340371743 meters Centerline goodness : 0.983644 Centerline is valid? [True, True] Translation: X:175.97, Y:136.36, Z:0.08 [[-4.76118476e-02 -9.98865913e-01 0.00000000e+00 1.75965055e+02] [ 9.98865913e-01 -4.76118476e-02 0.00000000e+00 1.36363984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.14339240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.370371743 meters Centerline goodness : 0.983634 Centerline is valid? [True, True] Translation: X:175.96, Y:136.39, Z:0.08 [[-4.39500790e-02 -9.99033728e-01 0.00000000e+00 1.75961520e+02] [ 9.99033728e-01 -4.39500790e-02 0.00000000e+00 1.36392071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03395807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.400371743 meters Centerline goodness : 0.985216 Centerline is valid? [True, True] Translation: X:175.96, Y:136.42, Z:0.08 [[-4.56910308e-02 -9.98955619e-01 0.00000000e+00 1.75956235e+02] [ 9.98955619e-01 -4.56910308e-02 0.00000000e+00 1.36418268e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.93176275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.430371743 meters Centerline goodness : 0.984291 Centerline is valid? [True, True] Translation: X:175.96, Y:136.45, Z:0.08 [[-4.33941132e-02 -9.99058032e-01 0.00000000e+00 1.75956495e+02] [ 9.99058032e-01 -4.33941132e-02 0.00000000e+00 1.36445846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.93322591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.460371743 meters Centerline goodness : 0.985518 Centerline is valid? [True, True] Translation: X:175.95, Y:136.47, Z:0.08 [[-4.11250994e-02 -9.99154005e-01 0.00000000e+00 1.75952830e+02] [ 9.99154005e-01 -4.11250994e-02 0.00000000e+00 1.36472750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.73083276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.490371743 meters Centerline goodness : 0.980890 Centerline is valid? [True, True] Translation: X:175.96, Y:136.50, Z:0.08 [[-3.48061037e-02 -9.99394084e-01 0.00000000e+00 1.75958732e+02] [ 9.99394084e-01 -3.48061037e-02 0.00000000e+00 1.36500550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88092650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.520371743 meters Centerline goodness : 0.985034 Centerline is valid? [True, True] Translation: X:175.95, Y:136.53, Z:0.08 [[-3.84027389e-02 -9.99262343e-01 0.00000000e+00 1.75946236e+02] [ 9.99262343e-01 -3.84027389e-02 0.00000000e+00 1.36525977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.74397998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.550371743 meters Centerline goodness : 0.985065 Centerline is valid? [True, True] Translation: X:175.94, Y:136.55, Z:0.08 [[-4.02260888e-02 -9.99190603e-01 0.00000000e+00 1.75940803e+02] [ 9.99190603e-01 -4.02260888e-02 0.00000000e+00 1.36549910e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.60803393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.580371743 meters Centerline goodness : 0.982611 Centerline is valid? [True, True] Translation: X:175.95, Y:136.59, Z:0.08 [[-3.32479952e-02 -9.99447133e-01 0.00000000e+00 1.75948900e+02] [ 9.99447133e-01 -3.32479952e-02 0.00000000e+00 1.36585133e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75839824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61037174300003 meters Centerline goodness : 0.981859 Centerline is valid? [True, True] Translation: X:175.95, Y:136.61, Z:0.08 [[-3.29990727e-02 -9.99455382e-01 0.00000000e+00 1.75946886e+02] [ 9.99455382e-01 -3.29990727e-02 0.00000000e+00 1.36612570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72783343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.640371743 meters Centerline goodness : 0.983809 Centerline is valid? [True, True] Translation: X:175.94, Y:136.64, Z:0.08 [[-3.17848013e-02 -9.99494736e-01 0.00000000e+00 1.75941929e+02] [ 9.99494736e-01 -3.17848013e-02 0.00000000e+00 1.36640538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.82644229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67037174300003 meters Centerline goodness : 0.981639 Centerline is valid? [True, True] Translation: X:175.94, Y:136.67, Z:0.08 [[-2.95382995e-02 -9.99563649e-01 0.00000000e+00 1.75941003e+02] [ 9.99563649e-01 -2.95382995e-02 0.00000000e+00 1.36666051e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.99199834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.700371743 meters Centerline goodness : 0.982828 Centerline is valid? [True, True] Translation: X:175.94, Y:136.70, Z:0.08 [[-2.81706850e-02 -9.99603128e-01 0.00000000e+00 1.75936749e+02] [ 9.99603128e-01 -2.81706850e-02 0.00000000e+00 1.36696573e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.94707949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.730371743 meters Centerline goodness : 0.984271 Centerline is valid? [True, True] Translation: X:175.93, Y:136.72, Z:0.08 [[-2.56352921e-02 -9.99671362e-01 0.00000000e+00 1.75934215e+02] [ 9.99671362e-01 -2.56352921e-02 0.00000000e+00 1.36724325e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.00900372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.760371743 meters Centerline goodness : 0.984271 Centerline is valid? [True, True] Translation: X:175.93, Y:136.75, Z:0.08 [[-2.61597811e-02 -9.99657774e-01 0.00000000e+00 1.75934943e+02] [ 9.99657774e-01 -2.61597811e-02 0.00000000e+00 1.36752588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.00900372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.790371743 meters Centerline goodness : 0.983997 Centerline is valid? [True, True] Translation: X:175.93, Y:136.78, Z:0.08 [[-2.57863981e-02 -9.99667476e-01 0.00000000e+00 1.75933270e+02] [ 9.99667476e-01 -2.57863981e-02 0.00000000e+00 1.36780992e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.17607158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.820371743 meters Centerline goodness : 0.986240 Centerline is valid? [True, True] Translation: X:175.93, Y:136.81, Z:0.08 [[-2.68370521e-02 -9.99639821e-01 0.00000000e+00 1.75931990e+02] [ 9.99639821e-01 -2.68370521e-02 0.00000000e+00 1.36811349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03151618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.850371743 meters Centerline goodness : 0.985563 Centerline is valid? [True, True] Translation: X:175.93, Y:136.84, Z:0.08 [[-2.73295377e-02 -9.99626478e-01 0.00000000e+00 1.75930029e+02] [ 9.99626478e-01 -2.73295377e-02 0.00000000e+00 1.36838457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97489168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.880371743 meters Centerline goodness : 0.985712 Centerline is valid? [True, True] Translation: X:175.93, Y:136.87, Z:0.08 [[-2.66869234e-02 -9.99643841e-01 0.00000000e+00 1.75929393e+02] [ 9.99643841e-01 -2.66869234e-02 0.00000000e+00 1.36866668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.01337155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.910371743 meters Centerline goodness : 0.986272 Centerline is valid? [True, True] Translation: X:175.93, Y:136.90, Z:0.08 [[-2.82457518e-02 -9.99601009e-01 0.00000000e+00 1.75925930e+02] [ 9.99601009e-01 -2.82457518e-02 0.00000000e+00 1.36897211e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89014732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.940371743 meters Centerline goodness : 0.986154 Centerline is valid? [True, True] Translation: X:175.92, Y:136.92, Z:0.08 [[-2.80795142e-02 -9.99605693e-01 0.00000000e+00 1.75924431e+02] [ 9.99605693e-01 -2.80795142e-02 0.00000000e+00 1.36924451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.01121277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.970371743 meters Centerline goodness : 0.985334 Centerline is valid? [True, True] Translation: X:175.92, Y:136.95, Z:0.08 [[-2.74092864e-02 -9.99624295e-01 0.00000000e+00 1.75923128e+02] [ 9.99624295e-01 -2.74092864e-02 0.00000000e+00 1.36950076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.04947115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.000371743 meters Centerline goodness : 0.985456 Centerline is valid? [True, True] Translation: X:175.92, Y:136.98, Z:0.08 [[-2.47359497e-02 -9.99694020e-01 0.00000000e+00 1.75921137e+02] [ 9.99694020e-01 -2.47359497e-02 0.00000000e+00 1.36976222e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.18373677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.030371743 meters Centerline goodness : 0.988500 Centerline is valid? [True, True] Translation: X:175.92, Y:137.01, Z:0.08 [[-2.61295170e-02 -9.99658566e-01 0.00000000e+00 1.75920434e+02] [ 9.99658566e-01 -2.61295170e-02 0.00000000e+00 1.37010503e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02524105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.060371743 meters Centerline goodness : 0.989060 Centerline is valid? [True, True] Translation: X:175.92, Y:137.04, Z:0.08 [[-2.79606072e-02 -9.99609026e-01 0.00000000e+00 1.75917387e+02] [ 9.99609026e-01 -2.79606072e-02 0.00000000e+00 1.37037253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.88775411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.090371743 meters Centerline goodness : 0.987800 Centerline is valid? [True, True] Translation: X:175.92, Y:137.07, Z:0.08 [[-2.83927799e-02 -9.99596844e-01 0.00000000e+00 1.75916855e+02] [ 9.99596844e-01 -2.83927799e-02 0.00000000e+00 1.37066249e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.87513998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.120371743 meters Centerline goodness : 0.987236 Centerline is valid? [True, True] Translation: X:175.91, Y:137.09, Z:0.08 [[-2.99334797e-02 -9.99551893e-01 0.00000000e+00 1.75913071e+02] [ 9.99551893e-01 -2.99334797e-02 0.00000000e+00 1.37091946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23573322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.150371743 meters Centerline goodness : 0.988296 Centerline is valid? [True, True] Translation: X:175.91, Y:137.12, Z:0.08 [[-3.03712388e-02 -9.99538688e-01 0.00000000e+00 1.75913259e+02] [ 9.99538688e-01 -3.03712388e-02 0.00000000e+00 1.37121078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.16439917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.180371743 meters Centerline goodness : 0.987368 Centerline is valid? [True, True] Translation: X:175.91, Y:137.15, Z:0.08 [[-3.23194934e-02 -9.99477589e-01 0.00000000e+00 1.75911500e+02] [ 9.99477589e-01 -3.23194934e-02 0.00000000e+00 1.37148073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.35022581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.210371743 meters Centerline goodness : 0.985824 Centerline is valid? [True, True] Translation: X:175.91, Y:137.18, Z:0.08 [[-3.21447479e-02 -9.99483224e-01 0.00000000e+00 1.75911440e+02] [ 9.99483224e-01 -3.21447479e-02 0.00000000e+00 1.37176244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.36548945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.240371743 meters Centerline goodness : 0.987996 Centerline is valid? [True, True] Translation: X:175.91, Y:137.21, Z:0.08 [[-3.41655548e-02 -9.99416187e-01 0.00000000e+00 1.75911364e+02] [ 9.99416187e-01 -3.41655548e-02 0.00000000e+00 1.37209625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.06001360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.270371743 meters Centerline goodness : 0.987968 Centerline is valid? [True, True] Translation: X:175.91, Y:137.24, Z:0.08 [[-3.52949392e-02 -9.99376940e-01 0.00000000e+00 1.75910674e+02] [ 9.99376940e-01 -3.52949392e-02 0.00000000e+00 1.37235364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09915632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.300371743 meters Centerline goodness : 0.988492 Centerline is valid? [True, True] Translation: X:175.91, Y:137.27, Z:0.08 [[-3.76200353e-02 -9.99292116e-01 0.00000000e+00 1.75911167e+02] [ 9.99292116e-01 -3.76200353e-02 0.00000000e+00 1.37265957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89361059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.330371743 meters Centerline goodness : 0.987325 Centerline is valid? [True, True] Translation: X:175.91, Y:137.29, Z:0.08 [[-3.81434062e-02 -9.99272275e-01 0.00000000e+00 1.75911430e+02] [ 9.99272275e-01 -3.81434062e-02 0.00000000e+00 1.37290141e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97345605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36037174300003 meters Centerline goodness : 0.988182 Centerline is valid? [True, True] Translation: X:175.91, Y:137.32, Z:0.08 [[-3.92108137e-02 -9.99230960e-01 0.00000000e+00 1.75911700e+02] [ 9.99230960e-01 -3.92108137e-02 0.00000000e+00 1.37321464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.68633313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.390371743 meters Centerline goodness : 0.988103 Centerline is valid? [True, True] Translation: X:175.91, Y:137.35, Z:0.08 [[-4.01037279e-02 -9.99195522e-01 0.00000000e+00 1.75912929e+02] [ 9.99195522e-01 -4.01037279e-02 0.00000000e+00 1.37352135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76303319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42037174300003 meters Centerline goodness : 0.985892 Centerline is valid? [True, True] Translation: X:175.91, Y:137.38, Z:0.08 [[-3.94989121e-02 -9.99219613e-01 0.00000000e+00 1.75913142e+02] [ 9.99219613e-01 -3.94989121e-02 0.00000000e+00 1.37377521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.92193337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.450371743 meters Centerline goodness : 0.987044 Centerline is valid? [True, True] Translation: X:175.91, Y:137.41, Z:0.08 [[-4.09514045e-02 -9.99161139e-01 0.00000000e+00 1.75912055e+02] [ 9.99161139e-01 -4.09514045e-02 0.00000000e+00 1.37407004e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.96339505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.480371743 meters Centerline goodness : 0.986915 Centerline is valid? [True, True] Translation: X:175.91, Y:137.43, Z:0.08 [[-4.06281056e-02 -9.99174338e-01 0.00000000e+00 1.75912700e+02] [ 9.99174338e-01 -4.06281056e-02 0.00000000e+00 1.37434761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.98834398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.510371743 meters Centerline goodness : 0.986178 Centerline is valid? [True, True] Translation: X:175.91, Y:137.46, Z:0.08 [[-4.07206166e-02 -9.99170572e-01 0.00000000e+00 1.75913080e+02] [ 9.99170572e-01 -4.07206166e-02 0.00000000e+00 1.37459913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.00072330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.540371743 meters Centerline goodness : 0.983685 Centerline is valid? [True, True] Translation: X:175.91, Y:137.49, Z:0.08 [[-3.92154978e-02 -9.99230777e-01 0.00000000e+00 1.75914079e+02] [ 9.99230777e-01 -3.92154978e-02 0.00000000e+00 1.37486636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77033922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.570371743 meters Centerline goodness : 0.987007 Centerline is valid? [True, True] Translation: X:175.91, Y:137.52, Z:0.08 [[-4.08113011e-02 -9.99166872e-01 0.00000000e+00 1.75912584e+02] [ 9.99166872e-01 -4.08113011e-02 0.00000000e+00 1.37518556e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.89609024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.600371743 meters Centerline goodness : 0.984451 Centerline is valid? [True, True] Translation: X:175.91, Y:137.54, Z:0.08 [[-3.89870173e-02 -9.99239717e-01 0.00000000e+00 1.75912623e+02] [ 9.99239717e-01 -3.89870173e-02 0.00000000e+00 1.37542552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.09984584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.630371743 meters Centerline goodness : 0.984482 Centerline is valid? [True, True] Translation: X:175.91, Y:137.57, Z:0.08 [[-3.78120780e-02 -9.99284868e-01 0.00000000e+00 1.75912577e+02] [ 9.99284868e-01 -3.78120780e-02 0.00000000e+00 1.37571965e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.07642523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.660371743 meters Centerline goodness : 0.984704 Centerline is valid? [True, True] Translation: X:175.91, Y:137.60, Z:0.08 [[-3.67394773e-02 -9.99324878e-01 0.00000000e+00 1.75912265e+02] [ 9.99324878e-01 -3.67394773e-02 0.00000000e+00 1.37598077e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.13279307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.690371743 meters Centerline goodness : 0.983847 Centerline is valid? [True, True] Translation: X:175.91, Y:137.63, Z:0.08 [[-3.54589149e-02 -9.99371135e-01 0.00000000e+00 1.75912865e+02] [ 9.99371135e-01 -3.54589149e-02 0.00000000e+00 1.37627387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.01503994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.720371743 meters Centerline goodness : 0.983732 Centerline is valid? [True, True] Translation: X:175.91, Y:137.65, Z:0.08 [[-3.54929095e-02 -9.99369928e-01 0.00000000e+00 1.75911430e+02] [ 9.99369928e-01 -3.54929095e-02 0.00000000e+00 1.37653540e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.03827286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.750371743 meters Centerline goodness : 0.984393 Centerline is valid? [True, True] Translation: X:175.91, Y:137.68, Z:0.08 [[-3.55410231e-02 -9.99368218e-01 0.00000000e+00 1.75911103e+02] [ 9.99368218e-01 -3.55410231e-02 0.00000000e+00 1.37681270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91523457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.780371743 meters Centerline goodness : 0.984949 Centerline is valid? [True, True] Translation: X:175.91, Y:137.71, Z:0.08 [[-3.50421764e-02 -9.99385834e-01 0.00000000e+00 1.75911681e+02] [ 9.99385834e-01 -3.50421764e-02 0.00000000e+00 1.37710384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.76749620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.810371743 meters Centerline goodness : 0.985232 Centerline is valid? [True, True] Translation: X:175.91, Y:137.74, Z:0.08 [[-3.57448110e-02 -9.99360950e-01 0.00000000e+00 1.75911943e+02] [ 9.99360950e-01 -3.57448110e-02 0.00000000e+00 1.37739413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.91189854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.840371743 meters Centerline goodness : 0.984913 Centerline is valid? [True, True] Translation: X:175.91, Y:137.76, Z:0.08 [[-3.60482763e-02 -9.99350050e-01 0.00000000e+00 1.75910060e+02] [ 9.99350050e-01 -3.60482763e-02 0.00000000e+00 1.37764417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.78003507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.870371743 meters Centerline goodness : 0.985075 Centerline is valid? [True, True] Translation: X:175.91, Y:137.79, Z:0.08 [[-3.73109121e-02 -9.99303706e-01 0.00000000e+00 1.75909708e+02] [ 9.99303706e-01 -3.73109121e-02 0.00000000e+00 1.37792589e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.77679603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.900371743 meters Centerline goodness : 0.985987 Centerline is valid? [True, True] Translation: X:175.91, Y:137.82, Z:0.07 [[-3.98783467e-02 -9.99204542e-01 0.00000000e+00 1.75909978e+02] [ 9.99204542e-01 -3.98783467e-02 0.00000000e+00 1.37819577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.40680682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.930371743 meters Centerline goodness : 0.986488 Centerline is valid? [True, True] Translation: X:175.91, Y:137.85, Z:0.08 [[-3.85165071e-02 -9.99257964e-01 0.00000000e+00 1.75910607e+02] [ 9.99257964e-01 -3.85165071e-02 0.00000000e+00 1.37848472e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.84067818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.960371743 meters Centerline goodness : 0.982825 Centerline is valid? [True, True] Translation: X:175.91, Y:137.87, Z:0.07 [[-3.81169033e-02 -9.99273287e-01 0.00000000e+00 1.75911414e+02] [ 9.99273287e-01 -3.81169033e-02 0.00000000e+00 1.37867421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.49882082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.990371743 meters Centerline goodness : 0.986705 Centerline is valid? [True, True] Translation: X:175.91, Y:137.90, Z:0.08 [[-4.11696612e-02 -9.99152170e-01 0.00000000e+00 1.75910387e+02] [ 9.99152170e-01 -4.11696612e-02 0.00000000e+00 1.37903417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.83319332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.020371743 meters Centerline goodness : 0.987969 Centerline is valid? [True, True] Translation: X:175.91, Y:137.93, Z:0.08 [[-4.34975272e-02 -9.99053535e-01 0.00000000e+00 1.75910117e+02] [ 9.99053535e-01 -4.34975272e-02 0.00000000e+00 1.37934128e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.75982522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.050371743 meters Centerline goodness : 0.987176 Centerline is valid? [True, True] Translation: X:175.91, Y:137.96, Z:0.08 [[-4.30982912e-02 -9.99070837e-01 0.00000000e+00 1.75911031e+02] [ 9.99070837e-01 -4.30982912e-02 0.00000000e+00 1.37963307e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.69708839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.080371743 meters Centerline goodness : 0.987080 Centerline is valid? [True, True] Translation: X:175.91, Y:137.99, Z:0.08 [[-4.39661001e-02 -9.99033023e-01 0.00000000e+00 1.75910730e+02] [ 9.99033023e-01 -4.39661001e-02 0.00000000e+00 1.37991171e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.69310336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11037174300003 meters Centerline goodness : 0.986463 Centerline is valid? [True, True] Translation: X:175.91, Y:138.02, Z:0.08 [[-4.42175701e-02 -9.99021925e-01 0.00000000e+00 1.75911578e+02] [ 9.99021925e-01 -4.42175701e-02 0.00000000e+00 1.38019267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.62763386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.140371743 meters Centerline goodness : 0.987129 Centerline is valid? [True, True] Translation: X:175.91, Y:138.05, Z:0.08 [[-4.44699955e-02 -9.99010720e-01 0.00000000e+00 1.75912081e+02] [ 9.99010720e-01 -4.44699955e-02 0.00000000e+00 1.38049063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.51068879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17037174300003 meters Centerline goodness : 0.985860 Centerline is valid? [True, True] Translation: X:175.91, Y:138.07, Z:0.08 [[-4.23885149e-02 -9.99101203e-01 0.00000000e+00 1.75912020e+02] [ 9.99101203e-01 -4.23885149e-02 0.00000000e+00 1.38074143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.56373643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.200371743 meters Centerline goodness : 0.986038 Centerline is valid? [True, True] Translation: X:175.91, Y:138.10, Z:0.08 [[-4.22284339e-02 -9.99107982e-01 0.00000000e+00 1.75911435e+02] [ 9.99107982e-01 -4.22284339e-02 0.00000000e+00 1.38101863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.64391099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.230371743 meters Centerline goodness : 0.985723 Centerline is valid? [True, True] Translation: X:175.91, Y:138.13, Z:0.08 [[-4.15782976e-02 -9.99135249e-01 0.00000000e+00 1.75910667e+02] [ 9.99135249e-01 -4.15782976e-02 0.00000000e+00 1.38129545e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.72343032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.260371743 meters Centerline goodness : 0.986152 Centerline is valid? [True, True] Translation: X:175.91, Y:138.16, Z:0.08 [[-3.79808846e-02 -9.99278466e-01 0.00000000e+00 1.75910181e+02] [ 9.99278466e-01 -3.79808846e-02 0.00000000e+00 1.38157160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.79873549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.290371743 meters Centerline goodness : 0.986246 Centerline is valid? [True, True] Translation: X:175.91, Y:138.18, Z:0.08 [[-3.63345140e-02 -9.99339684e-01 0.00000000e+00 1.75909968e+02] [ 9.99339684e-01 -3.63345140e-02 0.00000000e+00 1.38184644e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.79935449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.320371743 meters Centerline goodness : 0.985728 Centerline is valid? [True, True] Translation: X:175.91, Y:138.21, Z:0.08 [[-3.45161397e-02 -9.99404141e-01 0.00000000e+00 1.75908540e+02] [ 9.99404141e-01 -3.45161397e-02 0.00000000e+00 1.38210836e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.95152560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.350371743 meters Centerline goodness : 0.985387 Centerline is valid? [True, True] Translation: X:175.91, Y:138.24, Z:0.08 [[-3.29574144e-02 -9.99456757e-01 0.00000000e+00 1.75909259e+02] [ 9.99456757e-01 -3.29574144e-02 0.00000000e+00 1.38238840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97790633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.380371743 meters Centerline goodness : 0.984789 Centerline is valid? [True, True] Translation: X:175.90, Y:138.26, Z:0.08 [[-3.65317813e-02 -9.99332492e-01 0.00000000e+00 1.75903336e+02] [ 9.99332492e-01 -3.65317813e-02 0.00000000e+00 1.38259304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.11393545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.410371743 meters Centerline goodness : 0.985567 Centerline is valid? [True, True] Translation: X:175.91, Y:138.29, Z:0.08 [[-3.07561616e-02 -9.99526917e-01 0.00000000e+00 1.75908506e+02] [ 9.99526917e-01 -3.07561616e-02 0.00000000e+00 1.38294264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.06097937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.440371743 meters Centerline goodness : 0.978689 Centerline is valid? [True, True] Translation: X:175.90, Y:138.31, Z:0.08 [[-3.41976930e-02 -9.99415088e-01 0.00000000e+00 1.75902692e+02] [ 9.99415088e-01 -3.41976930e-02 0.00000000e+00 1.38308542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.05336956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.470371743 meters Centerline goodness : 0.984307 Centerline is valid? [True, True] Translation: X:175.91, Y:138.34, Z:0.08 [[-2.94227559e-02 -9.99567057e-01 0.00000000e+00 1.75909655e+02] [ 9.99567057e-01 -2.94227559e-02 0.00000000e+00 1.38343861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 7.97646979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.500371743 meters Centerline goodness : 0.983674 Centerline is valid? [True, True] Translation: X:175.91, Y:138.37, Z:0.08 [[-2.82901672e-02 -9.99599753e-01 0.00000000e+00 1.75911870e+02] [ 9.99599753e-01 -2.82901672e-02 0.00000000e+00 1.38372483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.10980505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.530371743 meters Centerline goodness : 0.985032 Centerline is valid? [True, True] Translation: X:175.91, Y:138.40, Z:0.08 [[-3.09753393e-02 -9.99520149e-01 0.00000000e+00 1.75909661e+02] [ 9.99520149e-01 -3.09753393e-02 0.00000000e+00 1.38399559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.02503591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.560371743 meters Centerline goodness : 0.983891 Centerline is valid? [True, True] Translation: X:175.91, Y:138.42, Z:0.08 [[-3.54222021e-02 -9.99372437e-01 0.00000000e+00 1.75907733e+02] [ 9.99372437e-01 -3.54222021e-02 0.00000000e+00 1.38423364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.11604873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.590371743 meters Centerline goodness : 0.984874 Centerline is valid? [True, True] Translation: X:175.91, Y:138.46, Z:0.08 [[-3.60445643e-02 -9.99350184e-01 0.00000000e+00 1.75911330e+02] [ 9.99350184e-01 -3.60445643e-02 0.00000000e+00 1.38456406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.25257796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.620371743 meters Centerline goodness : 0.979525 Centerline is valid? [True, True] Translation: X:175.91, Y:138.47, Z:0.08 [[-4.42224997e-02 -9.99021707e-01 0.00000000e+00 1.75908571e+02] [ 9.99021707e-01 -4.42224997e-02 0.00000000e+00 1.38473027e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.23621206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.650371743 meters Centerline goodness : 0.980672 Centerline is valid? [True, True] Translation: X:175.91, Y:138.50, Z:0.08 [[-4.70338667e-02 -9.98893295e-01 0.00000000e+00 1.75910213e+02] [ 9.98893295e-01 -4.70338667e-02 0.00000000e+00 1.38499693e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.21548226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.680371743 meters Centerline goodness : 0.985568 Centerline is valid? [True, True] Translation: X:175.92, Y:138.53, Z:0.08 [[-5.07082158e-02 -9.98713511e-01 0.00000000e+00 1.75915718e+02] [ 9.98713511e-01 -5.07082158e-02 0.00000000e+00 1.38530753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22508181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.710371743 meters Centerline goodness : 0.985568 Centerline is valid? [True, True] Translation: X:175.92, Y:138.56, Z:0.08 [[-5.06726656e-02 -9.98715315e-01 0.00000000e+00 1.75916059e+02] [ 9.98715315e-01 -5.06726656e-02 0.00000000e+00 1.38557418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22508181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.740371743 meters Centerline goodness : 0.984837 Centerline is valid? [True, True] Translation: X:175.92, Y:138.58, Z:0.08 [[-5.31738385e-02 -9.98585271e-01 0.00000000e+00 1.75917378e+02] [ 9.98585271e-01 -5.31738385e-02 0.00000000e+00 1.38584343e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.25385596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.770371743 meters Centerline goodness : 0.985282 Centerline is valid? [True, True] Translation: X:175.92, Y:138.61, Z:0.08 [[-5.26536038e-02 -9.98612837e-01 0.00000000e+00 1.75924070e+02] [ 9.98612837e-01 -5.26536038e-02 0.00000000e+00 1.38613479e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.20579435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.800371743 meters Centerline goodness : 0.986879 Centerline is valid? [True, True] Translation: X:175.92, Y:138.64, Z:0.08 [[-5.99403587e-02 -9.98201960e-01 0.00000000e+00 1.75920626e+02] [ 9.98201960e-01 -5.99403587e-02 0.00000000e+00 1.38638314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29455389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.830371743 meters Centerline goodness : 0.987929 Centerline is valid? [True, True] Translation: X:175.93, Y:138.67, Z:0.08 [[-5.94945964e-02 -9.98228628e-01 0.00000000e+00 1.75926187e+02] [ 9.98228628e-01 -5.94945964e-02 0.00000000e+00 1.38669574e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.29409410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86037174300003 meters Centerline goodness : 0.988528 Centerline is valid? [True, True] Translation: X:175.93, Y:138.71, Z:0.09 [[-5.75861692e-02 -9.98340540e-01 0.00000000e+00 1.75934868e+02] [ 9.98340540e-01 -5.75861692e-02 0.00000000e+00 1.38706025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.59446501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.890371743 meters Centerline goodness : 0.988586 Centerline is valid? [True, True] Translation: X:175.94, Y:138.73, Z:0.09 [[-5.83228291e-02 -9.98297775e-01 0.00000000e+00 1.75936117e+02] [ 9.98297775e-01 -5.83228291e-02 0.00000000e+00 1.38734569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.55201775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92037174300003 meters Centerline goodness : 0.987434 Centerline is valid? [True, True] Translation: X:175.93, Y:138.75, Z:0.08 [[-6.45685208e-02 -9.97913276e-01 0.00000000e+00 1.75929011e+02] [ 9.97913276e-01 -6.45685208e-02 0.00000000e+00 1.38751123e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.40316085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.950371743 meters Centerline goodness : 0.987928 Centerline is valid? [True, True] Translation: X:175.93, Y:138.78, Z:0.09 [[-6.56044649e-02 -9.97845707e-01 0.00000000e+00 1.75928763e+02] [ 9.97845707e-01 -6.56044649e-02 0.00000000e+00 1.38778095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.53508628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.980371743 meters Centerline goodness : 0.987551 Centerline is valid? [True, True] Translation: X:175.93, Y:138.80, Z:0.09 [[-6.64646264e-02 -9.97788782e-01 0.00000000e+00 1.75929682e+02] [ 9.97788782e-01 -6.64646264e-02 0.00000000e+00 1.38804830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.52767597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.010371743 meters Centerline goodness : 0.978829 Centerline is valid? [True, True] Translation: X:175.93, Y:138.83, Z:0.09 [[-6.82948825e-02 -9.97665179e-01 0.00000000e+00 1.75927654e+02] [ 9.97665179e-01 -6.82948825e-02 0.00000000e+00 1.38825371e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.66710126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.040371743 meters Centerline goodness : 0.988370 Centerline is valid? [True, True] Translation: X:175.93, Y:138.86, Z:0.09 [[-6.68400552e-02 -9.97763703e-01 0.00000000e+00 1.75930822e+02] [ 9.97763703e-01 -6.68400552e-02 0.00000000e+00 1.38860251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69641680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.070371743 meters Centerline goodness : 0.986858 Centerline is valid? [True, True] Translation: X:175.93, Y:138.88, Z:0.09 [[-6.92520901e-02 -9.97599192e-01 0.00000000e+00 1.75927108e+02] [ 9.97599192e-01 -6.92520901e-02 0.00000000e+00 1.38884091e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.60810580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.100371743 meters Centerline goodness : 0.986387 Centerline is valid? [True, True] Translation: X:175.93, Y:138.91, Z:0.09 [[-7.02515881e-02 -9.97529305e-01 0.00000000e+00 1.75926102e+02] [ 9.97529305e-01 -7.02515881e-02 0.00000000e+00 1.38909030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.54013460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.130371743 meters Centerline goodness : 0.988904 Centerline is valid? [True, True] Translation: X:175.94, Y:138.94, Z:0.08 [[-6.37348928e-02 -9.97966865e-01 0.00000000e+00 1.75936067e+02] [ 9.97966865e-01 -6.37348928e-02 0.00000000e+00 1.38944353e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38593382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.160371743 meters Centerline goodness : 0.982303 Centerline is valid? [True, True] Translation: X:175.93, Y:138.96, Z:0.08 [[-6.79013029e-02 -9.97692043e-01 0.00000000e+00 1.75930016e+02] [ 9.97692043e-01 -6.79013029e-02 0.00000000e+00 1.38960619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.22465547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.190371743 meters Centerline goodness : 0.981211 Centerline is valid? [True, True] Translation: X:175.93, Y:138.99, Z:0.08 [[-6.72333012e-02 -9.97737282e-01 0.00000000e+00 1.75930432e+02] [ 9.97737282e-01 -6.72333012e-02 0.00000000e+00 1.38987247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.20402311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.220371743 meters Centerline goodness : 0.987126 Centerline is valid? [True, True] Translation: X:175.93, Y:139.02, Z:0.08 [[-6.62358832e-02 -9.97803993e-01 0.00000000e+00 1.75933623e+02] [ 9.97803993e-01 -6.62358832e-02 0.00000000e+00 1.39019024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.34940627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.250371743 meters Centerline goodness : 0.986916 Centerline is valid? [True, True] Translation: X:175.93, Y:139.05, Z:0.08 [[-6.77221569e-02 -9.97704219e-01 0.00000000e+00 1.75933525e+02] [ 9.97704219e-01 -6.77221569e-02 0.00000000e+00 1.39046404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.38173194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.280371743 meters Centerline goodness : 0.986611 Centerline is valid? [True, True] Translation: X:175.95, Y:139.09, Z:0.09 [[-5.98345587e-02 -9.98208308e-01 0.00000000e+00 1.75948136e+02] [ 9.98208308e-01 -5.98345587e-02 0.00000000e+00 1.39086247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71276186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.310371743 meters Centerline goodness : 0.987751 Centerline is valid? [True, True] Translation: X:175.95, Y:139.12, Z:0.09 [[-6.20709039e-02 -9.98071742e-01 0.00000000e+00 1.75949363e+02] [ 9.98071742e-01 -6.20709039e-02 0.00000000e+00 1.39118390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74597643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.340371743 meters Centerline goodness : 0.986469 Centerline is valid? [True, True] Translation: X:175.95, Y:139.14, Z:0.09 [[-6.31231930e-02 -9.98005743e-01 0.00000000e+00 1.75951353e+02] [ 9.98005743e-01 -6.31231930e-02 0.00000000e+00 1.39144080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77527257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.370371743 meters Centerline goodness : 0.987117 Centerline is valid? [True, True] Translation: X:175.95, Y:139.17, Z:0.09 [[-6.67659079e-02 -9.97768667e-01 0.00000000e+00 1.75953181e+02] [ 9.97768667e-01 -6.67659079e-02 0.00000000e+00 1.39171711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.78066110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.400371743 meters Centerline goodness : 0.986602 Centerline is valid? [True, True] Translation: X:175.95, Y:139.20, Z:0.09 [[-6.99116622e-02 -9.97553186e-01 0.00000000e+00 1.75953773e+02] [ 9.97553186e-01 -6.99116622e-02 0.00000000e+00 1.39199739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79157846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.430371743 meters Centerline goodness : 0.987337 Centerline is valid? [True, True] Translation: X:175.96, Y:139.23, Z:0.09 [[-7.53002269e-02 -9.97160908e-01 0.00000000e+00 1.75955593e+02] [ 9.97160908e-01 -7.53002269e-02 0.00000000e+00 1.39227241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77476972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.460371743 meters Centerline goodness : 0.986532 Centerline is valid? [True, True] Translation: X:175.96, Y:139.26, Z:0.09 [[-7.75913895e-02 -9.96985244e-01 0.00000000e+00 1.75957195e+02] [ 9.96985244e-01 -7.75913895e-02 0.00000000e+00 1.39255324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.65677973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.490371743 meters Centerline goodness : 0.986573 Centerline is valid? [True, True] Translation: X:175.96, Y:139.28, Z:0.09 [[-8.06920167e-02 -9.96739082e-01 0.00000000e+00 1.75957925e+02] [ 9.96739082e-01 -8.06920167e-02 0.00000000e+00 1.39283239e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.65807923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.520371743 meters Centerline goodness : 0.987047 Centerline is valid? [True, True] Translation: X:175.96, Y:139.31, Z:0.08 [[-8.38802153e-02 -9.96475845e-01 0.00000000e+00 1.75957445e+02] [ 9.96475845e-01 -8.38802153e-02 0.00000000e+00 1.39310521e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.49188133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.550371743 meters Centerline goodness : 0.985602 Centerline is valid? [True, True] Translation: X:175.96, Y:139.34, Z:0.09 [[-8.83439660e-02 -9.96090028e-01 0.00000000e+00 1.75959991e+02] [ 9.96090028e-01 -8.83439660e-02 0.00000000e+00 1.39338441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.67136882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.580371743 meters Centerline goodness : 0.985232 Centerline is valid? [True, True] Translation: X:175.96, Y:139.37, Z:0.09 [[-9.08885082e-02 -9.95861074e-01 0.00000000e+00 1.75960387e+02] [ 9.95861074e-01 -9.08885082e-02 0.00000000e+00 1.39366111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72560485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61037174300003 meters Centerline goodness : 0.986562 Centerline is valid? [True, True] Translation: X:175.96, Y:139.39, Z:0.09 [[-9.40054837e-02 -9.95571680e-01 0.00000000e+00 1.75960463e+02] [ 9.95571680e-01 -9.40054837e-02 0.00000000e+00 1.39392810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62886466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.640371743 meters Centerline goodness : 0.985863 Centerline is valid? [True, True] Translation: X:175.96, Y:139.42, Z:0.09 [[-9.40282441e-02 -9.95569530e-01 0.00000000e+00 1.75961472e+02] [ 9.95569530e-01 -9.40282441e-02 0.00000000e+00 1.39419237e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.67624791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67037174300003 meters Centerline goodness : 0.986064 Centerline is valid? [True, True] Translation: X:175.96, Y:139.45, Z:0.09 [[-9.50089958e-02 -9.95476414e-01 0.00000000e+00 1.75961942e+02] [ 9.95476414e-01 -9.50089958e-02 0.00000000e+00 1.39447887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73825147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.700371743 meters Centerline goodness : 0.986262 Centerline is valid? [True, True] Translation: X:175.96, Y:139.48, Z:0.09 [[-9.27080128e-02 -9.95693339e-01 0.00000000e+00 1.75963550e+02] [ 9.95693339e-01 -9.27080128e-02 0.00000000e+00 1.39475330e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77300652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.730371743 meters Centerline goodness : 0.985404 Centerline is valid? [True, True] Translation: X:175.96, Y:139.50, Z:0.09 [[-9.32003052e-02 -9.95647379e-01 0.00000000e+00 1.75963632e+02] [ 9.95647379e-01 -9.32003052e-02 0.00000000e+00 1.39504932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.81469057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.760371743 meters Centerline goodness : 0.984495 Centerline is valid? [True, True] Translation: X:175.96, Y:139.53, Z:0.09 [[-8.99826463e-02 -9.95943333e-01 0.00000000e+00 1.75963998e+02] [ 9.95943333e-01 -8.99826463e-02 0.00000000e+00 1.39530140e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86176994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.790371743 meters Centerline goodness : 0.984066 Centerline is valid? [True, True] Translation: X:175.97, Y:139.56, Z:0.09 [[-8.93666908e-02 -9.95998792e-01 0.00000000e+00 1.75965491e+02] [ 9.95998792e-01 -8.93666908e-02 0.00000000e+00 1.39560072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.93976693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.820371743 meters Centerline goodness : 0.985015 Centerline is valid? [True, True] Translation: X:175.97, Y:139.59, Z:0.09 [[-8.68230861e-02 -9.96223746e-01 0.00000000e+00 1.75966976e+02] [ 9.96223746e-01 -8.68230861e-02 0.00000000e+00 1.39589755e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.84348457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.850371743 meters Centerline goodness : 0.983798 Centerline is valid? [True, True] Translation: X:175.97, Y:139.62, Z:0.09 [[-8.55905674e-02 -9.96330394e-01 0.00000000e+00 1.75966409e+02] [ 9.96330394e-01 -8.55905674e-02 0.00000000e+00 1.39615902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97420082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.880371743 meters Centerline goodness : 0.984702 Centerline is valid? [True, True] Translation: X:175.97, Y:139.65, Z:0.09 [[-8.50907315e-02 -9.96373207e-01 0.00000000e+00 1.75966340e+02] [ 9.96373207e-01 -8.50907315e-02 0.00000000e+00 1.39645677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.89263878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.910371743 meters Centerline goodness : 0.985088 Centerline is valid? [True, True] Translation: X:175.97, Y:139.65, Z:0.09 [[-8.21141984e-02 -9.96622927e-01 0.00000000e+00 1.75967285e+02] [ 9.96622927e-01 -8.21141984e-02 0.00000000e+00 1.39653437e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.99432003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.940371743 meters Centerline goodness : 0.984062 Centerline is valid? [True, True] Translation: X:175.97, Y:139.66, Z:0.09 [[-8.08293711e-02 -9.96727953e-01 0.00000000e+00 1.75967479e+02] [ 9.96727953e-01 -8.08293711e-02 0.00000000e+00 1.39656262e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94144909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.970371743 meters Centerline goodness : 0.983074 Centerline is valid? [True, True] Translation: X:175.97, Y:139.68, Z:0.09 [[-7.92530749e-02 -9.96854528e-01 0.00000000e+00 1.75967855e+02] [ 9.96854528e-01 -7.92530749e-02 0.00000000e+00 1.39682798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02246802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.000371743 meters Centerline goodness : 0.984954 Centerline is valid? [True, True] Translation: X:175.96, Y:140.23, Z:0.09 [[-9.35188955e-02 -9.95617505e-01 0.00000000e+00 1.75955830e+02] [ 9.95617505e-01 -9.35188955e-02 0.00000000e+00 1.40233817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21792850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.030371743 meters Centerline goodness : 0.984074 Centerline is valid? [True, True] Translation: X:175.97, Y:139.71, Z:0.09 [[-7.15125866e-02 -9.97439697e-01 0.00000000e+00 1.75967633e+02] [ 9.97439697e-01 -7.15125866e-02 0.00000000e+00 1.39712317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10690844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.060371743 meters Centerline goodness : 0.984325 Centerline is valid? [True, True] Translation: X:175.96, Y:139.73, Z:0.09 [[-7.41027799e-02 -9.97250609e-01 0.00000000e+00 1.75963638e+02] [ 9.97250609e-01 -7.41027799e-02 0.00000000e+00 1.39733130e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24556436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.090371743 meters Centerline goodness : 0.984363 Centerline is valid? [True, True] Translation: X:175.96, Y:139.76, Z:0.09 [[-7.42020456e-02 -9.97243228e-01 0.00000000e+00 1.75964099e+02] [ 9.97243228e-01 -7.42020456e-02 0.00000000e+00 1.39761048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21088147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.120371743 meters Centerline goodness : 0.984210 Centerline is valid? [True, True] Translation: X:175.97, Y:139.79, Z:0.09 [[-7.07590471e-02 -9.97493437e-01 0.00000000e+00 1.75969561e+02] [ 9.97493437e-01 -7.07590471e-02 0.00000000e+00 1.39794461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17478106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.150371743 meters Centerline goodness : 0.983412 Centerline is valid? [True, True] Translation: X:175.97, Y:139.82, Z:0.09 [[-7.11297168e-02 -9.97467074e-01 0.00000000e+00 1.75971161e+02] [ 9.97467074e-01 -7.11297168e-02 0.00000000e+00 1.39821442e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24319159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.180371743 meters Centerline goodness : 0.984791 Centerline is valid? [True, True] Translation: X:175.97, Y:139.84, Z:0.09 [[-7.52767316e-02 -9.97162682e-01 0.00000000e+00 1.75967703e+02] [ 9.97162682e-01 -7.52767316e-02 0.00000000e+00 1.39843340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33043628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.210371743 meters Centerline goodness : 0.986159 Centerline is valid? [True, True] Translation: X:175.97, Y:139.88, Z:0.09 [[-7.40713000e-02 -9.97252948e-01 0.00000000e+00 1.75974266e+02] [ 9.97252948e-01 -7.40713000e-02 0.00000000e+00 1.39876572e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.27866499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.240371743 meters Centerline goodness : 0.984908 Centerline is valid? [True, True] Translation: X:175.98, Y:139.90, Z:0.09 [[-7.50993599e-02 -9.97176056e-01 0.00000000e+00 1.75975417e+02] [ 9.97176056e-01 -7.50993599e-02 0.00000000e+00 1.39903138e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43780574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.270371743 meters Centerline goodness : 0.984774 Centerline is valid? [True, True] Translation: X:175.98, Y:139.93, Z:0.09 [[-7.55893673e-02 -9.97139031e-01 0.00000000e+00 1.75976762e+02] [ 9.97139031e-01 -7.55893673e-02 0.00000000e+00 1.39932428e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47374239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.300371743 meters Centerline goodness : 0.985347 Centerline is valid? [True, True] Translation: X:175.98, Y:139.96, Z:0.09 [[-7.57601900e-02 -9.97126067e-01 0.00000000e+00 1.75978574e+02] [ 9.97126067e-01 -7.57601900e-02 0.00000000e+00 1.39958372e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.20014856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.330371743 meters Centerline goodness : 0.984436 Centerline is valid? [True, True] Translation: X:175.98, Y:139.99, Z:0.09 [[-7.64768957e-02 -9.97071354e-01 0.00000000e+00 1.75981052e+02] [ 9.97071354e-01 -7.64768957e-02 0.00000000e+00 1.39986862e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40908902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36037174300003 meters Centerline goodness : 0.984568 Centerline is valid? [True, True] Translation: X:175.98, Y:139.98, Z:0.09 [[-7.86199622e-02 -9.96904660e-01 0.00000000e+00 1.75983651e+02] [ 9.96904660e-01 -7.86199622e-02 0.00000000e+00 1.39983963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.37409831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.390371743 meters Centerline goodness : 0.984283 Centerline is valid? [True, True] Translation: X:175.99, Y:139.98, Z:0.09 [[-7.75849680e-02 -9.96985743e-01 0.00000000e+00 1.75985397e+02] [ 9.96985743e-01 -7.75849680e-02 0.00000000e+00 1.39979731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.26100899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42037174300003 meters Centerline goodness : 0.984552 Centerline is valid? [True, True] Translation: X:175.99, Y:139.99, Z:0.09 [[-7.73233887e-02 -9.97006065e-01 0.00000000e+00 1.75986844e+02] [ 9.97006065e-01 -7.73233887e-02 0.00000000e+00 1.39987946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24506441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.450371743 meters Centerline goodness : 0.984604 Centerline is valid? [True, True] Translation: X:175.99, Y:139.99, Z:0.09 [[-7.58867865e-02 -9.97116440e-01 0.00000000e+00 1.75989834e+02] [ 9.97116440e-01 -7.58867865e-02 0.00000000e+00 1.39991069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13604218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.480371743 meters Centerline goodness : 0.983088 Centerline is valid? [True, True] Translation: X:175.99, Y:140.02, Z:0.09 [[-7.53195784e-02 -9.97159446e-01 0.00000000e+00 1.75991601e+02] [ 9.97159446e-01 -7.53195784e-02 0.00000000e+00 1.40017460e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30896167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.510371743 meters Centerline goodness : 0.985206 Centerline is valid? [True, True] Translation: X:175.99, Y:140.05, Z:0.09 [[-7.60199120e-02 -9.97106300e-01 0.00000000e+00 1.75991974e+02] [ 9.97106300e-01 -7.60199120e-02 0.00000000e+00 1.40047211e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15384775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.540371743 meters Centerline goodness : 0.982760 Centerline is valid? [True, True] Translation: X:176.00, Y:140.05, Z:0.09 [[-7.34600864e-02 -9.97298158e-01 0.00000000e+00 1.75995756e+02] [ 9.97298158e-01 -7.34600864e-02 0.00000000e+00 1.40046528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21685928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.570371743 meters Centerline goodness : 0.982760 Centerline is valid? [True, True] Translation: X:176.00, Y:140.05, Z:0.09 [[-7.30979882e-02 -9.97324764e-01 0.00000000e+00 1.75995658e+02] [ 9.97324764e-01 -7.30979882e-02 0.00000000e+00 1.40049183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21685928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.600371743 meters Centerline goodness : 0.984029 Centerline is valid? [True, True] Translation: X:176.00, Y:140.05, Z:0.09 [[-6.97871346e-02 -9.97561906e-01 0.00000000e+00 1.75997714e+02] [ 9.97561906e-01 -6.97871346e-02 0.00000000e+00 1.40047626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14536815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.630371743 meters Centerline goodness : 0.980260 Centerline is valid? [True, True] Translation: X:176.00, Y:140.07, Z:0.09 [[-6.48300532e-02 -9.97896319e-01 0.00000000e+00 1.75999809e+02] [ 9.97896319e-01 -6.48300532e-02 0.00000000e+00 1.40069321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.17830900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.660371743 meters Centerline goodness : 0.983553 Centerline is valid? [True, True] Translation: X:176.00, Y:140.10, Z:0.09 [[-6.67485767e-02 -9.97769827e-01 0.00000000e+00 1.76000589e+02] [ 9.97769827e-01 -6.67485767e-02 0.00000000e+00 1.40104237e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10178011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.690371743 meters Centerline goodness : 0.982420 Centerline is valid? [True, True] Translation: X:176.00, Y:140.13, Z:0.09 [[-6.53483438e-02 -9.97862513e-01 0.00000000e+00 1.76001159e+02] [ 9.97862513e-01 -6.53483438e-02 0.00000000e+00 1.40129748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19609733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.720371743 meters Centerline goodness : 0.982757 Centerline is valid? [True, True] Translation: X:176.00, Y:140.16, Z:0.09 [[-6.43948463e-02 -9.97924498e-01 0.00000000e+00 1.76002049e+02] [ 9.97924498e-01 -6.43948463e-02 0.00000000e+00 1.40157590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24863422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.750371743 meters Centerline goodness : 0.982470 Centerline is valid? [True, True] Translation: X:176.00, Y:140.18, Z:0.09 [[-6.25441293e-02 -9.98042199e-01 0.00000000e+00 1.76004040e+02] [ 9.98042199e-01 -6.25441293e-02 0.00000000e+00 1.40183511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.16296949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.780371743 meters Centerline goodness : 0.983022 Centerline is valid? [True, True] Translation: X:176.01, Y:140.21, Z:0.09 [[-6.10602721e-02 -9.98134081e-01 0.00000000e+00 1.76006312e+02] [ 9.98134081e-01 -6.10602721e-02 0.00000000e+00 1.40212124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.16617514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.810371743 meters Centerline goodness : 0.982169 Centerline is valid? [True, True] Translation: X:176.01, Y:140.22, Z:0.09 [[-6.12126808e-02 -9.98124746e-01 0.00000000e+00 1.76006772e+02] [ 9.98124746e-01 -6.12126808e-02 0.00000000e+00 1.40218482e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14880637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.840371743 meters Centerline goodness : 0.982693 Centerline is valid? [True, True] Translation: X:176.01, Y:140.21, Z:0.09 [[-5.89610072e-02 -9.98260287e-01 0.00000000e+00 1.76007682e+02] [ 9.98260287e-01 -5.89610072e-02 0.00000000e+00 1.40214787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09128676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.870371743 meters Centerline goodness : 0.982294 Centerline is valid? [True, True] Translation: X:176.01, Y:140.22, Z:0.09 [[-5.59106993e-02 -9.98435773e-01 0.00000000e+00 1.76009623e+02] [ 9.98435773e-01 -5.59106993e-02 0.00000000e+00 1.40221086e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06717640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.900371743 meters Centerline goodness : 0.982149 Centerline is valid? [True, True] Translation: X:176.01, Y:140.22, Z:0.09 [[-5.51377029e-02 -9.98478760e-01 0.00000000e+00 1.76010187e+02] [ 9.98478760e-01 -5.51377029e-02 0.00000000e+00 1.40218367e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98139761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.930371743 meters Centerline goodness : 0.982556 Centerline is valid? [True, True] Translation: X:176.01, Y:140.22, Z:0.09 [[-5.47675469e-02 -9.98499132e-01 0.00000000e+00 1.76010549e+02] [ 9.98499132e-01 -5.47675469e-02 0.00000000e+00 1.40219373e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02793593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.960371743 meters Centerline goodness : 0.983296 Centerline is valid? [True, True] Translation: X:176.01, Y:140.21, Z:0.09 [[-4.85379128e-02 -9.98821341e-01 0.00000000e+00 1.76012489e+02] [ 9.98821341e-01 -4.85379128e-02 0.00000000e+00 1.40205520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06857208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.990371743 meters Centerline goodness : 0.982587 Centerline is valid? [True, True] Translation: X:176.01, Y:140.23, Z:0.09 [[-4.84690495e-02 -9.98824685e-01 0.00000000e+00 1.76012126e+02] [ 9.98824685e-01 -4.84690495e-02 0.00000000e+00 1.40232072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09731817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.020371743 meters Centerline goodness : 0.982380 Centerline is valid? [True, True] Translation: X:176.01, Y:140.26, Z:0.09 [[-4.79592477e-02 -9.98849293e-01 0.00000000e+00 1.76013146e+02] [ 9.98849293e-01 -4.79592477e-02 0.00000000e+00 1.40262475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13717494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.050371743 meters Centerline goodness : 0.981944 Centerline is valid? [True, True] Translation: X:176.01, Y:140.29, Z:0.09 [[-4.84390787e-02 -9.98826139e-01 0.00000000e+00 1.76012847e+02] [ 9.98826139e-01 -4.84390787e-02 0.00000000e+00 1.40288101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15673296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.080371743 meters Centerline goodness : 0.984118 Centerline is valid? [True, True] Translation: X:176.01, Y:140.31, Z:0.09 [[-5.54091725e-02 -9.98463732e-01 0.00000000e+00 1.76005766e+02] [ 9.98463732e-01 -5.54091725e-02 0.00000000e+00 1.40306905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92861850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11037174300003 meters Centerline goodness : 0.983449 Centerline is valid? [True, True] Translation: X:176.00, Y:140.33, Z:0.09 [[-5.72904859e-02 -9.98357551e-01 0.00000000e+00 1.76003849e+02] [ 9.98357551e-01 -5.72904859e-02 0.00000000e+00 1.40332257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.31594331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.140371743 meters Centerline goodness : 0.982430 Centerline is valid? [True, True] Translation: X:176.01, Y:140.36, Z:0.09 [[-5.53955803e-02 -9.98464486e-01 0.00000000e+00 1.76010673e+02] [ 9.98464486e-01 -5.53955803e-02 0.00000000e+00 1.40363812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.25577356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17037174300003 meters Centerline goodness : 0.981515 Centerline is valid? [True, True] Translation: X:176.00, Y:140.38, Z:0.09 [[-6.38477498e-02 -9.97959651e-01 0.00000000e+00 1.75999534e+02] [ 9.97959651e-01 -6.38477498e-02 0.00000000e+00 1.40377713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48498243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.200371743 meters Centerline goodness : 0.983857 Centerline is valid? [True, True] Translation: X:176.01, Y:140.42, Z:0.09 [[-5.86047624e-02 -9.98281264e-01 0.00000000e+00 1.76008196e+02] [ 9.98281264e-01 -5.86047624e-02 0.00000000e+00 1.40415752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.06748635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.230371743 meters Centerline goodness : 0.982556 Centerline is valid? [True, True] Translation: X:176.00, Y:140.43, Z:0.09 [[-6.64788263e-02 -9.97787836e-01 0.00000000e+00 1.75998530e+02] [ 9.97787836e-01 -6.64788263e-02 0.00000000e+00 1.40428043e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43863382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.260371743 meters Centerline goodness : 0.984870 Centerline is valid? [True, True] Translation: X:176.01, Y:140.47, Z:0.09 [[-6.05476629e-02 -9.98165307e-01 0.00000000e+00 1.76008206e+02] [ 9.98165307e-01 -6.05476629e-02 0.00000000e+00 1.40467509e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.32639977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.290371743 meters Centerline goodness : 0.981342 Centerline is valid? [True, True] Translation: X:176.00, Y:140.48, Z:0.09 [[-6.85856486e-02 -9.97645232e-01 0.00000000e+00 1.75997881e+02] [ 9.97645232e-01 -6.85856486e-02 0.00000000e+00 1.40480388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.44311983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.320371743 meters Centerline goodness : 0.982285 Centerline is valid? [True, True] Translation: X:176.01, Y:140.52, Z:0.09 [[-6.40245223e-02 -9.97948326e-01 0.00000000e+00 1.76005458e+02] [ 9.97948326e-01 -6.40245223e-02 0.00000000e+00 1.40518726e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.14775078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.350371743 meters Centerline goodness : 0.982538 Centerline is valid? [True, True] Translation: X:176.00, Y:140.53, Z:0.09 [[-6.89719565e-02 -9.97618599e-01 0.00000000e+00 1.76002985e+02] [ 9.97618599e-01 -6.89719565e-02 0.00000000e+00 1.40529295e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.37716878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.380371743 meters Centerline goodness : 0.984279 Centerline is valid? [True, True] Translation: X:175.99, Y:140.99, Z:0.09 [[-8.09333939e-02 -9.96719512e-01 0.00000000e+00 1.75993059e+02] [ 9.96719512e-01 -8.09333939e-02 0.00000000e+00 1.40988936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.29964100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.410371743 meters Centerline goodness : 0.981943 Centerline is valid? [True, True] Translation: X:176.00, Y:140.54, Z:0.09 [[-6.63417513e-02 -9.97796959e-01 0.00000000e+00 1.76001603e+02] [ 9.97796959e-01 -6.63417513e-02 0.00000000e+00 1.40537597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39159670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.440371743 meters Centerline goodness : 0.978996 Centerline is valid? [True, True] Translation: X:175.97, Y:141.65, Z:0.10 [[-1.04397578e-01 -9.94535643e-01 0.00000000e+00 1.75969903e+02] [ 9.94535643e-01 -1.04397578e-01 0.00000000e+00 1.41647884e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75711630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.470371743 meters Centerline goodness : 0.983041 Centerline is valid? [True, True] Translation: X:175.99, Y:140.57, Z:0.09 [[-6.56887547e-02 -9.97840161e-01 0.00000000e+00 1.75993801e+02] [ 9.97840161e-01 -6.56887547e-02 0.00000000e+00 1.40566994e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39612167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.500371743 meters Centerline goodness : 0.982762 Centerline is valid? [True, True] Translation: X:175.99, Y:140.59, Z:0.09 [[-6.70227148e-02 -9.97751450e-01 0.00000000e+00 1.75992533e+02] [ 9.97751450e-01 -6.70227148e-02 0.00000000e+00 1.40594653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43948233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.530371743 meters Centerline goodness : 0.982581 Centerline is valid? [True, True] Translation: X:175.99, Y:140.62, Z:0.09 [[-6.73073193e-02 -9.97732291e-01 0.00000000e+00 1.75990594e+02] [ 9.97732291e-01 -6.73073193e-02 0.00000000e+00 1.40623405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43315656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.560371743 meters Centerline goodness : 0.983804 Centerline is valid? [True, True] Translation: X:175.99, Y:140.65, Z:0.09 [[-6.81931797e-02 -9.97672136e-01 0.00000000e+00 1.75989078e+02] [ 9.97672136e-01 -6.81931797e-02 0.00000000e+00 1.40652789e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28650458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.590371743 meters Centerline goodness : 0.982890 Centerline is valid? [True, True] Translation: X:175.99, Y:140.68, Z:0.10 [[-6.93020899e-02 -9.97595720e-01 0.00000000e+00 1.75987215e+02] [ 9.97595720e-01 -6.93020899e-02 0.00000000e+00 1.40681585e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.56301060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.620371743 meters Centerline goodness : 0.983362 Centerline is valid? [True, True] Translation: X:175.99, Y:140.71, Z:0.10 [[-6.84267850e-02 -9.97656141e-01 0.00000000e+00 1.75986091e+02] [ 9.97656141e-01 -6.84267850e-02 0.00000000e+00 1.40707804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.54977465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.650371743 meters Centerline goodness : 0.985364 Centerline is valid? [True, True] Translation: X:175.98, Y:140.74, Z:0.09 [[-7.04341116e-02 -9.97516434e-01 0.00000000e+00 1.75983238e+02] [ 9.97516434e-01 -7.04341116e-02 0.00000000e+00 1.40738453e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.25389813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.680371743 meters Centerline goodness : 0.984323 Centerline is valid? [True, True] Translation: X:175.98, Y:140.76, Z:0.09 [[-7.26727098e-02 -9.97355843e-01 0.00000000e+00 1.75978445e+02] [ 9.97355843e-01 -7.26727098e-02 0.00000000e+00 1.40759869e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40437756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.710371743 meters Centerline goodness : 0.982808 Centerline is valid? [True, True] Translation: X:175.98, Y:140.79, Z:0.10 [[-7.39846152e-02 -9.97259383e-01 0.00000000e+00 1.75977035e+02] [ 9.97259383e-01 -7.39846152e-02 0.00000000e+00 1.40787646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.54777377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.740371743 meters Centerline goodness : 0.983345 Centerline is valid? [True, True] Translation: X:175.97, Y:140.82, Z:0.09 [[-7.68412298e-02 -9.97043342e-01 0.00000000e+00 1.75973454e+02] [ 9.97043342e-01 -7.68412298e-02 0.00000000e+00 1.40815669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.40057984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.770371743 meters Centerline goodness : 0.981791 Centerline is valid? [True, True] Translation: X:175.96, Y:140.83, Z:0.09 [[-8.46998811e-02 -9.96406508e-01 0.00000000e+00 1.75961875e+02] [ 9.96406508e-01 -8.46998811e-02 0.00000000e+00 1.40828914e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38604360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.800371743 meters Centerline goodness : 0.986552 Centerline is valid? [True, True] Translation: X:175.96, Y:140.28, Z:0.09 [[-4.70488377e-02 -9.98892590e-01 0.00000000e+00 1.75960858e+02] [ 9.98892590e-01 -4.70488377e-02 0.00000000e+00 1.40279285e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.08101109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.830371743 meters Centerline goodness : 0.981981 Centerline is valid? [True, True] Translation: X:175.95, Y:140.29, Z:0.09 [[-5.67139914e-02 -9.98390466e-01 0.00000000e+00 1.75948667e+02] [ 9.98390466e-01 -5.67139914e-02 0.00000000e+00 1.40293129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38667314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86037174300003 meters Centerline goodness : 0.981984 Centerline is valid? [True, True] Translation: X:175.95, Y:140.32, Z:0.09 [[-5.70181965e-02 -9.98373139e-01 0.00000000e+00 1.75948347e+02] [ 9.98373139e-01 -5.70181965e-02 0.00000000e+00 1.40319966e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.18006754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.890371743 meters Centerline goodness : 0.983427 Centerline is valid? [True, True] Translation: X:175.96, Y:140.36, Z:0.10 [[-4.92619536e-02 -9.98785893e-01 0.00000000e+00 1.75959706e+02] [ 9.98785893e-01 -4.92619536e-02 0.00000000e+00 1.40358431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68030536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92037174300003 meters Centerline goodness : 0.984083 Centerline is valid? [True, True] Translation: X:175.96, Y:140.39, Z:0.10 [[-5.02070658e-02 -9.98738830e-01 0.00000000e+00 1.75959600e+02] [ 9.98738830e-01 -5.02070658e-02 0.00000000e+00 1.40386527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64802369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.950371743 meters Centerline goodness : 0.990150 Centerline is valid? [True, True] Translation: X:175.95, Y:140.41, Z:0.09 [[-6.01082542e-02 -9.98191864e-01 0.00000000e+00 1.75950172e+02] [ 9.98191864e-01 -6.01082542e-02 0.00000000e+00 1.40414266e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13737210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.980371743 meters Centerline goodness : 0.990776 Centerline is valid? [True, True] Translation: X:175.95, Y:140.44, Z:0.09 [[-6.14080605e-02 -9.98112744e-01 0.00000000e+00 1.75948661e+02] [ 9.98112744e-01 -6.14080605e-02 0.00000000e+00 1.40441608e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10956025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.010371743 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:175.95, Y:140.47, Z:0.09 [[-6.21551644e-02 -9.98066499e-01 0.00000000e+00 1.75947952e+02] [ 9.98066499e-01 -6.21551644e-02 0.00000000e+00 1.40468908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05717662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.040371743 meters Centerline goodness : 0.985765 Centerline is valid? [True, True] Translation: X:175.97, Y:140.51, Z:0.09 [[-4.74572497e-02 -9.98873270e-01 0.00000000e+00 1.75966078e+02] [ 9.98873270e-01 -4.74572497e-02 0.00000000e+00 1.40509325e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.31578350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.070371743 meters Centerline goodness : 0.986541 Centerline is valid? [True, True] Translation: X:175.97, Y:140.54, Z:0.09 [[-4.93591994e-02 -9.98781092e-01 0.00000000e+00 1.75966228e+02] [ 9.98781092e-01 -4.93591994e-02 0.00000000e+00 1.40537393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.23294490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.100371743 meters Centerline goodness : 0.983517 Centerline is valid? [True, True] Translation: X:175.97, Y:140.56, Z:0.10 [[-4.92077227e-02 -9.98788566e-01 0.00000000e+00 1.75965560e+02] [ 9.98788566e-01 -4.92077227e-02 0.00000000e+00 1.40560920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.67400699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.130371743 meters Centerline goodness : 0.987011 Centerline is valid? [True, True] Translation: X:175.96, Y:140.59, Z:0.09 [[-5.50377574e-02 -9.98484274e-01 0.00000000e+00 1.75962538e+02] [ 9.98484274e-01 -5.50377574e-02 0.00000000e+00 1.40591152e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13946358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.160371743 meters Centerline goodness : 0.986696 Centerline is valid? [True, True] Translation: X:175.96, Y:140.62, Z:0.09 [[-5.78365436e-02 -9.98326066e-01 0.00000000e+00 1.75961543e+02] [ 9.98326066e-01 -5.78365436e-02 0.00000000e+00 1.40617324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09049745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.190371743 meters Centerline goodness : 0.975446 Centerline is valid? [True, True] Translation: X:175.95, Y:140.63, Z:0.10 [[-6.40144442e-02 -9.97948972e-01 0.00000000e+00 1.75954928e+02] [ 9.97948972e-01 -6.40144442e-02 0.00000000e+00 1.40633842e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.99190148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.220371743 meters Centerline goodness : 0.985394 Centerline is valid? [True, True] Translation: X:175.96, Y:140.67, Z:0.10 [[-5.92676544e-02 -9.98242128e-01 0.00000000e+00 1.75962608e+02] [ 9.98242128e-01 -5.92676544e-02 0.00000000e+00 1.40669481e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63642580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.250371743 meters Centerline goodness : 0.977853 Centerline is valid? [True, True] Translation: X:175.96, Y:140.68, Z:0.10 [[-6.44382969e-02 -9.97921693e-01 0.00000000e+00 1.75955767e+02] [ 9.97921693e-01 -6.44382969e-02 0.00000000e+00 1.40684827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.91919201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.280371743 meters Centerline goodness : 0.976432 Centerline is valid? [True, True] Translation: X:175.96, Y:140.71, Z:0.10 [[-6.40696481e-02 -9.97945429e-01 0.00000000e+00 1.75955764e+02] [ 9.97945429e-01 -6.40696481e-02 0.00000000e+00 1.40710871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00996117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.310371743 meters Centerline goodness : 0.986965 Centerline is valid? [True, True] Translation: X:175.96, Y:140.75, Z:0.09 [[-5.91638688e-02 -9.98248284e-01 0.00000000e+00 1.75962100e+02] [ 9.98248284e-01 -5.91638688e-02 0.00000000e+00 1.40747408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.11277559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.340371743 meters Centerline goodness : 0.986959 Centerline is valid? [True, True] Translation: X:175.96, Y:140.77, Z:0.09 [[-5.80022362e-02 -9.98316453e-01 0.00000000e+00 1.75962922e+02] [ 9.98316453e-01 -5.80022362e-02 0.00000000e+00 1.40773035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12836505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.370371743 meters Centerline goodness : 0.986398 Centerline is valid? [True, True] Translation: X:175.96, Y:140.80, Z:0.09 [[-5.67451504e-02 -9.98388696e-01 0.00000000e+00 1.75962501e+02] [ 9.98388696e-01 -5.67451504e-02 0.00000000e+00 1.40800818e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21542215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.400371743 meters Centerline goodness : 0.988792 Centerline is valid? [True, True] Translation: X:175.96, Y:140.83, Z:0.09 [[-5.76424512e-02 -9.98337292e-01 0.00000000e+00 1.75962471e+02] [ 9.98337292e-01 -5.76424512e-02 0.00000000e+00 1.40832701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98208162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.430371743 meters Centerline goodness : 0.987853 Centerline is valid? [True, True] Translation: X:175.96, Y:140.86, Z:0.09 [[-5.51187600e-02 -9.98479806e-01 0.00000000e+00 1.75959498e+02] [ 9.98479806e-01 -5.51187600e-02 0.00000000e+00 1.40856780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90567033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.460371743 meters Centerline goodness : 0.991523 Centerline is valid? [True, True] Translation: X:175.94, Y:140.88, Z:0.09 [[-6.67797803e-02 -9.97767739e-01 0.00000000e+00 1.75944705e+02] [ 9.97767739e-01 -6.67797803e-02 0.00000000e+00 1.40877002e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.07027643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.490371743 meters Centerline goodness : 0.979930 Centerline is valid? [True, True] Translation: X:175.94, Y:140.89, Z:0.10 [[-6.08284845e-02 -9.98148233e-01 0.00000000e+00 1.75941612e+02] [ 9.98148233e-01 -6.08284845e-02 0.00000000e+00 1.40892774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.84945040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.520371743 meters Centerline goodness : 0.979930 Centerline is valid? [True, True] Translation: X:175.94, Y:140.92, Z:0.10 [[-6.06255910e-02 -9.98160577e-01 0.00000000e+00 1.75942618e+02] [ 9.98160577e-01 -6.06255910e-02 0.00000000e+00 1.40918660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.84945040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.550371743 meters Centerline goodness : 0.986542 Centerline is valid? [True, True] Translation: X:175.95, Y:140.95, Z:0.09 [[-5.45747795e-02 -9.98509686e-01 0.00000000e+00 1.75947601e+02] [ 9.98509686e-01 -5.45747795e-02 0.00000000e+00 1.40950888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.34886268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.580371743 meters Centerline goodness : 0.980734 Centerline is valid? [True, True] Translation: X:175.94, Y:140.97, Z:0.09 [[-5.65536872e-02 -9.98399560e-01 0.00000000e+00 1.75940550e+02] [ 9.98399560e-01 -5.65536872e-02 0.00000000e+00 1.40972308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33005011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61037174300003 meters Centerline goodness : 0.981588 Centerline is valid? [True, True] Translation: X:175.94, Y:141.00, Z:0.09 [[-5.07733534e-02 -9.98710202e-01 0.00000000e+00 1.75939538e+02] [ 9.98710202e-01 -5.07733534e-02 0.00000000e+00 1.41002169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33734877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.640371743 meters Centerline goodness : 0.986906 Centerline is valid? [True, True] Translation: X:175.95, Y:141.04, Z:0.09 [[-4.24346225e-02 -9.99099246e-01 0.00000000e+00 1.75947013e+02] [ 9.99099246e-01 -4.24346225e-02 0.00000000e+00 1.41037882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38458805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67037174300003 meters Centerline goodness : 0.985687 Centerline is valid? [True, True] Translation: X:175.94, Y:141.06, Z:0.09 [[-4.34411604e-02 -9.99055987e-01 0.00000000e+00 1.75937216e+02] [ 9.99055987e-01 -4.34411604e-02 0.00000000e+00 1.41059350e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.30028218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.700371743 meters Centerline goodness : 0.980734 Centerline is valid? [True, True] Translation: X:175.93, Y:141.08, Z:0.10 [[-4.46632175e-02 -9.99002101e-01 0.00000000e+00 1.75932438e+02] [ 9.99002101e-01 -4.46632175e-02 0.00000000e+00 1.41080787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.71962986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.730371743 meters Centerline goodness : 0.981157 Centerline is valid? [True, True] Translation: X:175.93, Y:141.11, Z:0.10 [[-4.29946603e-02 -9.99075302e-01 0.00000000e+00 1.75931388e+02] [ 9.99075302e-01 -4.29946603e-02 0.00000000e+00 1.41107703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69649292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.760371743 meters Centerline goodness : 0.980992 Centerline is valid? [True, True] Translation: X:175.93, Y:141.13, Z:0.10 [[-4.21444126e-02 -9.99111530e-01 0.00000000e+00 1.75932081e+02] [ 9.99111530e-01 -4.21444126e-02 0.00000000e+00 1.41134081e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52909047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.790371743 meters Centerline goodness : 0.985142 Centerline is valid? [True, True] Translation: X:175.94, Y:141.17, Z:0.09 [[-3.80936670e-02 -9.99274173e-01 0.00000000e+00 1.75937596e+02] [ 9.99274173e-01 -3.80936670e-02 0.00000000e+00 1.41168940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.29931171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.820371743 meters Centerline goodness : 0.986476 Centerline is valid? [True, True] Translation: X:175.94, Y:141.20, Z:0.09 [[-3.87892335e-02 -9.99247414e-01 0.00000000e+00 1.75937114e+02] [ 9.99247414e-01 -3.87892335e-02 0.00000000e+00 1.41198045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.21438368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.850371743 meters Centerline goodness : 0.986688 Centerline is valid? [True, True] Translation: X:175.95, Y:141.23, Z:0.09 [[-2.82856857e-02 -9.99599880e-01 0.00000000e+00 1.75948588e+02] [ 9.99599880e-01 -2.82856857e-02 0.00000000e+00 1.41232994e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43848636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.880371743 meters Centerline goodness : 0.981658 Centerline is valid? [True, True] Translation: X:175.93, Y:141.25, Z:0.09 [[-4.38198500e-02 -9.99039449e-01 0.00000000e+00 1.75934104e+02] [ 9.99039449e-01 -4.38198500e-02 0.00000000e+00 1.41247882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.87055758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.910371743 meters Centerline goodness : 0.986201 Centerline is valid? [True, True] Translation: X:175.94, Y:141.28, Z:0.09 [[-4.16860076e-02 -9.99130761e-01 0.00000000e+00 1.75938103e+02] [ 9.99130761e-01 -4.16860076e-02 0.00000000e+00 1.41281548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33694581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.940371743 meters Centerline goodness : 0.985667 Centerline is valid? [True, True] Translation: X:175.94, Y:141.31, Z:0.09 [[-4.13349824e-02 -9.99145344e-01 0.00000000e+00 1.75939662e+02] [ 9.99145344e-01 -4.13349824e-02 0.00000000e+00 1.41308791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39267665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.970371743 meters Centerline goodness : 0.985653 Centerline is valid? [True, True] Translation: X:175.94, Y:141.34, Z:0.09 [[-4.25589374e-02 -9.99093958e-01 0.00000000e+00 1.75939591e+02] [ 9.99093958e-01 -4.25589374e-02 0.00000000e+00 1.41337189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39007758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.000371743 meters Centerline goodness : 0.980213 Centerline is valid? [True, True] Translation: X:175.93, Y:141.36, Z:0.10 [[-4.83513226e-02 -9.98830391e-01 0.00000000e+00 1.75933463e+02] [ 9.98830391e-01 -4.83513226e-02 0.00000000e+00 1.41356491e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61445296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.030371743 meters Centerline goodness : 0.980167 Centerline is valid? [True, True] Translation: X:175.93, Y:141.38, Z:0.10 [[-4.95263615e-02 -9.98772817e-01 0.00000000e+00 1.75933786e+02] [ 9.98772817e-01 -4.95263615e-02 0.00000000e+00 1.41384317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72627552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.060371743 meters Centerline goodness : 0.986586 Centerline is valid? [True, True] Translation: X:175.94, Y:141.42, Z:0.09 [[-4.55323052e-02 -9.98962867e-01 0.00000000e+00 1.75941426e+02] [ 9.98962867e-01 -4.55323052e-02 0.00000000e+00 1.41421438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.03695165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.090371743 meters Centerline goodness : 0.985705 Centerline is valid? [True, True] Translation: X:175.93, Y:141.44, Z:0.09 [[-5.36366589e-02 -9.98560518e-01 0.00000000e+00 1.75931285e+02] [ 9.98560518e-01 -5.36366589e-02 0.00000000e+00 1.41438444e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43384890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.120371743 meters Centerline goodness : 0.987429 Centerline is valid? [True, True] Translation: X:175.94, Y:141.48, Z:0.09 [[-4.84377544e-02 -9.98826203e-01 0.00000000e+00 1.75940333e+02] [ 9.98826203e-01 -4.84377544e-02 0.00000000e+00 1.41475092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.91951991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.150371743 meters Centerline goodness : 0.987725 Centerline is valid? [True, True] Translation: X:175.94, Y:141.50, Z:0.09 [[-5.07637135e-02 -9.98710692e-01 0.00000000e+00 1.75938754e+02] [ 9.98710692e-01 -5.07637135e-02 0.00000000e+00 1.41501790e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92259316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.180371743 meters Centerline goodness : 0.984529 Centerline is valid? [True, True] Translation: X:175.94, Y:141.53, Z:0.09 [[-4.72677567e-02 -9.98882255e-01 0.00000000e+00 1.75943369e+02] [ 9.98882255e-01 -4.72677567e-02 0.00000000e+00 1.41528392e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.08112352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.210371743 meters Centerline goodness : 0.988303 Centerline is valid? [True, True] Translation: X:175.94, Y:141.56, Z:0.09 [[-5.30162991e-02 -9.98593647e-01 0.00000000e+00 1.75938483e+02] [ 9.98593647e-01 -5.30162991e-02 0.00000000e+00 1.41557356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.86133951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.240371743 meters Centerline goodness : 0.986657 Centerline is valid? [True, True] Translation: X:175.93, Y:141.58, Z:0.09 [[-5.89611386e-02 -9.98260279e-01 0.00000000e+00 1.75929052e+02] [ 9.98260279e-01 -5.89611386e-02 0.00000000e+00 1.41575410e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.24109342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.270371743 meters Centerline goodness : 0.988270 Centerline is valid? [True, True] Translation: X:175.94, Y:141.61, Z:0.09 [[-5.44440761e-02 -9.98516821e-01 0.00000000e+00 1.75935407e+02] [ 9.98516821e-01 -5.44440761e-02 0.00000000e+00 1.41609817e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09474965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.300371743 meters Centerline goodness : 0.988689 Centerline is valid? [True, True] Translation: X:175.94, Y:141.64, Z:0.09 [[-5.16121341e-02 -9.98667206e-01 0.00000000e+00 1.75936738e+02] [ 9.98667206e-01 -5.16121341e-02 0.00000000e+00 1.41641826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13444569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.330371743 meters Centerline goodness : 0.988818 Centerline is valid? [True, True] Translation: X:175.94, Y:141.67, Z:0.09 [[-5.17350019e-02 -9.98660848e-01 0.00000000e+00 1.75935350e+02] [ 9.98660848e-01 -5.17350019e-02 0.00000000e+00 1.41669158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.12499536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36037174300003 meters Centerline goodness : 0.989639 Centerline is valid? [True, True] Translation: X:175.93, Y:141.70, Z:0.09 [[-5.17533015e-02 -9.98659900e-01 0.00000000e+00 1.75932733e+02] [ 9.98659900e-01 -5.17533015e-02 0.00000000e+00 1.41698096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.28830412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.390371743 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:175.93, Y:141.72, Z:0.09 [[-5.45359503e-02 -9.98511808e-01 0.00000000e+00 1.75929215e+02] [ 9.98511808e-01 -5.45359503e-02 0.00000000e+00 1.41723179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.33151929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42037174300003 meters Centerline goodness : 0.988506 Centerline is valid? [True, True] Translation: X:175.92, Y:141.74, Z:0.09 [[-5.80887400e-02 -9.98311423e-01 0.00000000e+00 1.75922511e+02] [ 9.98311423e-01 -5.80887400e-02 0.00000000e+00 1.41744557e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38269185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.450371743 meters Centerline goodness : 0.990657 Centerline is valid? [True, True] Translation: X:175.92, Y:141.78, Z:0.10 [[-5.43915284e-02 -9.98519685e-01 0.00000000e+00 1.75924630e+02] [ 9.98519685e-01 -5.43915284e-02 0.00000000e+00 1.41779823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.62913480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.480371743 meters Centerline goodness : 0.986624 Centerline is valid? [True, True] Translation: X:175.92, Y:141.80, Z:0.10 [[-5.18136951e-02 -9.98656768e-01 0.00000000e+00 1.75923282e+02] [ 9.98656768e-01 -5.18136951e-02 0.00000000e+00 1.41798063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74283980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.510371743 meters Centerline goodness : 0.989978 Centerline is valid? [True, True] Translation: X:175.92, Y:141.83, Z:0.10 [[-5.50348384e-02 -9.98484435e-01 0.00000000e+00 1.75922283e+02] [ 9.98484435e-01 -5.50348384e-02 0.00000000e+00 1.41833119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57628790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.540371743 meters Centerline goodness : 0.989037 Centerline is valid? [True, True] Translation: X:175.92, Y:141.86, Z:0.10 [[-5.38821808e-02 -9.98547300e-01 0.00000000e+00 1.75920451e+02] [ 9.98547300e-01 -5.38821808e-02 0.00000000e+00 1.41859348e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58192553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.570371743 meters Centerline goodness : 0.990082 Centerline is valid? [True, True] Translation: X:175.92, Y:141.89, Z:0.10 [[-5.39384121e-02 -9.98544264e-01 0.00000000e+00 1.75919140e+02] [ 9.98544264e-01 -5.39384121e-02 0.00000000e+00 1.41886424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53861383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.600371743 meters Centerline goodness : 0.989318 Centerline is valid? [True, True] Translation: X:175.92, Y:141.91, Z:0.10 [[-5.16306644e-02 -9.98666248e-01 0.00000000e+00 1.75916714e+02] [ 9.98666248e-01 -5.16306644e-02 0.00000000e+00 1.41913385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53184771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.630371743 meters Centerline goodness : 0.988850 Centerline is valid? [True, True] Translation: X:175.92, Y:141.94, Z:0.09 [[-5.00318946e-02 -9.98747621e-01 0.00000000e+00 1.75916165e+02] [ 9.98747621e-01 -5.00318946e-02 0.00000000e+00 1.41938959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.45512967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.660371743 meters Centerline goodness : 0.988924 Centerline is valid? [True, True] Translation: X:175.91, Y:141.97, Z:0.10 [[-4.75840535e-02 -9.98867237e-01 0.00000000e+00 1.75914521e+02] [ 9.98867237e-01 -4.75840535e-02 0.00000000e+00 1.41966358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57937520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.690371743 meters Centerline goodness : 0.989290 Centerline is valid? [True, True] Translation: X:175.91, Y:142.00, Z:0.10 [[-4.70470452e-02 -9.98892675e-01 0.00000000e+00 1.75913051e+02] [ 9.98892675e-01 -4.70470452e-02 0.00000000e+00 1.41995031e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63905432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.720371743 meters Centerline goodness : 0.989803 Centerline is valid? [True, True] Translation: X:175.91, Y:142.02, Z:0.10 [[-4.43757429e-02 -9.99014912e-01 0.00000000e+00 1.75909582e+02] [ 9.99014912e-01 -4.43757429e-02 0.00000000e+00 1.42024063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.76408671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.750371743 meters Centerline goodness : 0.989607 Centerline is valid? [True, True] Translation: X:175.91, Y:142.05, Z:0.10 [[-4.34065573e-02 -9.99057491e-01 0.00000000e+00 1.75908130e+02] [ 9.99057491e-01 -4.34065573e-02 0.00000000e+00 1.42051363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85974248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.780371743 meters Centerline goodness : 0.990032 Centerline is valid? [True, True] Translation: X:175.91, Y:142.08, Z:0.10 [[-4.16533464e-02 -9.99132123e-01 0.00000000e+00 1.75907059e+02] [ 9.99132123e-01 -4.16533464e-02 0.00000000e+00 1.42079692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.86803463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.810371743 meters Centerline goodness : 0.989749 Centerline is valid? [True, True] Translation: X:175.90, Y:142.11, Z:0.10 [[-3.87921519e-02 -9.99247301e-01 0.00000000e+00 1.75904721e+02] [ 9.99247301e-01 -3.87921519e-02 0.00000000e+00 1.42108146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00201073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.840371743 meters Centerline goodness : 0.989736 Centerline is valid? [True, True] Translation: X:175.90, Y:142.14, Z:0.10 [[-3.74838157e-02 -9.99297235e-01 0.00000000e+00 1.75902366e+02] [ 9.99297235e-01 -3.74838157e-02 0.00000000e+00 1.42135120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00242560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.870371743 meters Centerline goodness : 0.991026 Centerline is valid? [True, True] Translation: X:175.90, Y:142.16, Z:0.10 [[-3.31332045e-02 -9.99450945e-01 0.00000000e+00 1.75899368e+02] [ 9.99450945e-01 -3.31332045e-02 0.00000000e+00 1.42163527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98480685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.900371743 meters Centerline goodness : 0.990014 Centerline is valid? [True, True] Translation: X:175.90, Y:142.19, Z:0.10 [[-3.22128787e-02 -9.99481031e-01 0.00000000e+00 1.75897699e+02] [ 9.99481031e-01 -3.22128787e-02 0.00000000e+00 1.42190909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.91024613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.930371743 meters Centerline goodness : 0.990886 Centerline is valid? [True, True] Translation: X:175.90, Y:142.23, Z:0.10 [[-3.10842489e-02 -9.99516768e-01 0.00000000e+00 1.75896346e+02] [ 9.99516768e-01 -3.10842489e-02 0.00000000e+00 1.42232362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88915490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.960371743 meters Centerline goodness : 0.990392 Centerline is valid? [True, True] Translation: X:175.90, Y:142.21, Z:0.10 [[-2.54260754e-02 -9.99676705e-01 0.00000000e+00 1.75896696e+02] [ 9.99676705e-01 -2.54260754e-02 0.00000000e+00 1.42205627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.95572215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.990371743 meters Centerline goodness : 0.990207 Centerline is valid? [True, True] Translation: X:175.90, Y:142.23, Z:0.10 [[-2.55988307e-02 -9.99672296e-01 0.00000000e+00 1.75895031e+02] [ 9.99672296e-01 -2.55988307e-02 0.00000000e+00 1.42233069e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92882776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.020371743 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:175.89, Y:142.26, Z:0.10 [[-2.52898893e-02 -9.99680160e-01 0.00000000e+00 1.75894301e+02] [ 9.99680160e-01 -2.52898893e-02 0.00000000e+00 1.42259777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00334594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.050371743 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:175.89, Y:142.27, Z:0.10 [[-2.60792500e-02 -9.99659879e-01 0.00000000e+00 1.75894075e+02] [ 9.99659879e-01 -2.60792500e-02 0.00000000e+00 1.42272411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.95628733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.080371743 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:175.89, Y:142.27, Z:0.10 [[-2.66033984e-02 -9.99646067e-01 0.00000000e+00 1.75894283e+02] [ 9.99646067e-01 -2.66033984e-02 0.00000000e+00 1.42273233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00591580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11037174300003 meters Centerline goodness : 0.990206 Centerline is valid? [True, True] Translation: X:175.89, Y:142.30, Z:0.10 [[-3.08104200e-02 -9.99525246e-01 0.00000000e+00 1.75894039e+02] [ 9.99525246e-01 -3.08104200e-02 0.00000000e+00 1.42300422e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00417737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.140371743 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:175.90, Y:142.29, Z:0.10 [[-3.03021248e-02 -9.99540785e-01 0.00000000e+00 1.75895297e+02] [ 9.99540785e-01 -3.03021248e-02 0.00000000e+00 1.42290740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01505022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17037174300003 meters Centerline goodness : 0.989940 Centerline is valid? [True, True] Translation: X:175.90, Y:142.32, Z:0.10 [[-3.55807288e-02 -9.99366805e-01 0.00000000e+00 1.75895739e+02] [ 9.99366805e-01 -3.55807288e-02 0.00000000e+00 1.42316312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02065053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.200371743 meters Centerline goodness : 0.990003 Centerline is valid? [True, True] Translation: X:175.90, Y:142.35, Z:0.10 [[-3.86543684e-02 -9.99252641e-01 0.00000000e+00 1.75895997e+02] [ 9.99252641e-01 -3.86543684e-02 0.00000000e+00 1.42345101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02185937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.230371743 meters Centerline goodness : 0.989872 Centerline is valid? [True, True] Translation: X:175.90, Y:142.37, Z:0.10 [[-4.26999186e-02 -9.99087943e-01 0.00000000e+00 1.75897665e+02] [ 9.99087943e-01 -4.26999186e-02 0.00000000e+00 1.42374836e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02284321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.260371743 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:175.90, Y:142.39, Z:0.10 [[-4.91100975e-02 -9.98793371e-01 0.00000000e+00 1.75897117e+02] [ 9.98793371e-01 -4.91100975e-02 0.00000000e+00 1.42389752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01204633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.290371743 meters Centerline goodness : 0.989127 Centerline is valid? [True, True] Translation: X:175.90, Y:142.40, Z:0.10 [[-5.32519942e-02 -9.98581106e-01 0.00000000e+00 1.75897713e+02] [ 9.98581106e-01 -5.32519942e-02 0.00000000e+00 1.42399138e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01728364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.320371743 meters Centerline goodness : 0.990174 Centerline is valid? [True, True] Translation: X:175.90, Y:142.41, Z:0.10 [[-5.47371221e-02 -9.98500800e-01 0.00000000e+00 1.75897635e+02] [ 9.98500800e-01 -5.47371221e-02 0.00000000e+00 1.42406335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.98933857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.350371743 meters Centerline goodness : 0.990065 Centerline is valid? [True, True] Translation: X:175.90, Y:142.44, Z:0.10 [[-6.07195775e-02 -9.98154864e-01 0.00000000e+00 1.75897209e+02] [ 9.98154864e-01 -6.07195775e-02 0.00000000e+00 1.42438771e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97081405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.380371743 meters Centerline goodness : 0.989565 Centerline is valid? [True, True] Translation: X:175.90, Y:142.43, Z:0.10 [[-6.33677252e-02 -9.97990246e-01 0.00000000e+00 1.75896598e+02] [ 9.97990246e-01 -6.33677252e-02 0.00000000e+00 1.42432522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00261607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.410371743 meters Centerline goodness : 0.989565 Centerline is valid? [True, True] Translation: X:175.90, Y:142.44, Z:0.10 [[-6.29541977e-02 -9.98016417e-01 0.00000000e+00 1.75896500e+02] [ 9.98016417e-01 -6.29541977e-02 0.00000000e+00 1.42436074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00261607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.440371743 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:175.90, Y:142.44, Z:0.10 [[-6.31575926e-02 -9.98003566e-01 0.00000000e+00 1.75895851e+02] [ 9.98003566e-01 -6.31575926e-02 0.00000000e+00 1.42443442e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00888663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.470371743 meters Centerline goodness : 0.986857 Centerline is valid? [True, True] Translation: X:175.90, Y:142.46, Z:0.11 [[-6.73260107e-02 -9.97731030e-01 0.00000000e+00 1.75896882e+02] [ 9.97731030e-01 -6.73260107e-02 0.00000000e+00 1.42460878e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06984785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.500371743 meters Centerline goodness : 0.990178 Centerline is valid? [True, True] Translation: X:175.89, Y:142.46, Z:0.10 [[-6.36688553e-02 -9.97971080e-01 0.00000000e+00 1.75892894e+02] [ 9.97971080e-01 -6.36688553e-02 0.00000000e+00 1.42460801e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00298348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.530371743 meters Centerline goodness : 0.990906 Centerline is valid? [True, True] Translation: X:175.89, Y:142.46, Z:0.10 [[-6.33602627e-02 -9.97990720e-01 0.00000000e+00 1.75891717e+02] [ 9.97990720e-01 -6.33602627e-02 0.00000000e+00 1.42459982e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00064325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.560371743 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:175.89, Y:142.47, Z:0.10 [[-6.02760252e-02 -9.98181747e-01 0.00000000e+00 1.75889693e+02] [ 9.98181747e-01 -6.02760252e-02 0.00000000e+00 1.42471805e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00391539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.590371743 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:175.89, Y:142.50, Z:0.10 [[-5.97266091e-02 -9.98214773e-01 0.00000000e+00 1.75889167e+02] [ 9.98214773e-01 -5.97266091e-02 0.00000000e+00 1.42500656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97345066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.620371743 meters Centerline goodness : 0.989576 Centerline is valid? [True, True] Translation: X:175.89, Y:142.49, Z:0.10 [[-5.75455106e-02 -9.98342884e-01 0.00000000e+00 1.75887646e+02] [ 9.98342884e-01 -5.75455106e-02 0.00000000e+00 1.42487209e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00022539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.650371743 meters Centerline goodness : 0.990895 Centerline is valid? [True, True] Translation: X:175.88, Y:142.51, Z:0.10 [[-5.45381195e-02 -9.98511689e-01 0.00000000e+00 1.75882997e+02] [ 9.98511689e-01 -5.45381195e-02 0.00000000e+00 1.42512278e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01738569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.680371743 meters Centerline goodness : 0.989401 Centerline is valid? [True, True] Translation: X:175.88, Y:142.54, Z:0.10 [[-5.24593149e-02 -9.98623062e-01 0.00000000e+00 1.75882819e+02] [ 9.98623062e-01 -5.24593149e-02 0.00000000e+00 1.42540600e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02541464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.710371743 meters Centerline goodness : 0.991554 Centerline is valid? [True, True] Translation: X:175.88, Y:142.57, Z:0.10 [[-5.06635586e-02 -9.98715777e-01 0.00000000e+00 1.75879660e+02] [ 9.98715777e-01 -5.06635586e-02 0.00000000e+00 1.42571294e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03231869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.740371743 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:175.88, Y:142.59, Z:0.10 [[-4.91559828e-02 -9.98791114e-01 0.00000000e+00 1.75878244e+02] [ 9.98791114e-01 -4.91559828e-02 0.00000000e+00 1.42586008e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03463027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.770371743 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:175.88, Y:142.58, Z:0.11 [[-4.51401829e-02 -9.98980662e-01 0.00000000e+00 1.75875780e+02] [ 9.98980662e-01 -4.51401829e-02 0.00000000e+00 1.42581010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05128437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.800371743 meters Centerline goodness : 0.992885 Centerline is valid? [True, True] Translation: X:175.88, Y:142.61, Z:0.11 [[-4.46361283e-02 -9.99003311e-01 0.00000000e+00 1.75875205e+02] [ 9.99003311e-01 -4.46361283e-02 0.00000000e+00 1.42610728e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05439358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.830371743 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:175.87, Y:142.64, Z:0.10 [[-4.74274202e-02 -9.98874687e-01 0.00000000e+00 1.75872580e+02] [ 9.98874687e-01 -4.74274202e-02 0.00000000e+00 1.42642289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04408007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86037174300003 meters Centerline goodness : 0.992082 Centerline is valid? [True, True] Translation: X:175.87, Y:142.63, Z:0.10 [[-4.63384684e-02 -9.98925796e-01 0.00000000e+00 1.75872015e+02] [ 9.98925796e-01 -4.63384684e-02 0.00000000e+00 1.42632562e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04551402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.890371743 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:175.87, Y:142.63, Z:0.10 [[-4.39463680e-02 -9.99033892e-01 0.00000000e+00 1.75871225e+02] [ 9.99033892e-01 -4.39463680e-02 0.00000000e+00 1.42626196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02345827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92037174300003 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:175.87, Y:142.61, Z:0.10 [[-4.10095285e-02 -9.99158755e-01 0.00000000e+00 1.75869859e+02] [ 9.99158755e-01 -4.10095285e-02 0.00000000e+00 1.42613669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02025351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.950371743 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:175.87, Y:142.64, Z:0.10 [[-3.87322964e-02 -9.99249623e-01 0.00000000e+00 1.75867208e+02] [ 9.99249623e-01 -3.87322964e-02 0.00000000e+00 1.42638263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02857821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.980371743 meters Centerline goodness : 0.992399 Centerline is valid? [True, True] Translation: X:175.87, Y:142.66, Z:0.10 [[-3.75725322e-02 -9.99293903e-01 0.00000000e+00 1.75866473e+02] [ 9.99293903e-01 -3.75725322e-02 0.00000000e+00 1.42663210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02528668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.010371743 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:175.86, Y:142.69, Z:0.10 [[-3.74020534e-02 -9.99300298e-01 0.00000000e+00 1.75864914e+02] [ 9.99300298e-01 -3.74020534e-02 0.00000000e+00 1.42692859e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02213368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.040371743 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:175.86, Y:142.69, Z:0.10 [[-3.46417841e-02 -9.99399793e-01 0.00000000e+00 1.75862790e+02] [ 9.99399793e-01 -3.46417841e-02 0.00000000e+00 1.42694996e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03263100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.070371743 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:175.86, Y:142.72, Z:0.10 [[-3.20485721e-02 -9.99486313e-01 0.00000000e+00 1.75862263e+02] [ 9.99486313e-01 -3.20485721e-02 0.00000000e+00 1.42722158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03921747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.100371743 meters Centerline goodness : 0.992915 Centerline is valid? [True, True] Translation: X:175.86, Y:142.75, Z:0.10 [[-3.33572962e-02 -9.99443491e-01 0.00000000e+00 1.75860738e+02] [ 9.99443491e-01 -3.33572962e-02 0.00000000e+00 1.42750866e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01648633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.130371743 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:175.86, Y:142.73, Z:0.10 [[-3.12442664e-02 -9.99511779e-01 0.00000000e+00 1.75859968e+02] [ 9.99511779e-01 -3.12442664e-02 0.00000000e+00 1.42732738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03209353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.160371743 meters Centerline goodness : 0.992856 Centerline is valid? [True, True] Translation: X:175.86, Y:142.76, Z:0.10 [[-3.05784528e-02 -9.99532370e-01 0.00000000e+00 1.75859496e+02] [ 9.99532370e-01 -3.05784528e-02 0.00000000e+00 1.42755202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02233023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.190371743 meters Centerline goodness : 0.992973 Centerline is valid? [True, True] Translation: X:175.86, Y:142.78, Z:0.10 [[-3.21246233e-02 -9.99483871e-01 0.00000000e+00 1.75858636e+02] [ 9.99483871e-01 -3.21246233e-02 0.00000000e+00 1.42784139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01928352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.220371743 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:175.86, Y:142.79, Z:0.10 [[-3.30391000e-02 -9.99454060e-01 0.00000000e+00 1.75859599e+02] [ 9.99454060e-01 -3.30391000e-02 0.00000000e+00 1.42788935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03085236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.250371743 meters Centerline goodness : 0.992413 Centerline is valid? [True, True] Translation: X:175.86, Y:142.80, Z:0.10 [[-3.17835291e-02 -9.99494776e-01 0.00000000e+00 1.75860472e+02] [ 9.99494776e-01 -3.17835291e-02 0.00000000e+00 1.42796163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04380800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.280371743 meters Centerline goodness : 0.991678 Centerline is valid? [True, True] Translation: X:175.86, Y:142.82, Z:0.10 [[-3.21454458e-02 -9.99483202e-01 0.00000000e+00 1.75860819e+02] [ 9.99483202e-01 -3.21454458e-02 0.00000000e+00 1.42822595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04555426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.310371743 meters Centerline goodness : 0.990762 Centerline is valid? [True, True] Translation: X:175.86, Y:142.83, Z:0.10 [[-3.16670455e-02 -9.99498473e-01 0.00000000e+00 1.75861702e+02] [ 9.99498473e-01 -3.16670455e-02 0.00000000e+00 1.42832875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02548258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.340371743 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:175.86, Y:142.82, Z:0.10 [[-3.02284903e-02 -9.99543015e-01 0.00000000e+00 1.75862950e+02] [ 9.99543015e-01 -3.02284903e-02 0.00000000e+00 1.42817015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02785552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.370371743 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:175.86, Y:142.85, Z:0.10 [[-3.22563486e-02 -9.99479629e-01 0.00000000e+00 1.75863190e+02] [ 9.99479629e-01 -3.22563486e-02 0.00000000e+00 1.42847547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00475355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.400371743 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:175.86, Y:142.83, Z:0.10 [[-3.04850972e-02 -9.99535221e-01 0.00000000e+00 1.75864417e+02] [ 9.99535221e-01 -3.04850972e-02 0.00000000e+00 1.42831441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82247625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.430371743 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:175.86, Y:142.84, Z:0.10 [[-3.27146911e-02 -9.99464731e-01 0.00000000e+00 1.75864828e+02] [ 9.99464731e-01 -3.27146911e-02 0.00000000e+00 1.42836567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00128617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.460371743 meters Centerline goodness : 0.992559 Centerline is valid? [True, True] Translation: X:175.87, Y:142.85, Z:0.10 [[-2.83103536e-02 -9.99599182e-01 0.00000000e+00 1.75867956e+02] [ 9.99599182e-01 -2.83103536e-02 0.00000000e+00 1.42849578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.65915633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.490371743 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:175.87, Y:142.88, Z:0.10 [[-2.77315354e-02 -9.99615407e-01 0.00000000e+00 1.75870662e+02] [ 9.99615407e-01 -2.77315354e-02 0.00000000e+00 1.42878264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.52319309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.520371743 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:175.87, Y:142.89, Z:0.10 [[-2.70057579e-02 -9.99635278e-01 0.00000000e+00 1.75873207e+02] [ 9.99635278e-01 -2.70057579e-02 0.00000000e+00 1.42887084e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.67264700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.550371743 meters Centerline goodness : 0.992250 Centerline is valid? [True, True] Translation: X:175.87, Y:142.88, Z:0.10 [[-2.37545143e-02 -9.99717822e-01 0.00000000e+00 1.75873847e+02] [ 9.99717822e-01 -2.37545143e-02 0.00000000e+00 1.42884842e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70009460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.580371743 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:175.88, Y:142.89, Z:0.10 [[-2.12396614e-02 -9.99774413e-01 0.00000000e+00 1.75875396e+02] [ 9.99774413e-01 -2.12396614e-02 0.00000000e+00 1.42891682e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.71297051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61037174300003 meters Centerline goodness : 0.992234 Centerline is valid? [True, True] Translation: X:175.88, Y:142.92, Z:0.10 [[-1.90314549e-02 -9.99818885e-01 0.00000000e+00 1.75878743e+02] [ 9.99818885e-01 -1.90314549e-02 0.00000000e+00 1.42921474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64799215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.640371743 meters Centerline goodness : 0.991963 Centerline is valid? [True, True] Translation: X:175.88, Y:142.90, Z:0.10 [[-1.75223689e-02 -9.99846472e-01 0.00000000e+00 1.75879145e+02] [ 9.99846472e-01 -1.75223689e-02 0.00000000e+00 1.42903267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.56838645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67037174300003 meters Centerline goodness : 0.992162 Centerline is valid? [True, True] Translation: X:175.88, Y:142.92, Z:0.09 [[-1.32786189e-02 -9.99911835e-01 0.00000000e+00 1.75882125e+02] [ 9.99911835e-01 -1.32786189e-02 0.00000000e+00 1.42917723e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.38022784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.700371743 meters Centerline goodness : 0.991775 Centerline is valid? [True, True] Translation: X:175.88, Y:142.95, Z:0.09 [[-1.25153847e-02 -9.99921680e-01 0.00000000e+00 1.75884181e+02] [ 9.99921680e-01 -1.25153847e-02 0.00000000e+00 1.42946426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15720767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.730371743 meters Centerline goodness : 0.991478 Centerline is valid? [True, True] Translation: X:175.89, Y:142.95, Z:0.09 [[-7.75244839e-03 -9.99969949e-01 0.00000000e+00 1.75888849e+02] [ 9.99969949e-01 -7.75244839e-03 0.00000000e+00 1.42949696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.69892081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.760371743 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:175.89, Y:142.95, Z:0.09 [[-5.47498675e-03 -9.99985012e-01 0.00000000e+00 1.75890776e+02] [ 9.99985012e-01 -5.47498675e-03 0.00000000e+00 1.42953301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.57420012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.790371743 meters Centerline goodness : 0.990966 Centerline is valid? [True, True] Translation: X:175.89, Y:142.98, Z:0.09 [[-4.52779253e-03 -9.99989749e-01 0.00000000e+00 1.75893155e+02] [ 9.99989749e-01 -4.52779253e-03 0.00000000e+00 1.42981547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.75685697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.820371743 meters Centerline goodness : 0.991753 Centerline is valid? [True, True] Translation: X:175.90, Y:143.01, Z:0.09 [[-2.87274089e-03 -9.99995874e-01 0.00000000e+00 1.75897811e+02] [ 9.99995874e-01 -2.87274089e-03 0.00000000e+00 1.43011892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.78700698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.850371743 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:175.90, Y:143.01, Z:0.09 [[-4.45529574e-04 -9.99999901e-01 0.00000000e+00 1.75900240e+02] [ 9.99999901e-01 -4.45529574e-04 0.00000000e+00 1.43010287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.72345526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.880371743 meters Centerline goodness : 0.990206 Centerline is valid? [True, True] Translation: X:175.90, Y:143.04, Z:0.09 [[-2.98708312e-03 -9.99995539e-01 0.00000000e+00 1.75902622e+02] [ 9.99995539e-01 -2.98708312e-03 0.00000000e+00 1.43037940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73970042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.910371743 meters Centerline goodness : 0.989927 Centerline is valid? [True, True] Translation: X:175.91, Y:143.03, Z:0.09 [[-3.89421967e-03 -9.99992417e-01 0.00000000e+00 1.75905741e+02] [ 9.99992417e-01 -3.89421967e-03 0.00000000e+00 1.43026951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.74221864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.940371743 meters Centerline goodness : 0.989087 Centerline is valid? [True, True] Translation: X:175.91, Y:143.02, Z:0.09 [[-5.59973107e-03 -9.99984321e-01 0.00000000e+00 1.75908722e+02] [ 9.99984321e-01 -5.59973107e-03 0.00000000e+00 1.43020630e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.62849644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.970371743 meters Centerline goodness : 0.989415 Centerline is valid? [True, True] Translation: X:175.91, Y:143.03, Z:0.09 [[-7.88072235e-03 -9.99968947e-01 0.00000000e+00 1.75909019e+02] [ 9.99968947e-01 -7.88072235e-03 0.00000000e+00 1.43030123e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.77332154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.000371743 meters Centerline goodness : 0.988230 Centerline is valid? [True, True] Translation: X:175.91, Y:143.03, Z:0.09 [[-6.74483084e-03 -9.99977253e-01 0.00000000e+00 1.75912935e+02] [ 9.99977253e-01 -6.74483084e-03 0.00000000e+00 1.43034534e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.73015154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.030371743 meters Centerline goodness : 0.989068 Centerline is valid? [True, True] Translation: X:175.91, Y:143.05, Z:0.09 [[-7.89556851e-03 -9.99968830e-01 0.00000000e+00 1.75914209e+02] [ 9.99968830e-01 -7.89556851e-03 0.00000000e+00 1.43046480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.71558653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.060371743 meters Centerline goodness : 0.989463 Centerline is valid? [True, True] Translation: X:175.92, Y:143.04, Z:0.09 [[-1.24017861e-02 -9.99923095e-01 0.00000000e+00 1.75918147e+02] [ 9.99923095e-01 -1.24017861e-02 0.00000000e+00 1.43036423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97875417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.090371743 meters Centerline goodness : 0.989172 Centerline is valid? [True, True] Translation: X:175.92, Y:143.04, Z:0.09 [[-1.62030998e-02 -9.99868721e-01 0.00000000e+00 1.75922036e+02] [ 9.99868721e-01 -1.62030998e-02 0.00000000e+00 1.43044838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.98618868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.120371743 meters Centerline goodness : 0.988427 Centerline is valid? [True, True] Translation: X:175.92, Y:143.07, Z:0.09 [[-2.19516566e-02 -9.99759033e-01 0.00000000e+00 1.75922837e+02] [ 9.99759033e-01 -2.19516566e-02 0.00000000e+00 1.43072164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02181033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.150371743 meters Centerline goodness : 0.989098 Centerline is valid? [True, True] Translation: X:175.93, Y:143.05, Z:0.09 [[-2.08610548e-02 -9.99782385e-01 0.00000000e+00 1.75926204e+02] [ 9.99782385e-01 -2.08610548e-02 0.00000000e+00 1.43051776e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09422220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.180371743 meters Centerline goodness : 0.989341 Centerline is valid? [True, True] Translation: X:175.93, Y:143.05, Z:0.09 [[-2.13981726e-02 -9.99771033e-01 0.00000000e+00 1.75932066e+02] [ 9.99771033e-01 -2.13981726e-02 0.00000000e+00 1.43049357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.97762924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.210371743 meters Centerline goodness : 0.988878 Centerline is valid? [True, True] Translation: X:175.93, Y:143.07, Z:0.09 [[-2.44207503e-02 -9.99701769e-01 0.00000000e+00 1.75934678e+02] [ 9.99701769e-01 -2.44207503e-02 0.00000000e+00 1.43068220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.02501806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.240371743 meters Centerline goodness : 0.988764 Centerline is valid? [True, True] Translation: X:175.94, Y:143.07, Z:0.09 [[-2.61530835e-02 -9.99657950e-01 0.00000000e+00 1.75939299e+02] [ 9.99657950e-01 -2.61530835e-02 0.00000000e+00 1.43068684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.79803787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.270371743 meters Centerline goodness : 0.988016 Centerline is valid? [True, True] Translation: X:175.94, Y:143.08, Z:0.09 [[-2.69792343e-02 -9.99635994e-01 0.00000000e+00 1.75942905e+02] [ 9.99635994e-01 -2.69792343e-02 0.00000000e+00 1.43076046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.70418224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.300371743 meters Centerline goodness : 0.988635 Centerline is valid? [True, True] Translation: X:175.94, Y:143.07, Z:0.09 [[-2.62056260e-02 -9.99656574e-01 0.00000000e+00 1.75943856e+02] [ 9.99656574e-01 -2.62056260e-02 0.00000000e+00 1.43068875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.78505552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.330371743 meters Centerline goodness : 0.988635 Centerline is valid? [True, True] Translation: X:175.94, Y:143.07, Z:0.09 [[-2.58596195e-02 -9.99665584e-01 0.00000000e+00 1.75943748e+02] [ 9.99665584e-01 -2.58596195e-02 0.00000000e+00 1.43071541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.78505552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36037174300003 meters Centerline goodness : 0.989292 Centerline is valid? [True, True] Translation: X:175.95, Y:143.07, Z:0.09 [[-2.53437673e-02 -9.99678795e-01 0.00000000e+00 1.75948257e+02] [ 9.99678795e-01 -2.53437673e-02 0.00000000e+00 1.43067700e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.78630332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.390371743 meters Centerline goodness : 0.987990 Centerline is valid? [True, True] Translation: X:175.95, Y:143.07, Z:0.09 [[-2.51188211e-02 -9.99684473e-01 0.00000000e+00 1.75950841e+02] [ 9.99684473e-01 -2.51188211e-02 0.00000000e+00 1.43072533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.85218329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42037174300003 meters Centerline goodness : 0.987808 Centerline is valid? [True, True] Translation: X:175.96, Y:143.07, Z:0.09 [[-2.42421338e-02 -9.99706116e-01 0.00000000e+00 1.75955507e+02] [ 9.99706116e-01 -2.42421338e-02 0.00000000e+00 1.43074257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96274893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.450371743 meters Centerline goodness : 0.987558 Centerline is valid? [True, True] Translation: X:175.96, Y:143.10, Z:0.09 [[-2.58666264e-02 -9.99665403e-01 0.00000000e+00 1.75955878e+02] [ 9.99665403e-01 -2.58666264e-02 0.00000000e+00 1.43102445e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.95892258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.480371743 meters Centerline goodness : 0.987466 Centerline is valid? [True, True] Translation: X:175.96, Y:143.10, Z:0.09 [[-2.44141024e-02 -9.99701931e-01 0.00000000e+00 1.75957716e+02] [ 9.99701931e-01 -2.44141024e-02 0.00000000e+00 1.43103606e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.15710804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.510371743 meters Centerline goodness : 0.986779 Centerline is valid? [True, True] Translation: X:175.96, Y:143.13, Z:0.09 [[-2.43842105e-02 -9.99702661e-01 0.00000000e+00 1.75960083e+02] [ 9.99702661e-01 -2.43842105e-02 0.00000000e+00 1.43131643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19981224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.540371743 meters Centerline goodness : 0.987713 Centerline is valid? [True, True] Translation: X:175.96, Y:143.12, Z:0.09 [[-2.05384025e-02 -9.99789065e-01 0.00000000e+00 1.75963715e+02] [ 9.99789065e-01 -2.05384025e-02 0.00000000e+00 1.43122844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.11442101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.570371743 meters Centerline goodness : 0.986221 Centerline is valid? [True, True] Translation: X:175.96, Y:143.15, Z:0.09 [[-2.05448016e-02 -9.99788933e-01 0.00000000e+00 1.75962575e+02] [ 9.99788933e-01 -2.05448016e-02 0.00000000e+00 1.43145904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09339205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.600371743 meters Centerline goodness : 0.987330 Centerline is valid? [True, True] Translation: X:175.96, Y:143.17, Z:0.09 [[-2.07877547e-02 -9.99783911e-01 0.00000000e+00 1.75962599e+02] [ 9.99783911e-01 -2.07877547e-02 0.00000000e+00 1.43174332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.85345133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.630371743 meters Centerline goodness : 0.984562 Centerline is valid? [True, True] Translation: X:175.96, Y:143.20, Z:0.09 [[-1.76654095e-02 -9.99843954e-01 0.00000000e+00 1.75964561e+02] [ 9.99843954e-01 -1.76654095e-02 0.00000000e+00 1.43195098e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.08449995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.660371743 meters Centerline goodness : 0.985888 Centerline is valid? [True, True] Translation: X:175.96, Y:143.22, Z:0.09 [[-1.64452773e-02 -9.99864767e-01 0.00000000e+00 1.75964197e+02] [ 9.99864767e-01 -1.64452773e-02 0.00000000e+00 1.43221532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.19897253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.690371743 meters Centerline goodness : 0.984565 Centerline is valid? [True, True] Translation: X:175.97, Y:143.25, Z:0.09 [[-1.28699931e-02 -9.99917178e-01 0.00000000e+00 1.75966528e+02] [ 9.99917178e-01 -1.28699931e-02 0.00000000e+00 1.43249416e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13278776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.720371743 meters Centerline goodness : 0.983695 Centerline is valid? [True, True] Translation: X:175.97, Y:143.28, Z:0.09 [[-8.13956748e-03 -9.99966873e-01 0.00000000e+00 1.75969551e+02] [ 9.99966873e-01 -8.13956748e-03 0.00000000e+00 1.43277497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.10879599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.750371743 meters Centerline goodness : 0.986185 Centerline is valid? [True, True] Translation: X:175.97, Y:143.31, Z:0.09 [[-6.82828379e-03 -9.99976687e-01 0.00000000e+00 1.75970340e+02] [ 9.99976687e-01 -6.82828379e-03 0.00000000e+00 1.43309773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.09836285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.780371743 meters Centerline goodness : 0.983653 Centerline is valid? [True, True] Translation: X:175.96, Y:143.33, Z:0.09 [[-1.26819386e-02 -9.99919581e-01 0.00000000e+00 1.75963979e+02] [ 9.99919581e-01 -1.26819386e-02 0.00000000e+00 1.43325619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39885810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.810371743 meters Centerline goodness : 0.987892 Centerline is valid? [True, True] Translation: X:175.97, Y:143.36, Z:0.09 [[-8.18132617e-03 -9.99966532e-01 0.00000000e+00 1.75973465e+02] [ 9.99966532e-01 -8.18132617e-03 0.00000000e+00 1.43362385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.76808142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.840371743 meters Centerline goodness : 0.984166 Centerline is valid? [True, True] Translation: X:175.97, Y:143.38, Z:0.09 [[-1.48593842e-02 -9.99889593e-01 0.00000000e+00 1.75970683e+02] [ 9.99889593e-01 -1.48593842e-02 0.00000000e+00 1.43376387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.20106089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.870371743 meters Centerline goodness : 0.987241 Centerline is valid? [True, True] Translation: X:175.98, Y:143.41, Z:0.09 [[-1.02437026e-02 -9.99947532e-01 0.00000000e+00 1.75979573e+02] [ 9.99947532e-01 -1.02437026e-02 0.00000000e+00 1.43411890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.92985008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.900371743 meters Centerline goodness : 0.983925 Centerline is valid? [True, True] Translation: X:175.97, Y:143.43, Z:0.10 [[-1.79541905e-02 -9.99838811e-01 0.00000000e+00 1.75974942e+02] [ 9.99838811e-01 -1.79541905e-02 0.00000000e+00 1.43431276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60780453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.930371743 meters Centerline goodness : 0.991859 Centerline is valid? [True, True] Translation: X:175.98, Y:143.47, Z:0.09 [[-2.49385597e-02 -9.99688986e-01 0.00000000e+00 1.75978322e+02] [ 9.99688986e-01 -2.49385597e-02 0.00000000e+00 1.43465922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96468458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.960371743 meters Centerline goodness : 0.987167 Centerline is valid? [True, True] Translation: X:175.99, Y:143.49, Z:0.09 [[-2.02644007e-02 -9.99794656e-01 0.00000000e+00 1.75985746e+02] [ 9.99794656e-01 -2.02644007e-02 0.00000000e+00 1.43494923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.32202887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.990371743 meters Centerline goodness : 0.992055 Centerline is valid? [True, True] Translation: X:175.99, Y:143.52, Z:0.09 [[-3.02162978e-02 -9.99543383e-01 0.00000000e+00 1.75985605e+02] [ 9.99543383e-01 -3.02162978e-02 0.00000000e+00 1.43522239e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.13270003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.020371743 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:175.99, Y:143.55, Z:0.09 [[-3.19144334e-02 -9.99490605e-01 0.00000000e+00 1.75988549e+02] [ 9.99490605e-01 -3.19144334e-02 0.00000000e+00 1.43551166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.05863922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.050371743 meters Centerline goodness : 0.983871 Centerline is valid? [True, True] Translation: X:175.99, Y:143.57, Z:0.09 [[-3.23234344e-02 -9.99477461e-01 0.00000000e+00 1.75993847e+02] [ 9.99477461e-01 -3.23234344e-02 0.00000000e+00 1.43569015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.39948841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.080371743 meters Centerline goodness : 0.991373 Centerline is valid? [True, True] Translation: X:176.00, Y:143.60, Z:0.09 [[-3.59460941e-02 -9.99353730e-01 0.00000000e+00 1.75995929e+02] [ 9.99353730e-01 -3.59460941e-02 0.00000000e+00 1.43604819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.90799639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11037174300003 meters Centerline goodness : 0.985283 Centerline is valid? [True, True] Translation: X:176.00, Y:143.62, Z:0.09 [[-3.50068191e-02 -9.99387073e-01 0.00000000e+00 1.75996866e+02] [ 9.99387073e-01 -3.50068191e-02 0.00000000e+00 1.43621444e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.88674317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.140371743 meters Centerline goodness : 0.991580 Centerline is valid? [True, True] Translation: X:176.00, Y:143.66, Z:0.09 [[-3.59255844e-02 -9.99354468e-01 0.00000000e+00 1.76002228e+02] [ 9.99354468e-01 -3.59255844e-02 0.00000000e+00 1.43657635e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.96322805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17037174300003 meters Centerline goodness : 0.991232 Centerline is valid? [True, True] Translation: X:176.00, Y:143.68, Z:0.09 [[-3.46287099e-02 -9.99400246e-01 0.00000000e+00 1.76004673e+02] [ 9.99400246e-01 -3.46287099e-02 0.00000000e+00 1.43684856e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.87558789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.200371743 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:176.01, Y:143.71, Z:0.09 [[-3.26479840e-02 -9.99466912e-01 0.00000000e+00 1.76007222e+02] [ 9.99466912e-01 -3.26479840e-02 0.00000000e+00 1.43713243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 8.94580118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.230371743 meters Centerline goodness : 0.988840 Centerline is valid? [True, True] Translation: X:176.01, Y:143.73, Z:0.10 [[-2.97873243e-02 -9.99556259e-01 0.00000000e+00 1.76006533e+02] [ 9.99556259e-01 -2.97873243e-02 0.00000000e+00 1.43734809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80666913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.260371743 meters Centerline goodness : 0.986613 Centerline is valid? [True, True] Translation: X:176.03, Y:143.78, Z:0.10 [[-1.24196874e-02 -9.99922873e-01 0.00000000e+00 1.76027679e+02] [ 9.99922873e-01 -1.24196874e-02 0.00000000e+00 1.43779317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.60910922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.290371743 meters Centerline goodness : 0.989469 Centerline is valid? [True, True] Translation: X:176.01, Y:143.79, Z:0.10 [[-2.31505081e-02 -9.99731991e-01 0.00000000e+00 1.76013685e+02] [ 9.99731991e-01 -2.31505081e-02 0.00000000e+00 1.43792621e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89339048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.320371743 meters Centerline goodness : 0.986779 Centerline is valid? [True, True] Translation: X:176.03, Y:143.78, Z:0.10 [[ 2.73367836e-03 -9.99996263e-01 0.00000000e+00 1.76029653e+02] [ 9.99996263e-01 2.73367836e-03 0.00000000e+00 1.43780053e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58876668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.350371743 meters Centerline goodness : 0.987001 Centerline is valid? [True, True] Translation: X:176.03, Y:143.81, Z:0.10 [[ 5.35779433e-03 -9.99985647e-01 0.00000000e+00 1.76033004e+02] [ 9.99985647e-01 5.35779433e-03 0.00000000e+00 1.43809078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.62551166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.380371743 meters Centerline goodness : 0.985175 Centerline is valid? [True, True] Translation: X:176.04, Y:143.83, Z:0.10 [[ 5.36059451e-03 -9.99985632e-01 0.00000000e+00 1.76037652e+02] [ 9.99985632e-01 5.36059451e-03 0.00000000e+00 1.43832529e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.77244906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.410371743 meters Centerline goodness : 0.987094 Centerline is valid? [True, True] Translation: X:176.04, Y:143.86, Z:0.10 [[ 6.13855001e-03 -9.99981159e-01 0.00000000e+00 1.76040821e+02] [ 9.99981159e-01 6.13855001e-03 0.00000000e+00 1.43863674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66007709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.440371743 meters Centerline goodness : 0.986149 Centerline is valid? [True, True] Translation: X:176.04, Y:143.89, Z:0.10 [[ 4.63386497e-03 -9.99989264e-01 0.00000000e+00 1.76044773e+02] [ 9.99989264e-01 4.63386497e-03 0.00000000e+00 1.43890600e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69756851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.470371743 meters Centerline goodness : 0.987008 Centerline is valid? [True, True] Translation: X:176.05, Y:143.92, Z:0.10 [[ 4.89484282e-03 -9.99988020e-01 0.00000000e+00 1.76047913e+02] [ 9.99988020e-01 4.89484282e-03 0.00000000e+00 1.43920335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66875501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.500371743 meters Centerline goodness : 0.987421 Centerline is valid? [True, True] Translation: X:176.05, Y:143.95, Z:0.10 [[ 4.40642968e-03 -9.99990292e-01 0.00000000e+00 1.76051028e+02] [ 9.99990292e-01 4.40642968e-03 0.00000000e+00 1.43949594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72990815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.530371743 meters Centerline goodness : 0.985259 Centerline is valid? [True, True] Translation: X:176.06, Y:143.97, Z:0.10 [[ 2.42762507e-03 -9.99997053e-01 0.00000000e+00 1.76056315e+02] [ 9.99997053e-01 2.42762507e-03 0.00000000e+00 1.43974451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.67168430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.560371743 meters Centerline goodness : 0.985062 Centerline is valid? [True, True] Translation: X:176.06, Y:144.00, Z:0.10 [[ 1.09506354e-03 -9.99999400e-01 0.00000000e+00 1.76059424e+02] [ 9.99999400e-01 1.09506354e-03 0.00000000e+00 1.44001408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.73232507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.590371743 meters Centerline goodness : 0.984991 Centerline is valid? [True, True] Translation: X:176.06, Y:144.03, Z:0.10 [[-1.10077612e-03 -9.99999394e-01 0.00000000e+00 1.76061198e+02] [ 9.99999394e-01 -1.10077612e-03 0.00000000e+00 1.44026953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80537476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.620371743 meters Centerline goodness : 0.983263 Centerline is valid? [True, True] Translation: X:176.07, Y:144.06, Z:0.10 [[-4.55052177e-03 -9.99989646e-01 0.00000000e+00 1.76067540e+02] [ 9.99989646e-01 -4.55052177e-03 0.00000000e+00 1.44056719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74080731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.650371743 meters Centerline goodness : 0.983229 Centerline is valid? [True, True] Translation: X:176.07, Y:144.08, Z:0.10 [[-5.77524649e-03 -9.99983323e-01 0.00000000e+00 1.76071252e+02] [ 9.99983323e-01 -5.77524649e-03 0.00000000e+00 1.44084143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.67252683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.680371743 meters Centerline goodness : 0.982424 Centerline is valid? [True, True] Translation: X:176.08, Y:144.11, Z:0.10 [[-9.62295459e-03 -9.99953698e-01 0.00000000e+00 1.76077368e+02] [ 9.99953698e-01 -9.62295459e-03 0.00000000e+00 1.44112892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64106489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.710371743 meters Centerline goodness : 0.982461 Centerline is valid? [True, True] Translation: X:176.08, Y:144.14, Z:0.10 [[-1.32448964e-02 -9.99912283e-01 0.00000000e+00 1.76079350e+02] [ 9.99912283e-01 -1.32448964e-02 0.00000000e+00 1.44140071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.68414759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.740371743 meters Centerline goodness : 0.981483 Centerline is valid? [True, True] Translation: X:176.08, Y:144.17, Z:0.10 [[-1.51829870e-02 -9.99884732e-01 0.00000000e+00 1.76082388e+02] [ 9.99884732e-01 -1.51829870e-02 0.00000000e+00 1.44165834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63663185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.770371743 meters Centerline goodness : 0.981852 Centerline is valid? [True, True] Translation: X:176.09, Y:144.20, Z:0.09 [[-1.79538990e-02 -9.99838816e-01 0.00000000e+00 1.76089181e+02] [ 9.99838816e-01 -1.79538990e-02 0.00000000e+00 1.44195753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42575655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.800371743 meters Centerline goodness : 0.982443 Centerline is valid? [True, True] Translation: X:176.09, Y:144.22, Z:0.10 [[-2.15835419e-02 -9.99767048e-01 0.00000000e+00 1.76091193e+02] [ 9.99767048e-01 -2.15835419e-02 0.00000000e+00 1.44223041e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57203679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.830371743 meters Centerline goodness : 0.980550 Centerline is valid? [True, True] Translation: X:176.10, Y:144.25, Z:0.10 [[-2.51442794e-02 -9.99683833e-01 0.00000000e+00 1.76095708e+02] [ 9.99683833e-01 -2.51442794e-02 0.00000000e+00 1.44252902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59777802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86037174300003 meters Centerline goodness : 0.980000 Centerline is valid? [True, True] Translation: X:176.10, Y:144.28, Z:0.10 [[-2.69453543e-02 -9.99636908e-01 0.00000000e+00 1.76097597e+02] [ 9.99636908e-01 -2.69453543e-02 0.00000000e+00 1.44281903e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61648839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.890371743 meters Centerline goodness : 0.979863 Centerline is valid? [True, True] Translation: X:176.10, Y:144.31, Z:0.10 [[-2.97694958e-02 -9.99556790e-01 0.00000000e+00 1.76098345e+02] [ 9.99556790e-01 -2.97694958e-02 0.00000000e+00 1.44309254e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.70187932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92037174300003 meters Centerline goodness : 0.980146 Centerline is valid? [True, True] Translation: X:176.10, Y:144.34, Z:0.10 [[-3.37230398e-02 -9.99431217e-01 0.00000000e+00 1.76100997e+02] [ 9.99431217e-01 -3.37230398e-02 0.00000000e+00 1.44335918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.76568895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.950371743 meters Centerline goodness : 0.980188 Centerline is valid? [True, True] Translation: X:176.10, Y:144.36, Z:0.10 [[-3.47609317e-02 -9.99395656e-01 0.00000000e+00 1.76102767e+02] [ 9.99395656e-01 -3.47609317e-02 0.00000000e+00 1.44362458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.77226023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.980371743 meters Centerline goodness : 0.980306 Centerline is valid? [True, True] Translation: X:176.10, Y:144.39, Z:0.10 [[-3.75088084e-02 -9.99296297e-01 0.00000000e+00 1.76102625e+02] [ 9.99296297e-01 -3.75088084e-02 0.00000000e+00 1.44390010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.95657106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.010371743 meters Centerline goodness : 0.980061 Centerline is valid? [True, True] Translation: X:176.10, Y:144.42, Z:0.10 [[-4.06123187e-02 -9.99174979e-01 0.00000000e+00 1.76104577e+02] [ 9.99174979e-01 -4.06123187e-02 0.00000000e+00 1.44418569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97866034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.040371743 meters Centerline goodness : 0.979171 Centerline is valid? [True, True] Translation: X:176.11, Y:144.42, Z:0.10 [[-4.10904629e-02 -9.99155430e-01 0.00000000e+00 1.76106755e+02] [ 9.99155430e-01 -4.10904629e-02 0.00000000e+00 1.44423060e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00777536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.070371743 meters Centerline goodness : 0.980536 Centerline is valid? [True, True] Translation: X:176.11, Y:144.42, Z:0.10 [[-4.13137084e-02 -9.99146224e-01 0.00000000e+00 1.76107125e+02] [ 9.99146224e-01 -4.13137084e-02 0.00000000e+00 1.44424360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.97038037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.100371743 meters Centerline goodness : 0.981297 Centerline is valid? [True, True] Translation: X:176.11, Y:144.45, Z:0.10 [[-4.31765137e-02 -9.99067460e-01 0.00000000e+00 1.76108205e+02] [ 9.99067460e-01 -4.31765137e-02 0.00000000e+00 1.44453896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78655623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.130371743 meters Centerline goodness : 0.980958 Centerline is valid? [True, True] Translation: X:176.11, Y:144.45, Z:0.10 [[-4.34210560e-02 -9.99056861e-01 0.00000000e+00 1.76109239e+02] [ 9.99056861e-01 -4.34210560e-02 0.00000000e+00 1.44454311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.92451028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.160371743 meters Centerline goodness : 0.981081 Centerline is valid? [True, True] Translation: X:176.11, Y:144.46, Z:0.10 [[-4.43650257e-02 -9.99015388e-01 0.00000000e+00 1.76109651e+02] [ 9.99015388e-01 -4.43650257e-02 0.00000000e+00 1.44456760e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.94474275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.190371743 meters Centerline goodness : 0.979399 Centerline is valid? [True, True] Translation: X:176.11, Y:144.46, Z:0.10 [[-4.25894217e-02 -9.99092659e-01 0.00000000e+00 1.76111729e+02] [ 9.99092659e-01 -4.25894217e-02 0.00000000e+00 1.44462090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.87701845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.220371743 meters Centerline goodness : 0.979399 Centerline is valid? [True, True] Translation: X:176.11, Y:144.49, Z:0.10 [[-4.31142699e-02 -9.99070148e-01 0.00000000e+00 1.76111534e+02] [ 9.99070148e-01 -4.31142699e-02 0.00000000e+00 1.44489443e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.87701845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.250371743 meters Centerline goodness : 0.979188 Centerline is valid? [True, True] Translation: X:176.11, Y:144.52, Z:0.10 [[-4.43645819e-02 -9.99015407e-01 0.00000000e+00 1.76111321e+02] [ 9.99015407e-01 -4.43645819e-02 0.00000000e+00 1.44517280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.86896390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.280371743 meters Centerline goodness : 0.980703 Centerline is valid? [True, True] Translation: X:176.11, Y:144.52, Z:0.10 [[-4.58194391e-02 -9.98949738e-01 0.00000000e+00 1.76110224e+02] [ 9.98949738e-01 -4.58194391e-02 0.00000000e+00 1.44521429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.83986598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.310371743 meters Centerline goodness : 0.980165 Centerline is valid? [True, True] Translation: X:176.11, Y:144.52, Z:0.10 [[-4.30539664e-02 -9.99072748e-01 0.00000000e+00 1.76111132e+02] [ 9.99072748e-01 -4.30539664e-02 0.00000000e+00 1.44520702e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.72872137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.340371743 meters Centerline goodness : 0.981367 Centerline is valid? [True, True] Translation: X:176.11, Y:144.55, Z:0.10 [[-4.58467099e-02 -9.98948487e-01 0.00000000e+00 1.76106930e+02] [ 9.98948487e-01 -4.58467099e-02 0.00000000e+00 1.44547563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.67435358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.370371743 meters Centerline goodness : 0.980666 Centerline is valid? [True, True] Translation: X:176.11, Y:144.57, Z:0.10 [[-4.70818075e-02 -9.98891037e-01 0.00000000e+00 1.76105202e+02] [ 9.98891037e-01 -4.70818075e-02 0.00000000e+00 1.44573933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.77439332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.400371743 meters Centerline goodness : 0.981813 Centerline is valid? [True, True] Translation: X:176.10, Y:144.60, Z:0.10 [[-4.70723347e-02 -9.98891483e-01 0.00000000e+00 1.76104481e+02] [ 9.98891483e-01 -4.70723347e-02 0.00000000e+00 1.44601722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82913452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.430371743 meters Centerline goodness : 0.981043 Centerline is valid? [True, True] Translation: X:176.10, Y:144.63, Z:0.10 [[-4.88615145e-02 -9.98805563e-01 0.00000000e+00 1.76101436e+02] [ 9.98805563e-01 -4.88615145e-02 0.00000000e+00 1.44629441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.99250776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.460371743 meters Centerline goodness : 0.981095 Centerline is valid? [True, True] Translation: X:176.10, Y:144.63, Z:0.10 [[-4.94378655e-02 -9.98777201e-01 0.00000000e+00 1.76100170e+02] [ 9.98777201e-01 -4.94378655e-02 0.00000000e+00 1.44631758e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00758353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.490371743 meters Centerline goodness : 0.980667 Centerline is valid? [True, True] Translation: X:176.10, Y:144.64, Z:0.10 [[-5.30541564e-02 -9.98591636e-01 0.00000000e+00 1.76096910e+02] [ 9.98591636e-01 -5.30541564e-02 0.00000000e+00 1.44636833e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01747152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.520371743 meters Centerline goodness : 0.980348 Centerline is valid? [True, True] Translation: X:176.10, Y:144.64, Z:0.10 [[-5.25478068e-02 -9.98618410e-01 0.00000000e+00 1.76095871e+02] [ 9.98618410e-01 -5.25478068e-02 0.00000000e+00 1.44635329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03418626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.550371743 meters Centerline goodness : 0.981025 Centerline is valid? [True, True] Translation: X:176.08, Y:145.06, Z:0.10 [[-7.06045971e-02 -9.97504381e-01 0.00000000e+00 1.76084759e+02] [ 9.97504381e-01 -7.06045971e-02 0.00000000e+00 1.45063334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02460202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.580371743 meters Centerline goodness : 0.982278 Centerline is valid? [True, True] Translation: X:176.09, Y:145.07, Z:0.10 [[-6.74284630e-02 -9.97724111e-01 0.00000000e+00 1.76085580e+02] [ 9.97724111e-01 -6.74284630e-02 0.00000000e+00 1.45066267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02588280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61037174300003 meters Centerline goodness : 0.981420 Centerline is valid? [True, True] Translation: X:176.08, Y:144.99, Z:0.10 [[-6.82386513e-02 -9.97669027e-01 0.00000000e+00 1.76084837e+02] [ 9.97669027e-01 -6.82386513e-02 0.00000000e+00 1.44987684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01209758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.640371743 meters Centerline goodness : 0.982068 Centerline is valid? [True, True] Translation: X:176.08, Y:145.08, Z:0.10 [[-7.07558161e-02 -9.97493666e-01 0.00000000e+00 1.76082437e+02] [ 9.97493666e-01 -7.07558161e-02 0.00000000e+00 1.45084239e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00713329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67037174300003 meters Centerline goodness : 0.979789 Centerline is valid? [True, True] Translation: X:176.09, Y:144.66, Z:0.10 [[-6.26314691e-02 -9.98036722e-01 0.00000000e+00 1.76087876e+02] [ 9.98036722e-01 -6.26314691e-02 0.00000000e+00 1.44658428e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00396837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.700371743 meters Centerline goodness : 0.981681 Centerline is valid? [True, True] Translation: X:176.08, Y:145.03, Z:0.10 [[-7.48769889e-02 -9.97192778e-01 0.00000000e+00 1.76079951e+02] [ 9.97192778e-01 -7.48769889e-02 0.00000000e+00 1.45030590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01406441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.730371743 meters Centerline goodness : 0.981998 Centerline is valid? [True, True] Translation: X:176.06, Y:145.68, Z:0.10 [[-1.06316852e-01 -9.94332302e-01 0.00000000e+00 1.76058800e+02] [ 9.94332302e-01 -1.06316852e-01 0.00000000e+00 1.45681733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00152648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.760371743 meters Centerline goodness : 0.981807 Centerline is valid? [True, True] Translation: X:176.07, Y:145.06, Z:0.10 [[-7.69226043e-02 -9.97037067e-01 0.00000000e+00 1.76073542e+02] [ 9.97037067e-01 -7.69226043e-02 0.00000000e+00 1.45055581e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00464368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.790371743 meters Centerline goodness : 0.980885 Centerline is valid? [True, True] Translation: X:176.05, Y:145.67, Z:0.10 [[-1.04494667e-01 -9.94525447e-01 0.00000000e+00 1.76054190e+02] [ 9.94525447e-01 -1.04494667e-01 0.00000000e+00 1.45666868e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01998048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.820371743 meters Centerline goodness : 0.980052 Centerline is valid? [True, True] Translation: X:176.07, Y:145.08, Z:0.10 [[-7.05975540e-02 -9.97504880e-01 0.00000000e+00 1.76066664e+02] [ 9.97504880e-01 -7.05975540e-02 0.00000000e+00 1.45083432e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04281256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.850371743 meters Centerline goodness : 0.980676 Centerline is valid? [True, True] Translation: X:176.06, Y:145.11, Z:0.10 [[-6.55073544e-02 -9.97852086e-01 0.00000000e+00 1.76060036e+02] [ 9.97852086e-01 -6.55073544e-02 0.00000000e+00 1.45111614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04745925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.880371743 meters Centerline goodness : 0.981940 Centerline is valid? [True, True] Translation: X:176.06, Y:145.14, Z:0.10 [[-6.24354265e-02 -9.98049006e-01 0.00000000e+00 1.76056852e+02] [ 9.98049006e-01 -6.24354265e-02 0.00000000e+00 1.45141110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03474113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.910371743 meters Centerline goodness : 0.983243 Centerline is valid? [True, True] Translation: X:176.05, Y:145.17, Z:0.10 [[-5.97123121e-02 -9.98215628e-01 0.00000000e+00 1.76053799e+02] [ 9.98215628e-01 -5.97123121e-02 0.00000000e+00 1.45168918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00724323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.940371743 meters Centerline goodness : 0.987804 Centerline is valid? [True, True] Translation: X:176.04, Y:145.20, Z:0.10 [[-6.15987475e-02 -9.98100994e-01 0.00000000e+00 1.76041137e+02] [ 9.98100994e-01 -6.15987475e-02 0.00000000e+00 1.45199480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00610431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.970371743 meters Centerline goodness : 0.981426 Centerline is valid? [True, True] Translation: X:176.05, Y:145.22, Z:0.11 [[-4.78857937e-02 -9.98852817e-01 0.00000000e+00 1.76046600e+02] [ 9.98852817e-01 -4.78857937e-02 0.00000000e+00 1.45223256e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06468863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.000371743 meters Centerline goodness : 0.981098 Centerline is valid? [True, True] Translation: X:176.04, Y:145.25, Z:0.10 [[-4.49279499e-02 -9.98990230e-01 0.00000000e+00 1.76042723e+02] [ 9.98990230e-01 -4.49279499e-02 0.00000000e+00 1.45249534e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02786471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.030371743 meters Centerline goodness : 0.986984 Centerline is valid? [True, True] Translation: X:176.03, Y:144.84, Z:0.10 [[-4.34511060e-02 -9.99055555e-01 0.00000000e+00 1.76029980e+02] [ 9.99055555e-01 -4.34511060e-02 0.00000000e+00 1.44843035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01274516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.060371743 meters Centerline goodness : 0.980440 Centerline is valid? [True, True] Translation: X:176.04, Y:144.87, Z:0.11 [[-3.08403631e-02 -9.99524323e-01 0.00000000e+00 1.76036412e+02] [ 9.99524323e-01 -3.08403631e-02 0.00000000e+00 1.44868015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07028235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.090371743 meters Centerline goodness : 0.980526 Centerline is valid? [True, True] Translation: X:176.02, Y:144.88, Z:0.11 [[-3.73419889e-02 -9.99302545e-01 0.00000000e+00 1.76023773e+02] [ 9.99302545e-01 -3.73419889e-02 0.00000000e+00 1.44882076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06935323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.120371743 meters Centerline goodness : 0.980980 Centerline is valid? [True, True] Translation: X:176.03, Y:144.92, Z:0.11 [[-3.17107977e-02 -9.99497086e-01 0.00000000e+00 1.76029707e+02] [ 9.99497086e-01 -3.17107977e-02 0.00000000e+00 1.44920572e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06922139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.150371743 meters Centerline goodness : 0.988004 Centerline is valid? [True, True] Translation: X:176.02, Y:144.95, Z:0.10 [[-4.16896530e-02 -9.99130608e-01 0.00000000e+00 1.76020964e+02] [ 9.99130608e-01 -4.16896530e-02 0.00000000e+00 1.44952644e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00590133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.180371743 meters Centerline goodness : 0.982141 Centerline is valid? [True, True] Translation: X:176.02, Y:144.98, Z:0.11 [[-3.23612778e-02 -9.99476237e-01 0.00000000e+00 1.76024244e+02] [ 9.99476237e-01 -3.23612778e-02 0.00000000e+00 1.44976822e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06397785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.210371743 meters Centerline goodness : 0.988524 Centerline is valid? [True, True] Translation: X:176.02, Y:145.01, Z:0.10 [[-4.31116107e-02 -9.99070262e-01 0.00000000e+00 1.76016242e+02] [ 9.99070262e-01 -4.31116107e-02 0.00000000e+00 1.45008404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01013944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.240371743 meters Centerline goodness : 0.983692 Centerline is valid? [True, True] Translation: X:176.02, Y:145.03, Z:0.11 [[-3.69859099e-02 -9.99315787e-01 0.00000000e+00 1.76021847e+02] [ 9.99315787e-01 -3.69859099e-02 0.00000000e+00 1.45032794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05406616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.270371743 meters Centerline goodness : 0.982183 Centerline is valid? [True, True] Translation: X:176.02, Y:145.06, Z:0.11 [[-4.02956074e-02 -9.99187802e-01 0.00000000e+00 1.76021541e+02] [ 9.99187802e-01 -4.02956074e-02 0.00000000e+00 1.45064165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05943864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.300371743 meters Centerline goodness : 0.983077 Centerline is valid? [True, True] Translation: X:176.02, Y:145.09, Z:0.11 [[-4.38901925e-02 -9.99036361e-01 0.00000000e+00 1.76020343e+02] [ 9.99036361e-01 -4.38901925e-02 0.00000000e+00 1.45093053e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06185635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.330371743 meters Centerline goodness : 0.982977 Centerline is valid? [True, True] Translation: X:176.01, Y:145.11, Z:0.10 [[-5.53139415e-02 -9.98469012e-01 0.00000000e+00 1.76012456e+02] [ 9.98469012e-01 -5.53139415e-02 0.00000000e+00 1.45107852e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03220409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36037174300003 meters Centerline goodness : 0.982197 Centerline is valid? [True, True] Translation: X:176.01, Y:145.13, Z:0.11 [[-5.83798955e-02 -9.98294439e-01 0.00000000e+00 1.76011378e+02] [ 9.98294439e-01 -5.83798955e-02 0.00000000e+00 1.45132851e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07726121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.390371743 meters Centerline goodness : 0.981362 Centerline is valid? [True, True] Translation: X:176.01, Y:144.58, Z:0.11 [[-2.85445277e-02 -9.99592522e-01 0.00000000e+00 1.76014503e+02] [ 9.99592522e-01 -2.85445277e-02 0.00000000e+00 1.44577953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07005929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42037174300003 meters Centerline goodness : 0.982865 Centerline is valid? [True, True] Translation: X:176.01, Y:144.59, Z:0.10 [[-4.36158884e-02 -9.99048374e-01 0.00000000e+00 1.76006053e+02] [ 9.99048374e-01 -4.36158884e-02 0.00000000e+00 1.44593208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03333126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.450371743 meters Centerline goodness : 0.988406 Centerline is valid? [True, True] Translation: X:176.01, Y:144.63, Z:0.10 [[-4.71739347e-02 -9.98886690e-01 0.00000000e+00 1.76009300e+02] [ 9.98886690e-01 -4.71739347e-02 0.00000000e+00 1.44628772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02345962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.480371743 meters Centerline goodness : 0.983297 Centerline is valid? [True, True] Translation: X:176.01, Y:144.65, Z:0.10 [[-5.55920687e-02 -9.98453565e-01 0.00000000e+00 1.76007252e+02] [ 9.98453565e-01 -5.55920687e-02 0.00000000e+00 1.44646214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.01902723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.510371743 meters Centerline goodness : 0.984249 Centerline is valid? [True, True] Translation: X:176.02, Y:144.68, Z:0.11 [[-5.26575324e-02 -9.98612630e-01 0.00000000e+00 1.76015827e+02] [ 9.98612630e-01 -5.26575324e-02 0.00000000e+00 1.44683550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06394837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.540371743 meters Centerline goodness : 0.982684 Centerline is valid? [True, True] Translation: X:176.01, Y:144.70, Z:0.11 [[-6.13264942e-02 -9.98117759e-01 0.00000000e+00 1.76008624e+02] [ 9.98117759e-01 -6.13264942e-02 0.00000000e+00 1.44698569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05906038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.570371743 meters Centerline goodness : 0.982490 Centerline is valid? [True, True] Translation: X:176.01, Y:144.73, Z:0.10 [[-6.36163110e-02 -9.97974431e-01 0.00000000e+00 1.76009382e+02] [ 9.97974431e-01 -6.36163110e-02 0.00000000e+00 1.44725259e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03236286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.600371743 meters Centerline goodness : 0.985049 Centerline is valid? [True, True] Translation: X:176.02, Y:144.76, Z:0.10 [[-6.12841460e-02 -9.98120360e-01 0.00000000e+00 1.76016175e+02] [ 9.98120360e-01 -6.12841460e-02 0.00000000e+00 1.44763291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04608249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.630371743 meters Centerline goodness : 0.983643 Centerline is valid? [True, True] Translation: X:176.02, Y:144.79, Z:0.11 [[-6.34815398e-02 -9.97983013e-01 0.00000000e+00 1.76016230e+02] [ 9.97983013e-01 -6.34815398e-02 0.00000000e+00 1.44790731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05236701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.660371743 meters Centerline goodness : 0.984501 Centerline is valid? [True, True] Translation: X:176.02, Y:144.82, Z:0.10 [[-6.26475814e-02 -9.98035711e-01 0.00000000e+00 1.76017517e+02] [ 9.98035711e-01 -6.26475814e-02 0.00000000e+00 1.44819129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03868978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.690371743 meters Centerline goodness : 0.982726 Centerline is valid? [True, True] Translation: X:176.01, Y:144.83, Z:0.10 [[-6.92535706e-02 -9.97599089e-01 0.00000000e+00 1.76009438e+02] [ 9.97599089e-01 -6.92535706e-02 0.00000000e+00 1.44834890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00423549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.720371743 meters Centerline goodness : 0.983696 Centerline is valid? [True, True] Translation: X:176.02, Y:144.87, Z:0.11 [[-6.27552637e-02 -9.98028946e-01 0.00000000e+00 1.76017524e+02] [ 9.98028946e-01 -6.27552637e-02 0.00000000e+00 1.44872730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05209794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.750371743 meters Centerline goodness : 0.983633 Centerline is valid? [True, True] Translation: X:176.01, Y:144.90, Z:0.11 [[-6.35269609e-02 -9.97980123e-01 0.00000000e+00 1.76013667e+02] [ 9.97980123e-01 -6.35269609e-02 0.00000000e+00 1.44897696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05812888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.780371743 meters Centerline goodness : 0.984836 Centerline is valid? [True, True] Translation: X:176.02, Y:144.93, Z:0.10 [[-6.07968362e-02 -9.98150161e-01 0.00000000e+00 1.76015615e+02] [ 9.98150161e-01 -6.07968362e-02 0.00000000e+00 1.44928592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04679462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.810371743 meters Centerline goodness : 0.982426 Centerline is valid? [True, True] Translation: X:176.01, Y:144.95, Z:0.10 [[-6.13948299e-02 -9.98113558e-01 0.00000000e+00 1.76010786e+02] [ 9.98113558e-01 -6.13948299e-02 0.00000000e+00 1.44952446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03961798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.840371743 meters Centerline goodness : 0.983957 Centerline is valid? [True, True] Translation: X:176.01, Y:144.98, Z:0.10 [[-6.15678492e-02 -9.98102900e-01 0.00000000e+00 1.76009843e+02] [ 9.98102900e-01 -6.15678492e-02 0.00000000e+00 1.44981143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03673617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.870371743 meters Centerline goodness : 0.983109 Centerline is valid? [True, True] Translation: X:176.01, Y:145.01, Z:0.10 [[-6.09997967e-02 -9.98137778e-01 0.00000000e+00 1.76010322e+02] [ 9.98137778e-01 -6.09997967e-02 0.00000000e+00 1.45009928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04463854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.900371743 meters Centerline goodness : 0.982766 Centerline is valid? [True, True] Translation: X:176.01, Y:145.04, Z:0.10 [[-5.98083504e-02 -9.98209878e-01 0.00000000e+00 1.76007874e+02] [ 9.98209878e-01 -5.98083504e-02 0.00000000e+00 1.45035673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03895355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.930371743 meters Centerline goodness : 0.988645 Centerline is valid? [True, True] Translation: X:176.00, Y:145.06, Z:0.10 [[-6.65832977e-02 -9.97780870e-01 0.00000000e+00 1.75999633e+02] [ 9.97780870e-01 -6.65832977e-02 0.00000000e+00 1.45063533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02523081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.960371743 meters Centerline goodness : 0.982880 Centerline is valid? [True, True] Translation: X:176.00, Y:145.09, Z:0.11 [[-5.77972806e-02 -9.98328340e-01 0.00000000e+00 1.76003584e+02] [ 9.98328340e-01 -5.77972806e-02 0.00000000e+00 1.45091108e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05107871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.990371743 meters Centerline goodness : 0.985303 Centerline is valid? [True, True] Translation: X:176.00, Y:145.12, Z:0.11 [[-6.09338943e-02 -9.98141804e-01 0.00000000e+00 1.75998138e+02] [ 9.98141804e-01 -6.09338943e-02 0.00000000e+00 1.45118197e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05701535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.020371743 meters Centerline goodness : 0.985016 Centerline is valid? [True, True] Translation: X:176.00, Y:145.14, Z:0.11 [[-6.07998455e-02 -9.98149978e-01 0.00000000e+00 1.75995509e+02] [ 9.98149978e-01 -6.07998455e-02 0.00000000e+00 1.45143306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05027149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.050371743 meters Centerline goodness : 0.983732 Centerline is valid? [True, True] Translation: X:175.99, Y:145.17, Z:0.10 [[-5.84658837e-02 -9.98289407e-01 0.00000000e+00 1.75994409e+02] [ 9.98289407e-01 -5.84658837e-02 0.00000000e+00 1.45172772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04543470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.080371743 meters Centerline goodness : 0.982848 Centerline is valid? [True, True] Translation: X:175.98, Y:145.19, Z:0.10 [[-6.35420645e-02 -9.97979161e-01 0.00000000e+00 1.75984002e+02] [ 9.97979161e-01 -6.35420645e-02 0.00000000e+00 1.45187406e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02696303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11037174300003 meters Centerline goodness : 0.983289 Centerline is valid? [True, True] Translation: X:175.99, Y:145.23, Z:0.10 [[-5.40195748e-02 -9.98539877e-01 0.00000000e+00 1.75993260e+02] [ 9.98539877e-01 -5.40195748e-02 0.00000000e+00 1.45225374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04454556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.140371743 meters Centerline goodness : 0.983289 Centerline is valid? [True, True] Translation: X:175.99, Y:145.25, Z:0.10 [[-5.43776051e-02 -9.98520443e-01 0.00000000e+00 1.75993724e+02] [ 9.98520443e-01 -5.43776051e-02 0.00000000e+00 1.45253725e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04454556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17037174300003 meters Centerline goodness : 0.984328 Centerline is valid? [True, True] Translation: X:175.99, Y:145.28, Z:0.10 [[-5.46587137e-02 -9.98505095e-01 0.00000000e+00 1.75985523e+02] [ 9.98505095e-01 -5.46587137e-02 0.00000000e+00 1.45276749e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04025508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.200371743 meters Centerline goodness : 0.984133 Centerline is valid? [True, True] Translation: X:175.99, Y:145.30, Z:0.10 [[-5.13728518e-02 -9.98679543e-01 0.00000000e+00 1.75985715e+02] [ 9.98679543e-01 -5.13728518e-02 0.00000000e+00 1.45304907e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04329285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.230371743 meters Centerline goodness : 0.984545 Centerline is valid? [True, True] Translation: X:175.98, Y:145.33, Z:0.11 [[-4.74542776e-02 -9.98873411e-01 0.00000000e+00 1.75981835e+02] [ 9.98873411e-01 -4.74542776e-02 0.00000000e+00 1.45330748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07847985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.260371743 meters Centerline goodness : 0.985501 Centerline is valid? [True, True] Translation: X:175.98, Y:145.36, Z:0.11 [[-4.54757196e-02 -9.98965444e-01 0.00000000e+00 1.75982169e+02] [ 9.98965444e-01 -4.54757196e-02 0.00000000e+00 1.45359352e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07044682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.290371743 meters Centerline goodness : 0.984791 Centerline is valid? [True, True] Translation: X:175.98, Y:145.39, Z:0.11 [[-4.30225105e-02 -9.99074103e-01 0.00000000e+00 1.75981511e+02] [ 9.99074103e-01 -4.30225105e-02 0.00000000e+00 1.45387853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05811242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.320371743 meters Centerline goodness : 0.982142 Centerline is valid? [True, True] Translation: X:175.97, Y:145.40, Z:0.11 [[-4.41772699e-02 -9.99023708e-01 0.00000000e+00 1.75969824e+02] [ 9.99023708e-01 -4.41772699e-02 0.00000000e+00 1.45403405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08481909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.350371743 meters Centerline goodness : 0.981241 Centerline is valid? [True, True] Translation: X:175.97, Y:145.43, Z:0.11 [[-4.05968598e-02 -9.99175608e-01 0.00000000e+00 1.75969920e+02] [ 9.99175608e-01 -4.05968598e-02 0.00000000e+00 1.45431643e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10931016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.380371743 meters Centerline goodness : 0.982344 Centerline is valid? [True, True] Translation: X:175.97, Y:145.46, Z:0.11 [[-3.62221624e-02 -9.99343762e-01 0.00000000e+00 1.75967816e+02] [ 9.99343762e-01 -3.62221624e-02 0.00000000e+00 1.45458599e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07406682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.410371743 meters Centerline goodness : 0.986830 Centerline is valid? [True, True] Translation: X:175.97, Y:145.49, Z:0.11 [[-2.96343557e-02 -9.99560806e-01 0.00000000e+00 1.75973627e+02] [ 9.99560806e-01 -2.96343557e-02 0.00000000e+00 1.45493811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06012588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.440371743 meters Centerline goodness : 0.982119 Centerline is valid? [True, True] Translation: X:175.97, Y:145.51, Z:0.11 [[-3.25261446e-02 -9.99470885e-01 0.00000000e+00 1.75967019e+02] [ 9.99470885e-01 -3.25261446e-02 0.00000000e+00 1.45512642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11416306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.470371743 meters Centerline goodness : 0.985753 Centerline is valid? [True, True] Translation: X:175.97, Y:145.55, Z:0.11 [[-2.49272723e-02 -9.99689267e-01 0.00000000e+00 1.75972886e+02] [ 9.99689267e-01 -2.49272723e-02 0.00000000e+00 1.45547739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08810251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.500371743 meters Centerline goodness : 0.984373 Centerline is valid? [True, True] Translation: X:175.98, Y:145.57, Z:0.11 [[-2.16315324e-02 -9.99766011e-01 0.00000000e+00 1.75975460e+02] [ 9.99766011e-01 -2.16315324e-02 0.00000000e+00 1.45574182e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08253124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.530371743 meters Centerline goodness : 0.984332 Centerline is valid? [True, True] Translation: X:175.97, Y:145.60, Z:0.11 [[-2.33935983e-02 -9.99726332e-01 0.00000000e+00 1.75972807e+02] [ 9.99726332e-01 -2.33935983e-02 0.00000000e+00 1.45601625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07734876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.560371743 meters Centerline goodness : 0.983190 Centerline is valid? [True, True] Translation: X:175.96, Y:145.62, Z:0.11 [[-3.27488422e-02 -9.99463613e-01 0.00000000e+00 1.75959306e+02] [ 9.99463613e-01 -3.27488422e-02 0.00000000e+00 1.45620024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05205069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.590371743 meters Centerline goodness : 0.983739 Centerline is valid? [True, True] Translation: X:175.96, Y:145.65, Z:0.11 [[-3.30966750e-02 -9.99452155e-01 0.00000000e+00 1.75959028e+02] [ 9.99452155e-01 -3.30966750e-02 0.00000000e+00 1.45647354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05924600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.620371743 meters Centerline goodness : 0.984421 Centerline is valid? [True, True] Translation: X:175.97, Y:145.68, Z:0.11 [[-2.87912311e-02 -9.99585447e-01 0.00000000e+00 1.75966706e+02] [ 9.99585447e-01 -2.87912311e-02 0.00000000e+00 1.45684701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06279931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.650371743 meters Centerline goodness : 0.983390 Centerline is valid? [True, True] Translation: X:175.96, Y:145.70, Z:0.11 [[-4.08565586e-02 -9.99165022e-01 0.00000000e+00 1.75955294e+02] [ 9.99165022e-01 -4.08565586e-02 0.00000000e+00 1.45699686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06177579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.680371743 meters Centerline goodness : 0.982673 Centerline is valid? [True, True] Translation: X:175.95, Y:145.73, Z:0.11 [[-4.39108645e-02 -9.99035453e-01 0.00000000e+00 1.75954509e+02] [ 9.99035453e-01 -4.39108645e-02 0.00000000e+00 1.45726792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08298445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.710371743 meters Centerline goodness : 0.982661 Centerline is valid? [True, True] Translation: X:175.95, Y:145.75, Z:0.11 [[-4.69332802e-02 -9.98898026e-01 0.00000000e+00 1.75954825e+02] [ 9.98898026e-01 -4.69332802e-02 0.00000000e+00 1.45754711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09717417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.740371743 meters Centerline goodness : 0.986130 Centerline is valid? [True, True] Translation: X:175.96, Y:145.79, Z:0.11 [[-4.40461688e-02 -9.99029497e-01 0.00000000e+00 1.75962423e+02] [ 9.99029497e-01 -4.40461688e-02 0.00000000e+00 1.45792283e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08973471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.770371743 meters Centerline goodness : 0.986057 Centerline is valid? [True, True] Translation: X:175.96, Y:145.82, Z:0.11 [[-4.57630331e-02 -9.98952324e-01 0.00000000e+00 1.75964394e+02] [ 9.98952324e-01 -4.57630331e-02 0.00000000e+00 1.45823378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09071198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.800371743 meters Centerline goodness : 0.985163 Centerline is valid? [True, True] Translation: X:175.96, Y:145.85, Z:0.11 [[-5.30225448e-02 -9.98593315e-01 0.00000000e+00 1.75961310e+02] [ 9.98593315e-01 -5.30225448e-02 0.00000000e+00 1.45848296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08346876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.830371743 meters Centerline goodness : 0.986276 Centerline is valid? [True, True] Translation: X:175.96, Y:145.88, Z:0.11 [[-5.80353350e-02 -9.98314530e-01 0.00000000e+00 1.75958940e+02] [ 9.98314530e-01 -5.80353350e-02 0.00000000e+00 1.45876278e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06082658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86037174300003 meters Centerline goodness : 0.984472 Centerline is valid? [True, True] Translation: X:175.96, Y:145.90, Z:0.11 [[-5.58977752e-02 -9.98436497e-01 0.00000000e+00 1.75963393e+02] [ 9.98436497e-01 -5.58977752e-02 0.00000000e+00 1.45904205e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05453813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.890371743 meters Centerline goodness : 0.985383 Centerline is valid? [True, True] Translation: X:175.96, Y:145.93, Z:0.11 [[-6.52744582e-02 -9.97867348e-01 0.00000000e+00 1.75956747e+02] [ 9.97867348e-01 -6.52744582e-02 0.00000000e+00 1.45926334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07431787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92037174300003 meters Centerline goodness : 0.987611 Centerline is valid? [True, True] Translation: X:175.96, Y:145.96, Z:0.11 [[-6.57784620e-02 -9.97834252e-01 0.00000000e+00 1.75958083e+02] [ 9.97834252e-01 -6.57784620e-02 0.00000000e+00 1.45959739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06087196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.950371743 meters Centerline goodness : 0.986925 Centerline is valid? [True, True] Translation: X:175.96, Y:145.99, Z:0.11 [[-6.91911267e-02 -9.97603422e-01 0.00000000e+00 1.75955785e+02] [ 9.97603422e-01 -6.91911267e-02 0.00000000e+00 1.45987692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06371014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.980371743 meters Centerline goodness : 0.987200 Centerline is valid? [True, True] Translation: X:175.95, Y:146.01, Z:0.11 [[-6.98983406e-02 -9.97554120e-01 0.00000000e+00 1.75954904e+02] [ 9.97554120e-01 -6.98983406e-02 0.00000000e+00 1.46013754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06839388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.010371743 meters Centerline goodness : 0.987015 Centerline is valid? [True, True] Translation: X:175.96, Y:146.04, Z:0.11 [[-7.04241370e-02 -9.97517138e-01 0.00000000e+00 1.75955088e+02] [ 9.97517138e-01 -7.04241370e-02 0.00000000e+00 1.46044411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07896454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.040371743 meters Centerline goodness : 0.987223 Centerline is valid? [True, True] Translation: X:175.95, Y:146.07, Z:0.11 [[-7.09314849e-02 -9.97481190e-01 0.00000000e+00 1.75952175e+02] [ 9.97481190e-01 -7.09314849e-02 0.00000000e+00 1.46070407e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10316028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.070371743 meters Centerline goodness : 0.987940 Centerline is valid? [True, True] Translation: X:175.95, Y:146.10, Z:0.11 [[-7.01953749e-02 -9.97533262e-01 0.00000000e+00 1.75950595e+02] [ 9.97533262e-01 -7.01953749e-02 0.00000000e+00 1.46100316e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08004169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.100371743 meters Centerline goodness : 0.988019 Centerline is valid? [True, True] Translation: X:175.95, Y:146.13, Z:0.11 [[-7.13947477e-02 -9.97448139e-01 0.00000000e+00 1.75947056e+02] [ 9.97448139e-01 -7.13947477e-02 0.00000000e+00 1.46128255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08946830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.130371743 meters Centerline goodness : 0.987425 Centerline is valid? [True, True] Translation: X:175.95, Y:146.16, Z:0.11 [[-7.08773339e-02 -9.97485039e-01 0.00000000e+00 1.75945544e+02] [ 9.97485039e-01 -7.08773339e-02 0.00000000e+00 1.46155555e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08560677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.160371743 meters Centerline goodness : 0.989095 Centerline is valid? [True, True] Translation: X:175.94, Y:146.18, Z:0.11 [[-7.18399273e-02 -9.97416174e-01 0.00000000e+00 1.75943824e+02] [ 9.97416174e-01 -7.18399273e-02 0.00000000e+00 1.46184837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06389477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.190371743 meters Centerline goodness : 0.987937 Centerline is valid? [True, True] Translation: X:175.94, Y:146.21, Z:0.11 [[-7.17972530e-02 -9.97419247e-01 0.00000000e+00 1.75941730e+02] [ 9.97419247e-01 -7.17972530e-02 0.00000000e+00 1.46211864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09623235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.220371743 meters Centerline goodness : 0.989279 Centerline is valid? [True, True] Translation: X:175.94, Y:146.24, Z:0.11 [[-7.21732812e-02 -9.97392108e-01 0.00000000e+00 1.75940574e+02] [ 9.97392108e-01 -7.21732812e-02 0.00000000e+00 1.46241612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07311367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.250371743 meters Centerline goodness : 0.989029 Centerline is valid? [True, True] Translation: X:175.94, Y:146.27, Z:0.11 [[-7.31049927e-02 -9.97324250e-01 0.00000000e+00 1.75937604e+02] [ 9.97324250e-01 -7.31049927e-02 0.00000000e+00 1.46265976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07373002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.280371743 meters Centerline goodness : 0.987977 Centerline is valid? [True, True] Translation: X:175.94, Y:146.30, Z:0.11 [[-7.20162476e-02 -9.97403459e-01 0.00000000e+00 1.75936291e+02] [ 9.97403459e-01 -7.20162476e-02 0.00000000e+00 1.46295538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06789684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.310371743 meters Centerline goodness : 0.988080 Centerline is valid? [True, True] Translation: X:175.93, Y:146.32, Z:0.11 [[-7.28099976e-02 -9.97345830e-01 0.00000000e+00 1.75934597e+02] [ 9.97345830e-01 -7.28099976e-02 0.00000000e+00 1.46324639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06781441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.340371743 meters Centerline goodness : 0.988102 Centerline is valid? [True, True] Translation: X:175.93, Y:146.34, Z:0.11 [[-7.00375408e-02 -9.97544356e-01 0.00000000e+00 1.75931554e+02] [ 9.97544356e-01 -7.00375408e-02 0.00000000e+00 1.46340046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06843023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.370371743 meters Centerline goodness : 0.988365 Centerline is valid? [True, True] Translation: X:175.93, Y:146.33, Z:0.11 [[-6.75164747e-02 -9.97718159e-01 0.00000000e+00 1.75930236e+02] [ 9.97718159e-01 -6.75164747e-02 0.00000000e+00 1.46331378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06584633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.400371743 meters Centerline goodness : 0.987041 Centerline is valid? [True, True] Translation: X:175.93, Y:146.36, Z:0.11 [[-6.56861665e-02 -9.97840332e-01 0.00000000e+00 1.75929641e+02] [ 9.97840332e-01 -6.56861665e-02 0.00000000e+00 1.46358644e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10279337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.430371743 meters Centerline goodness : 0.987019 Centerline is valid? [True, True] Translation: X:175.93, Y:146.39, Z:0.11 [[-6.45071912e-02 -9.97917242e-01 0.00000000e+00 1.75927731e+02] [ 9.97917242e-01 -6.45071912e-02 0.00000000e+00 1.46385189e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11412907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.460371743 meters Centerline goodness : 0.987826 Centerline is valid? [True, True] Translation: X:175.92, Y:146.42, Z:0.11 [[-6.19097860e-02 -9.98081749e-01 0.00000000e+00 1.75924548e+02] [ 9.98081749e-01 -6.19097860e-02 0.00000000e+00 1.46415981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11436478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.490371743 meters Centerline goodness : 0.986983 Centerline is valid? [True, True] Translation: X:175.92, Y:146.42, Z:0.11 [[-6.16504255e-02 -9.98097803e-01 0.00000000e+00 1.75923610e+02] [ 9.98097803e-01 -6.16504255e-02 0.00000000e+00 1.46423671e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11194728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.520371743 meters Centerline goodness : 0.987825 Centerline is valid? [True, True] Translation: X:175.92, Y:146.43, Z:0.11 [[-6.02875865e-02 -9.98181049e-01 0.00000000e+00 1.75922020e+02] [ 9.98181049e-01 -6.02875865e-02 0.00000000e+00 1.46428722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10007313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.550371743 meters Centerline goodness : 0.987754 Centerline is valid? [True, True] Translation: X:175.92, Y:146.44, Z:0.11 [[-5.91409920e-02 -9.98249640e-01 0.00000000e+00 1.75920503e+02] [ 9.98249640e-01 -5.91409920e-02 0.00000000e+00 1.46436387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10338095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.580371743 meters Centerline goodness : 0.987115 Centerline is valid? [True, True] Translation: X:175.92, Y:146.46, Z:0.11 [[-5.71281109e-02 -9.98366856e-01 0.00000000e+00 1.75920070e+02] [ 9.98366856e-01 -5.71281109e-02 0.00000000e+00 1.46464483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11908388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61037174300003 meters Centerline goodness : 0.988598 Centerline is valid? [True, True] Translation: X:175.92, Y:146.48, Z:0.11 [[-5.55648366e-02 -9.98455081e-01 0.00000000e+00 1.75917354e+02] [ 9.98455081e-01 -5.55648366e-02 0.00000000e+00 1.46483746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11131699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.640371743 meters Centerline goodness : 0.988943 Centerline is valid? [True, True] Translation: X:175.92, Y:146.47, Z:0.11 [[-5.27907045e-02 -9.98605599e-01 0.00000000e+00 1.75916697e+02] [ 9.98605599e-01 -5.27907045e-02 0.00000000e+00 1.46471295e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11197995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67037174300003 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:175.92, Y:146.50, Z:0.11 [[-5.45322935e-02 -9.98512007e-01 0.00000000e+00 1.75916445e+02] [ 9.98512007e-01 -5.45322935e-02 0.00000000e+00 1.46500990e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10343965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.700371743 meters Centerline goodness : 0.989376 Centerline is valid? [True, True] Translation: X:175.91, Y:146.49, Z:0.11 [[-5.16830328e-02 -9.98663539e-01 0.00000000e+00 1.75914515e+02] [ 9.98663539e-01 -5.16830328e-02 0.00000000e+00 1.46492381e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09733211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.730371743 meters Centerline goodness : 0.989341 Centerline is valid? [True, True] Translation: X:175.91, Y:146.50, Z:0.11 [[-5.03119212e-02 -9.98733553e-01 0.00000000e+00 1.75914256e+02] [ 9.98733553e-01 -5.03119212e-02 0.00000000e+00 1.46496780e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10151233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.760371743 meters Centerline goodness : 0.989953 Centerline is valid? [True, True] Translation: X:175.91, Y:146.51, Z:0.11 [[-4.89871243e-02 -9.98799410e-01 0.00000000e+00 1.75912951e+02] [ 9.98799410e-01 -4.89871243e-02 0.00000000e+00 1.46507387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08900386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.790371743 meters Centerline goodness : 0.989172 Centerline is valid? [True, True] Translation: X:175.91, Y:146.51, Z:0.11 [[-5.00362985e-02 -9.98747400e-01 0.00000000e+00 1.75912691e+02] [ 9.98747400e-01 -5.00362985e-02 0.00000000e+00 1.46508218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10527851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.820371743 meters Centerline goodness : 0.989145 Centerline is valid? [True, True] Translation: X:175.91, Y:146.51, Z:0.11 [[-4.90320292e-02 -9.98797207e-01 0.00000000e+00 1.75911702e+02] [ 9.98797207e-01 -4.90320292e-02 0.00000000e+00 1.46506803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10101881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.850371743 meters Centerline goodness : 0.989250 Centerline is valid? [True, True] Translation: X:175.91, Y:146.51, Z:0.11 [[-4.66730133e-02 -9.98910221e-01 0.00000000e+00 1.75911567e+02] [ 9.98910221e-01 -4.66730133e-02 0.00000000e+00 1.46513319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10089541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.880371743 meters Centerline goodness : 0.989922 Centerline is valid? [True, True] Translation: X:175.91, Y:146.52, Z:0.11 [[-4.67363461e-02 -9.98907260e-01 0.00000000e+00 1.75909942e+02] [ 9.98907260e-01 -4.67363461e-02 0.00000000e+00 1.46516332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11021320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.910371743 meters Centerline goodness : 0.988622 Centerline is valid? [True, True] Translation: X:175.91, Y:146.54, Z:0.11 [[-4.57372500e-02 -9.98953504e-01 0.00000000e+00 1.75909769e+02] [ 9.98953504e-01 -4.57372500e-02 0.00000000e+00 1.46541020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12938974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.940371743 meters Centerline goodness : 0.989387 Centerline is valid? [True, True] Translation: X:175.91, Y:146.51, Z:0.11 [[-3.77920573e-02 -9.99285625e-01 0.00000000e+00 1.75909794e+02] [ 9.99285625e-01 -3.77920573e-02 0.00000000e+00 1.46506257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11379524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.970371743 meters Centerline goodness : 0.988671 Centerline is valid? [True, True] Translation: X:175.91, Y:146.50, Z:0.11 [[-3.56889184e-02 -9.99362948e-01 0.00000000e+00 1.75910516e+02] [ 9.99362948e-01 -3.56889184e-02 0.00000000e+00 1.46504982e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12439216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.000371743 meters Centerline goodness : 0.989435 Centerline is valid? [True, True] Translation: X:175.91, Y:146.51, Z:0.11 [[-2.98734244e-02 -9.99553690e-01 0.00000000e+00 1.75912116e+02] [ 9.99553690e-01 -2.98734244e-02 0.00000000e+00 1.46508516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11711544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.030371743 meters Centerline goodness : 0.989435 Centerline is valid? [True, True] Translation: X:175.91, Y:146.51, Z:0.11 [[-2.94940644e-02 -9.99564955e-01 0.00000000e+00 1.75912017e+02] [ 9.99564955e-01 -2.94940644e-02 0.00000000e+00 1.46512040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11711544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.060371743 meters Centerline goodness : 0.988756 Centerline is valid? [True, True] Translation: X:175.91, Y:146.54, Z:0.11 [[-2.83298330e-02 -9.99598630e-01 0.00000000e+00 1.75911152e+02] [ 9.99598630e-01 -2.83298330e-02 0.00000000e+00 1.46538703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11896182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.090371743 meters Centerline goodness : 0.989690 Centerline is valid? [True, True] Translation: X:175.91, Y:146.57, Z:0.11 [[-2.58551910e-02 -9.99665699e-01 0.00000000e+00 1.75912309e+02] [ 9.99665699e-01 -2.58551910e-02 0.00000000e+00 1.46569458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10925001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.120371743 meters Centerline goodness : 0.989113 Centerline is valid? [True, True] Translation: X:175.92, Y:146.56, Z:0.11 [[-2.12057732e-02 -9.99775132e-01 0.00000000e+00 1.75915058e+02] [ 9.99775132e-01 -2.12057732e-02 0.00000000e+00 1.46561534e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11429326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.150371743 meters Centerline goodness : 0.988601 Centerline is valid? [True, True] Translation: X:175.92, Y:146.56, Z:0.11 [[-1.97331498e-02 -9.99805282e-01 0.00000000e+00 1.75915903e+02] [ 9.99805282e-01 -1.97331498e-02 0.00000000e+00 1.46564726e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12402620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.180371743 meters Centerline goodness : 0.988332 Centerline is valid? [True, True] Translation: X:175.92, Y:146.60, Z:0.11 [[-1.73811311e-02 -9.99848937e-01 0.00000000e+00 1.75918619e+02] [ 9.99848937e-01 -1.73811311e-02 0.00000000e+00 1.46595456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13582725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.210371743 meters Centerline goodness : 0.987796 Centerline is valid? [True, True] Translation: X:175.92, Y:146.60, Z:0.11 [[-1.82978450e-02 -9.99832580e-01 0.00000000e+00 1.75919363e+02] [ 9.99832580e-01 -1.82978450e-02 0.00000000e+00 1.46599596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13458317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.240371743 meters Centerline goodness : 0.988297 Centerline is valid? [True, True] Translation: X:175.92, Y:146.61, Z:0.11 [[-1.95445302e-02 -9.99808987e-01 0.00000000e+00 1.75920749e+02] [ 9.99808987e-01 -1.95445302e-02 0.00000000e+00 1.46609857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13451056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.270371743 meters Centerline goodness : 0.986164 Centerline is valid? [True, True] Translation: X:175.91, Y:147.10, Z:0.12 [[-3.77746095e-02 -9.99286285e-01 0.00000000e+00 1.75914367e+02] [ 9.99286285e-01 -3.77746095e-02 0.00000000e+00 1.47095638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15337569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.300371743 meters Centerline goodness : 0.987741 Centerline is valid? [True, True] Translation: X:175.92, Y:146.63, Z:0.11 [[-1.76683789e-02 -9.99843902e-01 0.00000000e+00 1.75923912e+02] [ 9.99843902e-01 -1.76683789e-02 0.00000000e+00 1.46630142e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12997678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.330371743 meters Centerline goodness : 0.983056 Centerline is valid? [True, True] Translation: X:175.92, Y:146.64, Z:0.11 [[-2.72994973e-02 -9.99627299e-01 0.00000000e+00 1.75920176e+02] [ 9.99627299e-01 -2.72994973e-02 0.00000000e+00 1.46642617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08237234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36037174300003 meters Centerline goodness : 0.984983 Centerline is valid? [True, True] Translation: X:175.93, Y:146.68, Z:0.11 [[-2.05445455e-02 -9.99788939e-01 0.00000000e+00 1.75934327e+02] [ 9.99788939e-01 -2.05445455e-02 0.00000000e+00 1.46680231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12894463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.390371743 meters Centerline goodness : 0.985159 Centerline is valid? [True, True] Translation: X:175.94, Y:146.71, Z:0.11 [[-2.63667179e-02 -9.99652338e-01 0.00000000e+00 1.75939099e+02] [ 9.99652338e-01 -2.63667179e-02 0.00000000e+00 1.46707287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13011354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42037174300003 meters Centerline goodness : 0.983491 Centerline is valid? [True, True] Translation: X:175.95, Y:146.73, Z:0.11 [[-3.14758616e-02 -9.99504512e-01 0.00000000e+00 1.75945710e+02] [ 9.99504512e-01 -3.14758616e-02 0.00000000e+00 1.46734958e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13624597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.450371743 meters Centerline goodness : 0.986370 Centerline is valid? [True, True] Translation: X:175.95, Y:146.76, Z:0.11 [[-3.98723346e-02 -9.99204782e-01 0.00000000e+00 1.75945802e+02] [ 9.99204782e-01 -3.98723346e-02 0.00000000e+00 1.46762512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12987732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.480371743 meters Centerline goodness : 0.984827 Centerline is valid? [True, True] Translation: X:175.95, Y:146.79, Z:0.11 [[-4.22482893e-02 -9.99107142e-01 0.00000000e+00 1.75949027e+02] [ 9.99107142e-01 -4.22482893e-02 0.00000000e+00 1.46792546e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13049336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.510371743 meters Centerline goodness : 0.984846 Centerline is valid? [True, True] Translation: X:175.95, Y:146.82, Z:0.11 [[-4.46480076e-02 -9.99002780e-01 0.00000000e+00 1.75951323e+02] [ 9.99002780e-01 -4.46480076e-02 0.00000000e+00 1.46818419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14116189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.540371743 meters Centerline goodness : 0.984846 Centerline is valid? [True, True] Translation: X:175.95, Y:146.85, Z:0.11 [[-4.50529553e-02 -9.98984600e-01 0.00000000e+00 1.75951350e+02] [ 9.98984600e-01 -4.50529553e-02 0.00000000e+00 1.46845735e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14116189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.570371743 meters Centerline goodness : 0.985770 Centerline is valid? [True, True] Translation: X:175.95, Y:146.87, Z:0.11 [[-5.26469871e-02 -9.98613186e-01 0.00000000e+00 1.75952298e+02] [ 9.98613186e-01 -5.26469871e-02 0.00000000e+00 1.46871953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11398219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.600371743 meters Centerline goodness : 0.986124 Centerline is valid? [True, True] Translation: X:175.95, Y:146.90, Z:0.11 [[-5.49046025e-02 -9.98491605e-01 0.00000000e+00 1.75954857e+02] [ 9.98491605e-01 -5.49046025e-02 0.00000000e+00 1.46900929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12425202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.630371743 meters Centerline goodness : 0.986296 Centerline is valid? [True, True] Translation: X:175.96, Y:146.93, Z:0.11 [[-6.03103727e-02 -9.98179673e-01 0.00000000e+00 1.75955842e+02] [ 9.98179673e-01 -6.03103727e-02 0.00000000e+00 1.46928701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12920900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.660371743 meters Centerline goodness : 0.985517 Centerline is valid? [True, True] Translation: X:175.96, Y:146.95, Z:0.11 [[-6.26923732e-02 -9.98032898e-01 0.00000000e+00 1.75956468e+02] [ 9.98032898e-01 -6.26923732e-02 0.00000000e+00 1.46954881e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10194223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.690371743 meters Centerline goodness : 0.986366 Centerline is valid? [True, True] Translation: X:175.96, Y:146.98, Z:0.11 [[-6.49305935e-02 -9.97889783e-01 0.00000000e+00 1.75957027e+02] [ 9.97889783e-01 -6.49305935e-02 0.00000000e+00 1.46982609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11363041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.720371743 meters Centerline goodness : 0.985692 Centerline is valid? [True, True] Translation: X:175.96, Y:147.01, Z:0.11 [[-6.77943767e-02 -9.97699315e-01 0.00000000e+00 1.75957252e+02] [ 9.97699315e-01 -6.77943767e-02 0.00000000e+00 1.47010147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11336898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.750371743 meters Centerline goodness : 0.985272 Centerline is valid? [True, True] Translation: X:175.96, Y:147.04, Z:0.11 [[-6.60876875e-02 -9.97813819e-01 0.00000000e+00 1.75960494e+02] [ 9.97813819e-01 -6.60876875e-02 0.00000000e+00 1.47038937e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12296228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.780371743 meters Centerline goodness : 0.986946 Centerline is valid? [True, True] Translation: X:175.96, Y:147.07, Z:0.11 [[-6.84094272e-02 -9.97657331e-01 0.00000000e+00 1.75958443e+02] [ 9.97657331e-01 -6.84094272e-02 0.00000000e+00 1.47067276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09504761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.810371743 meters Centerline goodness : 0.986881 Centerline is valid? [True, True] Translation: X:175.96, Y:147.10, Z:0.11 [[-6.73187765e-02 -9.97731518e-01 0.00000000e+00 1.75959005e+02] [ 9.97731518e-01 -6.73187765e-02 0.00000000e+00 1.47095697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12408142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.840371743 meters Centerline goodness : 0.988116 Centerline is valid? [True, True] Translation: X:175.96, Y:147.12, Z:0.11 [[-6.83784074e-02 -9.97659458e-01 0.00000000e+00 1.75955950e+02] [ 9.97659458e-01 -6.83784074e-02 0.00000000e+00 1.47122811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11729204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.870371743 meters Centerline goodness : 0.986110 Centerline is valid? [True, True] Translation: X:175.96, Y:147.15, Z:0.11 [[-6.63819673e-02 -9.97794285e-01 0.00000000e+00 1.75957631e+02] [ 9.97794285e-01 -6.63819673e-02 0.00000000e+00 1.47152528e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14120480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.900371743 meters Centerline goodness : 0.986947 Centerline is valid? [True, True] Translation: X:175.95, Y:147.18, Z:0.11 [[-6.75507723e-02 -9.97715838e-01 0.00000000e+00 1.75953888e+02] [ 9.97715838e-01 -6.75507723e-02 0.00000000e+00 1.47177987e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12854615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.930371743 meters Centerline goodness : 0.986180 Centerline is valid? [True, True] Translation: X:175.95, Y:147.20, Z:0.11 [[-6.57346815e-02 -9.97837137e-01 0.00000000e+00 1.75953886e+02] [ 9.97837137e-01 -6.57346815e-02 0.00000000e+00 1.47204814e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12878113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.960371743 meters Centerline goodness : 0.986180 Centerline is valid? [True, True] Translation: X:175.95, Y:147.23, Z:0.11 [[-6.58633762e-02 -9.97828650e-01 0.00000000e+00 1.75954031e+02] [ 9.97828650e-01 -6.58633762e-02 0.00000000e+00 1.47233246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12878113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.990371743 meters Centerline goodness : 0.986335 Centerline is valid? [True, True] Translation: X:175.96, Y:147.26, Z:0.11 [[-6.29795258e-02 -9.98014819e-01 0.00000000e+00 1.75955680e+02] [ 9.98014819e-01 -6.29795258e-02 0.00000000e+00 1.47264463e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11136743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.020371743 meters Centerline goodness : 0.987203 Centerline is valid? [True, True] Translation: X:175.96, Y:147.29, Z:0.11 [[-6.27595805e-02 -9.98028674e-01 0.00000000e+00 1.75955084e+02] [ 9.98028674e-01 -6.27595805e-02 0.00000000e+00 1.47292920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11419462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.050371743 meters Centerline goodness : 0.986760 Centerline is valid? [True, True] Translation: X:175.95, Y:147.32, Z:0.11 [[-6.29102878e-02 -9.98019186e-01 0.00000000e+00 1.75954026e+02] [ 9.98019186e-01 -6.29102878e-02 0.00000000e+00 1.47321124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08266302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.080371743 meters Centerline goodness : 0.987038 Centerline is valid? [True, True] Translation: X:175.95, Y:147.34, Z:0.11 [[-6.51872569e-02 -9.97873049e-01 0.00000000e+00 1.75949047e+02] [ 9.97873049e-01 -6.51872569e-02 0.00000000e+00 1.47344722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09980995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11037174300003 meters Centerline goodness : 0.987735 Centerline is valid? [True, True] Translation: X:175.95, Y:147.37, Z:0.11 [[-6.67475878e-02 -9.97769893e-01 0.00000000e+00 1.75946436e+02] [ 9.97769893e-01 -6.67475878e-02 0.00000000e+00 1.47372384e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12759131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.140371743 meters Centerline goodness : 0.987469 Centerline is valid? [True, True] Translation: X:175.95, Y:147.41, Z:0.12 [[-6.28873820e-02 -9.98020630e-01 0.00000000e+00 1.75951316e+02] [ 9.98020630e-01 -6.28873820e-02 0.00000000e+00 1.47405181e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15609416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17037174300003 meters Centerline goodness : 0.987612 Centerline is valid? [True, True] Translation: X:175.95, Y:147.43, Z:0.11 [[-6.63371614e-02 -9.97797264e-01 0.00000000e+00 1.75946077e+02] [ 9.97797264e-01 -6.63371614e-02 0.00000000e+00 1.47431306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14113141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.200371743 meters Centerline goodness : 0.992294 Centerline is valid? [True, True] Translation: X:175.94, Y:147.46, Z:0.11 [[-7.03592653e-02 -9.97521716e-01 0.00000000e+00 1.75944476e+02] [ 9.97521716e-01 -7.03592653e-02 0.00000000e+00 1.47461533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14119797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.230371743 meters Centerline goodness : 0.988586 Centerline is valid? [True, True] Translation: X:175.95, Y:147.49, Z:0.11 [[-6.69463002e-02 -9.97756580e-01 0.00000000e+00 1.75946466e+02] [ 9.97756580e-01 -6.69463002e-02 0.00000000e+00 1.47485376e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13771616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.260371743 meters Centerline goodness : 0.987903 Centerline is valid? [True, True] Translation: X:175.95, Y:147.51, Z:0.11 [[-6.69991086e-02 -9.97753035e-01 0.00000000e+00 1.75947602e+02] [ 9.97753035e-01 -6.69991086e-02 0.00000000e+00 1.47514500e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12782799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.290371743 meters Centerline goodness : 0.981284 Centerline is valid? [True, True] Translation: X:175.94, Y:147.53, Z:0.11 [[-7.16578144e-02 -9.97429275e-01 0.00000000e+00 1.75941587e+02] [ 9.97429275e-01 -7.16578144e-02 0.00000000e+00 1.47533524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13312477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.320371743 meters Centerline goodness : 0.989433 Centerline is valid? [True, True] Translation: X:175.95, Y:147.57, Z:0.11 [[-6.87231030e-02 -9.97635773e-01 0.00000000e+00 1.75946774e+02] [ 9.97635773e-01 -6.87231030e-02 0.00000000e+00 1.47569129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11086529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.350371743 meters Centerline goodness : 0.989819 Centerline is valid? [True, True] Translation: X:175.95, Y:147.60, Z:0.11 [[-7.01906734e-02 -9.97533593e-01 0.00000000e+00 1.75945165e+02] [ 9.97533593e-01 -7.01906734e-02 0.00000000e+00 1.47597099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11321384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.380371743 meters Centerline goodness : 0.989240 Centerline is valid? [True, True] Translation: X:175.94, Y:147.62, Z:0.11 [[-7.11962983e-02 -9.97462324e-01 0.00000000e+00 1.75943858e+02] [ 9.97462324e-01 -7.11962983e-02 0.00000000e+00 1.47624839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09107994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.410371743 meters Centerline goodness : 0.988682 Centerline is valid? [True, True] Translation: X:175.94, Y:147.65, Z:0.11 [[-7.28961652e-02 -9.97339536e-01 0.00000000e+00 1.75940277e+02] [ 9.97339536e-01 -7.28961652e-02 0.00000000e+00 1.47651835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13553446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.440371743 meters Centerline goodness : 0.987626 Centerline is valid? [True, True] Translation: X:175.94, Y:147.68, Z:0.11 [[-7.10472472e-02 -9.97472951e-01 0.00000000e+00 1.75941606e+02] [ 9.97472951e-01 -7.10472472e-02 0.00000000e+00 1.47681781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14502904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.470371743 meters Centerline goodness : 0.988973 Centerline is valid? [True, True] Translation: X:175.94, Y:147.71, Z:0.12 [[-6.87266037e-02 -9.97635532e-01 0.00000000e+00 1.75939898e+02] [ 9.97635532e-01 -6.87266037e-02 0.00000000e+00 1.47710855e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17109470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.500371743 meters Centerline goodness : 0.989416 Centerline is valid? [True, True] Translation: X:175.94, Y:147.74, Z:0.12 [[-6.87158264e-02 -9.97636274e-01 0.00000000e+00 1.75937620e+02] [ 9.97636274e-01 -6.87158264e-02 0.00000000e+00 1.47737927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19108373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.530371743 meters Centerline goodness : 0.989798 Centerline is valid? [True, True] Translation: X:175.94, Y:147.77, Z:0.12 [[-6.48452651e-02 -9.97895331e-01 0.00000000e+00 1.75939802e+02] [ 9.97895331e-01 -6.48452651e-02 0.00000000e+00 1.47770827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19521823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.560371743 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:175.94, Y:147.74, Z:0.12 [[-6.00693435e-02 -9.98194207e-01 0.00000000e+00 1.75936378e+02] [ 9.98194207e-01 -6.00693435e-02 0.00000000e+00 1.47744798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19583866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.590371743 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:175.93, Y:147.77, Z:0.12 [[-5.84391968e-02 -9.98290970e-01 0.00000000e+00 1.75934519e+02] [ 9.98290970e-01 -5.84391968e-02 0.00000000e+00 1.47773343e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20347745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.620371743 meters Centerline goodness : 0.989543 Centerline is valid? [True, True] Translation: X:175.93, Y:147.77, Z:0.12 [[-5.28722645e-02 -9.98601284e-01 0.00000000e+00 1.75931286e+02] [ 9.98601284e-01 -5.28722645e-02 0.00000000e+00 1.47767641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19181382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.650371743 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:175.93, Y:147.80, Z:0.12 [[-5.15888407e-02 -9.98668409e-01 0.00000000e+00 1.75928883e+02] [ 9.98668409e-01 -5.15888407e-02 0.00000000e+00 1.47795017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19443280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.680371743 meters Centerline goodness : 0.990320 Centerline is valid? [True, True] Translation: X:175.93, Y:147.82, Z:0.12 [[-4.91019149e-02 -9.98793773e-01 0.00000000e+00 1.75927926e+02] [ 9.98793773e-01 -4.91019149e-02 0.00000000e+00 1.47824971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19302893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.710371743 meters Centerline goodness : 0.990274 Centerline is valid? [True, True] Translation: X:175.92, Y:147.85, Z:0.12 [[-4.40990378e-02 -9.99027164e-01 0.00000000e+00 1.75924986e+02] [ 9.99027164e-01 -4.40990378e-02 0.00000000e+00 1.47851296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19207768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.740371743 meters Centerline goodness : 0.989174 Centerline is valid? [True, True] Translation: X:175.92, Y:147.86, Z:0.12 [[-4.08783490e-02 -9.99164131e-01 0.00000000e+00 1.75923741e+02] [ 9.99164131e-01 -4.08783490e-02 0.00000000e+00 1.47855828e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19623611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.770371743 meters Centerline goodness : 0.989926 Centerline is valid? [True, True] Translation: X:175.92, Y:147.88, Z:0.12 [[-3.82955513e-02 -9.99266456e-01 0.00000000e+00 1.75920479e+02] [ 9.99266456e-01 -3.82955513e-02 0.00000000e+00 1.47883803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20921434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.800371743 meters Centerline goodness : 0.988731 Centerline is valid? [True, True] Translation: X:175.92, Y:147.89, Z:0.12 [[-3.45629893e-02 -9.99402521e-01 0.00000000e+00 1.75920875e+02] [ 9.99402521e-01 -3.45629893e-02 0.00000000e+00 1.47886426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19630723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.830371743 meters Centerline goodness : 0.989169 Centerline is valid? [True, True] Translation: X:175.92, Y:147.92, Z:0.12 [[-3.35622072e-02 -9.99436630e-01 0.00000000e+00 1.75919894e+02] [ 9.99436630e-01 -3.35622072e-02 0.00000000e+00 1.47916547e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20339517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86037174300003 meters Centerline goodness : 0.989067 Centerline is valid? [True, True] Translation: X:175.92, Y:147.93, Z:0.12 [[-2.96438625e-02 -9.99560524e-01 0.00000000e+00 1.75919847e+02] [ 9.99560524e-01 -2.96438625e-02 0.00000000e+00 1.47932067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20042821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.890371743 meters Centerline goodness : 0.989417 Centerline is valid? [True, True] Translation: X:175.92, Y:147.92, Z:0.12 [[-2.85041177e-02 -9.99593675e-01 0.00000000e+00 1.75919364e+02] [ 9.99593675e-01 -2.85041177e-02 0.00000000e+00 1.47923792e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19317187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92037174300003 meters Centerline goodness : 0.989021 Centerline is valid? [True, True] Translation: X:175.92, Y:147.95, Z:0.12 [[-2.80853182e-02 -9.99605530e-01 0.00000000e+00 1.75918526e+02] [ 9.99605530e-01 -2.80853182e-02 0.00000000e+00 1.47954181e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20964259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.950371743 meters Centerline goodness : 0.989021 Centerline is valid? [True, True] Translation: X:175.92, Y:147.96, Z:0.12 [[-2.77095524e-02 -9.99616017e-01 0.00000000e+00 1.75918415e+02] [ 9.99616017e-01 -2.77095524e-02 0.00000000e+00 1.47957701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20964259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.980371743 meters Centerline goodness : 0.988877 Centerline is valid? [True, True] Translation: X:175.92, Y:147.96, Z:0.12 [[-2.73521946e-02 -9.99625859e-01 0.00000000e+00 1.75918125e+02] [ 9.99625859e-01 -2.73521946e-02 0.00000000e+00 1.47963284e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21205150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.010371743 meters Centerline goodness : 0.989036 Centerline is valid? [True, True] Translation: X:175.92, Y:147.97, Z:0.12 [[-2.50205684e-02 -9.99686937e-01 0.00000000e+00 1.75919068e+02] [ 9.99686937e-01 -2.50205684e-02 0.00000000e+00 1.47968938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19826597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.040371743 meters Centerline goodness : 0.988713 Centerline is valid? [True, True] Translation: X:175.92, Y:148.00, Z:0.12 [[-2.44859975e-02 -9.99700173e-01 0.00000000e+00 1.75918988e+02] [ 9.99700173e-01 -2.44859975e-02 0.00000000e+00 1.47995847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20377271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.070371743 meters Centerline goodness : 0.989585 Centerline is valid? [True, True] Translation: X:175.92, Y:148.00, Z:0.12 [[-2.23304926e-02 -9.99750643e-01 0.00000000e+00 1.75920956e+02] [ 9.99750643e-01 -2.23304926e-02 0.00000000e+00 1.47998151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19795085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.100371743 meters Centerline goodness : 0.989676 Centerline is valid? [True, True] Translation: X:175.92, Y:148.03, Z:0.12 [[-2.50430201e-02 -9.99686374e-01 0.00000000e+00 1.75920525e+02] [ 9.99686374e-01 -2.50430201e-02 0.00000000e+00 1.48026950e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17963793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.130371743 meters Centerline goodness : 0.989112 Centerline is valid? [True, True] Translation: X:175.92, Y:148.03, Z:0.12 [[-2.38953471e-02 -9.99714465e-01 0.00000000e+00 1.75924244e+02] [ 9.99714465e-01 -2.38953471e-02 0.00000000e+00 1.48030102e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19748465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.160371743 meters Centerline goodness : 0.989620 Centerline is valid? [True, True] Translation: X:175.92, Y:148.06, Z:0.12 [[-2.82592343e-02 -9.99600628e-01 0.00000000e+00 1.75923978e+02] [ 9.99600628e-01 -2.82592343e-02 0.00000000e+00 1.48059998e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19957704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.190371743 meters Centerline goodness : 0.990601 Centerline is valid? [True, True] Translation: X:175.93, Y:148.07, Z:0.12 [[-2.68365661e-02 -9.99639835e-01 0.00000000e+00 1.75925201e+02] [ 9.99639835e-01 -2.68365661e-02 0.00000000e+00 1.48065555e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15680117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.220371743 meters Centerline goodness : 0.989389 Centerline is valid? [True, True] Translation: X:175.93, Y:148.07, Z:0.12 [[-3.21174424e-02 -9.99484102e-01 0.00000000e+00 1.75927454e+02] [ 9.99484102e-01 -3.21174424e-02 0.00000000e+00 1.48067251e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18715705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.250371743 meters Centerline goodness : 0.989220 Centerline is valid? [True, True] Translation: X:175.93, Y:148.08, Z:0.12 [[-3.62271374e-02 -9.99343582e-01 0.00000000e+00 1.75927086e+02] [ 9.99343582e-01 -3.62271374e-02 0.00000000e+00 1.48080870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22447264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.280371743 meters Centerline goodness : 0.989415 Centerline is valid? [True, True] Translation: X:175.93, Y:148.09, Z:0.12 [[-4.02561557e-02 -9.99189392e-01 0.00000000e+00 1.75929311e+02] [ 9.99189392e-01 -4.02561557e-02 0.00000000e+00 1.48085103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20973419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.310371743 meters Centerline goodness : 0.989585 Centerline is valid? [True, True] Translation: X:175.93, Y:148.08, Z:0.12 [[-4.35274900e-02 -9.99052230e-01 0.00000000e+00 1.75930037e+02] [ 9.99052230e-01 -4.35274900e-02 0.00000000e+00 1.48083259e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23508623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.340371743 meters Centerline goodness : 0.989523 Centerline is valid? [True, True] Translation: X:175.93, Y:148.09, Z:0.12 [[-5.00641855e-02 -9.98746002e-01 0.00000000e+00 1.75931694e+02] [ 9.98746002e-01 -5.00641855e-02 0.00000000e+00 1.48091857e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22276618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.370371743 meters Centerline goodness : 0.990028 Centerline is valid? [True, True] Translation: X:175.93, Y:148.11, Z:0.12 [[-5.18669177e-02 -9.98654006e-01 0.00000000e+00 1.75932192e+02] [ 9.98654006e-01 -5.18669177e-02 0.00000000e+00 1.48105383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22954632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.400371743 meters Centerline goodness : 0.989052 Centerline is valid? [True, True] Translation: X:175.93, Y:148.11, Z:0.12 [[-5.60066564e-02 -9.98430395e-01 0.00000000e+00 1.75932040e+02] [ 9.98430395e-01 -5.60066564e-02 0.00000000e+00 1.48111122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22354277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.430371743 meters Centerline goodness : 0.989119 Centerline is valid? [True, True] Translation: X:175.93, Y:148.12, Z:0.12 [[-6.25412298e-02 -9.98042381e-01 0.00000000e+00 1.75932544e+02] [ 9.98042381e-01 -6.25412298e-02 0.00000000e+00 1.48122333e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19143990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.460371743 meters Centerline goodness : 0.990342 Centerline is valid? [True, True] Translation: X:175.93, Y:148.13, Z:0.12 [[-6.41848736e-02 -9.97938025e-01 0.00000000e+00 1.75932880e+02] [ 9.97938025e-01 -6.41848736e-02 0.00000000e+00 1.48125591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18699601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.490371743 meters Centerline goodness : 0.989945 Centerline is valid? [True, True] Translation: X:175.93, Y:148.12, Z:0.12 [[-6.81766791e-02 -9.97673263e-01 0.00000000e+00 1.75933249e+02] [ 9.97673263e-01 -6.81766791e-02 0.00000000e+00 1.48123940e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19138160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.520371743 meters Centerline goodness : 0.989068 Centerline is valid? [True, True] Translation: X:175.93, Y:148.12, Z:0.12 [[-6.83489903e-02 -9.97661473e-01 0.00000000e+00 1.75933475e+02] [ 9.97661473e-01 -6.83489903e-02 0.00000000e+00 1.48121233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22504613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.550371743 meters Centerline goodness : 0.992685 Centerline is valid? [True, True] Translation: X:175.93, Y:148.13, Z:0.11 [[-6.71908935e-02 -9.97740138e-01 0.00000000e+00 1.75931699e+02] [ 9.97740138e-01 -6.71908935e-02 0.00000000e+00 1.48130845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14284359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.580371743 meters Centerline goodness : 0.991177 Centerline is valid? [True, True] Translation: X:175.93, Y:148.15, Z:0.12 [[-6.64050482e-02 -9.97792749e-01 0.00000000e+00 1.75929786e+02] [ 9.97792749e-01 -6.64050482e-02 0.00000000e+00 1.48153906e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17216837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61037174300003 meters Centerline goodness : 0.990793 Centerline is valid? [True, True] Translation: X:175.93, Y:148.18, Z:0.12 [[-6.76249627e-02 -9.97710812e-01 0.00000000e+00 1.75927070e+02] [ 9.97710812e-01 -6.76249627e-02 0.00000000e+00 1.48180762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18127461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.640371743 meters Centerline goodness : 0.990828 Centerline is valid? [True, True] Translation: X:175.92, Y:148.21, Z:0.12 [[-6.73376906e-02 -9.97730242e-01 0.00000000e+00 1.75924688e+02] [ 9.97730242e-01 -6.73376906e-02 0.00000000e+00 1.48209505e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19879784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67037174300003 meters Centerline goodness : 0.990275 Centerline is valid? [True, True] Translation: X:175.92, Y:148.24, Z:0.12 [[-6.74138913e-02 -9.97725096e-01 0.00000000e+00 1.75922841e+02] [ 9.97725096e-01 -6.74138913e-02 0.00000000e+00 1.48236858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20408944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.700371743 meters Centerline goodness : 0.990616 Centerline is valid? [True, True] Translation: X:175.92, Y:148.27, Z:0.12 [[-6.71020053e-02 -9.97746120e-01 0.00000000e+00 1.75921363e+02] [ 9.97746120e-01 -6.71020053e-02 0.00000000e+00 1.48265365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20764280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.730371743 meters Centerline goodness : 0.992349 Centerline is valid? [True, True] Translation: X:175.92, Y:148.30, Z:0.12 [[-6.95686366e-02 -9.97577167e-01 0.00000000e+00 1.75919597e+02] [ 9.97577167e-01 -6.95686366e-02 0.00000000e+00 1.48298722e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15203570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.760371743 meters Centerline goodness : 0.991183 Centerline is valid? [True, True] Translation: X:175.92, Y:148.32, Z:0.12 [[-6.59582150e-02 -9.97822386e-01 0.00000000e+00 1.75915032e+02] [ 9.97822386e-01 -6.59582150e-02 0.00000000e+00 1.48322452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.18103885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.790371743 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:175.91, Y:148.32, Z:0.12 [[-6.33744654e-02 -9.97989818e-01 0.00000000e+00 1.75913951e+02] [ 9.97989818e-01 -6.33744654e-02 0.00000000e+00 1.48319575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20452615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.820371743 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:175.91, Y:148.34, Z:0.11 [[-5.91554865e-02 -9.98248781e-01 0.00000000e+00 1.75909444e+02] [ 9.98248781e-01 -5.91554865e-02 0.00000000e+00 1.48335815e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14089129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.850371743 meters Centerline goodness : 0.989932 Centerline is valid? [True, True] Translation: X:175.91, Y:148.36, Z:0.12 [[-5.51215017e-02 -9.98479654e-01 0.00000000e+00 1.75907322e+02] [ 9.98479654e-01 -5.51215017e-02 0.00000000e+00 1.48357716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19289549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.880371743 meters Centerline goodness : 0.989888 Centerline is valid? [True, True] Translation: X:175.91, Y:148.39, Z:0.12 [[-5.41004267e-02 -9.98535500e-01 0.00000000e+00 1.75905307e+02] [ 9.98535500e-01 -5.41004267e-02 0.00000000e+00 1.48386170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19087988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.910371743 meters Centerline goodness : 0.991340 Centerline is valid? [True, True] Translation: X:175.90, Y:148.42, Z:0.12 [[-5.22968652e-02 -9.98631583e-01 0.00000000e+00 1.75901228e+02] [ 9.98631583e-01 -5.22968652e-02 0.00000000e+00 1.48415809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20803471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.940371743 meters Centerline goodness : 0.991444 Centerline is valid? [True, True] Translation: X:175.90, Y:148.44, Z:0.12 [[-5.26247556e-02 -9.98614358e-01 0.00000000e+00 1.75898311e+02] [ 9.98614358e-01 -5.26247556e-02 0.00000000e+00 1.48444593e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21045481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.970371743 meters Centerline goodness : 0.991938 Centerline is valid? [True, True] Translation: X:175.89, Y:148.47, Z:0.12 [[-5.37482695e-02 -9.98554517e-01 0.00000000e+00 1.75893556e+02] [ 9.98554517e-01 -5.37482695e-02 0.00000000e+00 1.48473031e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21228261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.000371743 meters Centerline goodness : 0.992268 Centerline is valid? [True, True] Translation: X:175.89, Y:148.50, Z:0.12 [[-5.49732271e-02 -9.98487829e-01 0.00000000e+00 1.75891255e+02] [ 9.98487829e-01 -5.49732271e-02 0.00000000e+00 1.48499200e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22063442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.030371743 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:175.89, Y:148.53, Z:0.12 [[-5.66721544e-02 -9.98392842e-01 0.00000000e+00 1.75890993e+02] [ 9.98392842e-01 -5.66721544e-02 0.00000000e+00 1.48530024e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23199429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.060371743 meters Centerline goodness : 0.990001 Centerline is valid? [True, True] Translation: X:175.89, Y:148.54, Z:0.13 [[-6.09711054e-02 -9.98139531e-01 0.00000000e+00 1.75887417e+02] [ 9.98139531e-01 -6.09711054e-02 0.00000000e+00 1.48541748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26128813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.090371743 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:175.88, Y:148.55, Z:0.12 [[-6.13263075e-02 -9.98117771e-01 0.00000000e+00 1.75884742e+02] [ 9.98117771e-01 -6.13263075e-02 0.00000000e+00 1.48545463e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24470040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.120371743 meters Centerline goodness : 0.991588 Centerline is valid? [True, True] Translation: X:175.88, Y:148.56, Z:0.12 [[-6.20989938e-02 -9.98069995e-01 0.00000000e+00 1.75881690e+02] [ 9.98069995e-01 -6.20989938e-02 0.00000000e+00 1.48557137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24460813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.150371743 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:175.88, Y:148.58, Z:0.12 [[-6.19216304e-02 -9.98081015e-01 0.00000000e+00 1.75879006e+02] [ 9.98081015e-01 -6.19216304e-02 0.00000000e+00 1.48583352e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21544106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.180371743 meters Centerline goodness : 0.990053 Centerline is valid? [True, True] Translation: X:175.88, Y:148.58, Z:0.12 [[-6.44585276e-02 -9.97920387e-01 0.00000000e+00 1.75876943e+02] [ 9.97920387e-01 -6.44585276e-02 0.00000000e+00 1.48582304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22325582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.210371743 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:175.87, Y:148.59, Z:0.12 [[-6.03101127e-02 -9.98179688e-01 0.00000000e+00 1.75873284e+02] [ 9.98179688e-01 -6.03101127e-02 0.00000000e+00 1.48586905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22361539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.240371743 meters Centerline goodness : 0.990940 Centerline is valid? [True, True] Translation: X:175.87, Y:148.61, Z:0.12 [[-5.99087499e-02 -9.98203858e-01 0.00000000e+00 1.75870218e+02] [ 9.98203858e-01 -5.99087499e-02 0.00000000e+00 1.48613492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21498813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.270371743 meters Centerline goodness : 0.991463 Centerline is valid? [True, True] Translation: X:175.87, Y:148.64, Z:0.12 [[-5.65224621e-02 -9.98401328e-01 0.00000000e+00 1.75868616e+02] [ 9.98401328e-01 -5.65224621e-02 0.00000000e+00 1.48639955e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24734682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.300371743 meters Centerline goodness : 0.992504 Centerline is valid? [True, True] Translation: X:175.86, Y:148.67, Z:0.12 [[-5.34916165e-02 -9.98568299e-01 0.00000000e+00 1.75864747e+02] [ 9.98568299e-01 -5.34916165e-02 0.00000000e+00 1.48672652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23263094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.330371743 meters Centerline goodness : 0.991591 Centerline is valid? [True, True] Translation: X:175.86, Y:148.66, Z:0.13 [[-4.80727857e-02 -9.98843835e-01 0.00000000e+00 1.75862211e+02] [ 9.98843835e-01 -4.80727857e-02 0.00000000e+00 1.48657193e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26715146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36037174300003 meters Centerline goodness : 0.991785 Centerline is valid? [True, True] Translation: X:175.86, Y:148.65, Z:0.13 [[-4.46103189e-02 -9.99004464e-01 0.00000000e+00 1.75859577e+02] [ 9.99004464e-01 -4.46103189e-02 0.00000000e+00 1.48648150e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26586511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.390371743 meters Centerline goodness : 0.991725 Centerline is valid? [True, True] Translation: X:175.86, Y:148.65, Z:0.13 [[-3.92448033e-02 -9.99229626e-01 0.00000000e+00 1.75859506e+02] [ 9.99229626e-01 -3.92448033e-02 0.00000000e+00 1.48648437e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26896883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42037174300003 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:175.86, Y:148.66, Z:0.12 [[-3.47123874e-02 -9.99397343e-01 0.00000000e+00 1.75856585e+02] [ 9.99397343e-01 -3.47123874e-02 0.00000000e+00 1.48656151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24671827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.450371743 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:175.85, Y:148.68, Z:0.12 [[-2.93306691e-02 -9.99569763e-01 0.00000000e+00 1.75853383e+02] [ 9.99569763e-01 -2.93306691e-02 0.00000000e+00 1.48684974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22709604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.480371743 meters Centerline goodness : 0.992341 Centerline is valid? [True, True] Translation: X:175.85, Y:148.68, Z:0.12 [[-2.42890975e-02 -9.99704976e-01 0.00000000e+00 1.75850158e+02] [ 9.99704976e-01 -2.42890975e-02 0.00000000e+00 1.48683808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23430147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.510371743 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:175.85, Y:148.68, Z:0.12 [[-2.05102084e-02 -9.99789644e-01 0.00000000e+00 1.75848382e+02] [ 9.99789644e-01 -2.05102084e-02 0.00000000e+00 1.48684182e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22956183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.540371743 meters Centerline goodness : 0.991787 Centerline is valid? [True, True] Translation: X:175.85, Y:148.69, Z:0.12 [[-1.98199486e-02 -9.99803566e-01 0.00000000e+00 1.75847496e+02] [ 9.99803566e-01 -1.98199486e-02 0.00000000e+00 1.48688583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22894783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.570371743 meters Centerline goodness : 0.991591 Centerline is valid? [True, True] Translation: X:175.85, Y:148.69, Z:0.12 [[-1.65284738e-02 -9.99863395e-01 0.00000000e+00 1.75845919e+02] [ 9.99863395e-01 -1.65284738e-02 0.00000000e+00 1.48690375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24953840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.600371743 meters Centerline goodness : 0.991463 Centerline is valid? [True, True] Translation: X:175.84, Y:148.71, Z:0.13 [[-1.66279936e-02 -9.99861745e-01 0.00000000e+00 1.75844966e+02] [ 9.99861745e-01 -1.66279936e-02 0.00000000e+00 1.48714452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25579570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.630371743 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:175.85, Y:148.74, Z:0.12 [[-2.09058113e-02 -9.99781450e-01 0.00000000e+00 1.75845084e+02] [ 9.99781450e-01 -2.09058113e-02 0.00000000e+00 1.48744497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24350776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.660371743 meters Centerline goodness : 0.993003 Centerline is valid? [True, True] Translation: X:175.84, Y:148.76, Z:0.12 [[-2.29415121e-02 -9.99736809e-01 0.00000000e+00 1.75844374e+02] [ 9.99736809e-01 -2.29415121e-02 0.00000000e+00 1.48755894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24359760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.690371743 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:175.84, Y:148.75, Z:0.12 [[-2.47793515e-02 -9.99692945e-01 0.00000000e+00 1.75843723e+02] [ 9.99692945e-01 -2.47793515e-02 0.00000000e+00 1.48753552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23351779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.720371743 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:175.84, Y:148.77, Z:0.12 [[-2.42622076e-02 -9.99705629e-01 0.00000000e+00 1.75844344e+02] [ 9.99705629e-01 -2.42622076e-02 0.00000000e+00 1.48769029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23221285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.750371743 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:175.84, Y:148.80, Z:0.12 [[-2.71179961e-02 -9.99632240e-01 0.00000000e+00 1.75844970e+02] [ 9.99632240e-01 -2.71179961e-02 0.00000000e+00 1.48796136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22829080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.780371743 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:175.85, Y:148.82, Z:0.12 [[-2.73538206e-02 -9.99625814e-01 0.00000000e+00 1.75846708e+02] [ 9.99625814e-01 -2.73538206e-02 0.00000000e+00 1.48824366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22956804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.810371743 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:175.85, Y:148.84, Z:0.12 [[-3.28024935e-02 -9.99461853e-01 0.00000000e+00 1.75846450e+02] [ 9.99461853e-01 -3.28024935e-02 0.00000000e+00 1.48840185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21584002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.840371743 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:175.85, Y:148.84, Z:0.12 [[-3.23727721e-02 -9.99475864e-01 0.00000000e+00 1.75846344e+02] [ 9.99475864e-01 -3.23727721e-02 0.00000000e+00 1.48844592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21584002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.870371743 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:175.85, Y:148.84, Z:0.12 [[-3.18984847e-02 -9.99491114e-01 0.00000000e+00 1.75847357e+02] [ 9.99491114e-01 -3.18984847e-02 0.00000000e+00 1.48840884e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20830430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.900371743 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:175.85, Y:148.84, Z:0.12 [[-2.78315326e-02 -9.99612628e-01 0.00000000e+00 1.75849038e+02] [ 9.99612628e-01 -2.78315326e-02 0.00000000e+00 1.48838992e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21009102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.930371743 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:175.85, Y:148.85, Z:0.12 [[-2.48788732e-02 -9.99690473e-01 0.00000000e+00 1.75850573e+02] [ 9.99690473e-01 -2.48788732e-02 0.00000000e+00 1.48850125e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21671827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.960371743 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:175.85, Y:148.85, Z:0.12 [[-1.91423889e-02 -9.99816768e-01 0.00000000e+00 1.75852813e+02] [ 9.99816768e-01 -1.91423889e-02 0.00000000e+00 1.48847825e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22742772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.990371743 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:175.85, Y:148.88, Z:0.12 [[-1.71986095e-02 -9.99852093e-01 0.00000000e+00 1.75854003e+02] [ 9.99852093e-01 -1.71986095e-02 0.00000000e+00 1.48876704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23607193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.020371743 meters Centerline goodness : 0.992943 Centerline is valid? [True, True] Translation: X:175.86, Y:148.91, Z:0.12 [[-1.23801460e-02 -9.99923363e-01 0.00000000e+00 1.75855650e+02] [ 9.99923363e-01 -1.23801460e-02 0.00000000e+00 1.48905183e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24011620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.050371743 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:175.86, Y:148.92, Z:0.13 [[-1.20867044e-02 -9.99926953e-01 0.00000000e+00 1.75856194e+02] [ 9.99926953e-01 -1.20867044e-02 0.00000000e+00 1.48924789e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27216275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.080371743 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:175.86, Y:148.92, Z:0.13 [[-7.50533398e-03 -9.99971835e-01 0.00000000e+00 1.75858948e+02] [ 9.99971835e-01 -7.50533398e-03 0.00000000e+00 1.48923844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25311979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11037174300003 meters Centerline goodness : 0.992769 Centerline is valid? [True, True] Translation: X:175.86, Y:148.92, Z:0.13 [[-3.67422791e-03 -9.99993250e-01 0.00000000e+00 1.75861451e+02] [ 9.99993250e-01 -3.67422791e-03 0.00000000e+00 1.48918879e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25613416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.140371743 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:175.86, Y:148.95, Z:0.12 [[-5.55175770e-03 -9.99984589e-01 0.00000000e+00 1.75861208e+02] [ 9.99984589e-01 -5.55175770e-03 0.00000000e+00 1.48946005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23473301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17037174300003 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:175.86, Y:148.97, Z:0.13 [[-9.92136815e-03 -9.99950782e-01 0.00000000e+00 1.75860249e+02] [ 9.99950782e-01 -9.92136815e-03 0.00000000e+00 1.48967255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25257374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.200371743 meters Centerline goodness : 0.990131 Centerline is valid? [True, True] Translation: X:175.86, Y:148.99, Z:0.12 [[-9.82925145e-03 -9.99951692e-01 0.00000000e+00 1.75863076e+02] [ 9.99951692e-01 -9.82925145e-03 0.00000000e+00 1.48992946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23642957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.230371743 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:175.87, Y:149.02, Z:0.12 [[-1.01386742e-02 -9.99948602e-01 0.00000000e+00 1.75867264e+02] [ 9.99948602e-01 -1.01386742e-02 0.00000000e+00 1.49023303e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24630409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.260371743 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:175.87, Y:149.05, Z:0.13 [[-1.23546521e-02 -9.99923678e-01 0.00000000e+00 1.75873461e+02] [ 9.99923678e-01 -1.23546521e-02 0.00000000e+00 1.49049971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25352898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.290371743 meters Centerline goodness : 0.983279 Centerline is valid? [True, True] Translation: X:175.87, Y:149.07, Z:0.13 [[-1.73394560e-02 -9.99849660e-01 0.00000000e+00 1.75871353e+02] [ 9.99849660e-01 -1.73394560e-02 0.00000000e+00 1.49070195e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27279855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.320371743 meters Centerline goodness : 0.988589 Centerline is valid? [True, True] Translation: X:175.89, Y:149.10, Z:0.12 [[-1.04609053e-02 -9.99945283e-01 0.00000000e+00 1.75887330e+02] [ 9.99945283e-01 -1.04609053e-02 0.00000000e+00 1.49104972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24486268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.350371743 meters Centerline goodness : 0.988307 Centerline is valid? [True, True] Translation: X:175.89, Y:149.13, Z:0.13 [[-1.08065045e-02 -9.99941608e-01 0.00000000e+00 1.75890195e+02] [ 9.99941608e-01 -1.08065045e-02 0.00000000e+00 1.49132122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25416775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.380371743 meters Centerline goodness : 0.988454 Centerline is valid? [True, True] Translation: X:175.89, Y:149.16, Z:0.12 [[-1.13649084e-02 -9.99935417e-01 0.00000000e+00 1.75893197e+02] [ 9.99935417e-01 -1.13649084e-02 0.00000000e+00 1.49162686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23319038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.410371743 meters Centerline goodness : 0.981451 Centerline is valid? [True, True] Translation: X:175.90, Y:149.18, Z:0.13 [[-1.68667847e-02 -9.99857746e-01 0.00000000e+00 1.75895427e+02] [ 9.99857746e-01 -1.68667847e-02 0.00000000e+00 1.49181119e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30566800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.440371743 meters Centerline goodness : 0.986564 Centerline is valid? [True, True] Translation: X:175.90, Y:149.22, Z:0.13 [[-1.37099547e-02 -9.99906014e-01 0.00000000e+00 1.75904466e+02] [ 9.99906014e-01 -1.37099547e-02 0.00000000e+00 1.49216509e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25409227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.470371743 meters Centerline goodness : 0.987239 Centerline is valid? [True, True] Translation: X:175.91, Y:149.24, Z:0.13 [[-1.72144942e-02 -9.99851820e-01 0.00000000e+00 1.75911833e+02] [ 9.99851820e-01 -1.72144942e-02 0.00000000e+00 1.49241369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27484314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.500371743 meters Centerline goodness : 0.982499 Centerline is valid? [True, True] Translation: X:175.91, Y:149.26, Z:0.13 [[-2.24997158e-02 -9.99746849e-01 0.00000000e+00 1.75911091e+02] [ 9.99746849e-01 -2.24997158e-02 0.00000000e+00 1.49261232e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33173935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.530371743 meters Centerline goodness : 0.985343 Centerline is valid? [True, True] Translation: X:175.93, Y:149.30, Z:0.13 [[-2.03963190e-02 -9.99791973e-01 0.00000000e+00 1.75925414e+02] [ 9.99791973e-01 -2.03963190e-02 0.00000000e+00 1.49295438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26313887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.560371743 meters Centerline goodness : 0.985968 Centerline is valid? [True, True] Translation: X:175.93, Y:149.32, Z:0.13 [[-2.16230463e-02 -9.99766195e-01 0.00000000e+00 1.75929453e+02] [ 9.99766195e-01 -2.16230463e-02 0.00000000e+00 1.49323766e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26481496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.590371743 meters Centerline goodness : 0.986325 Centerline is valid? [True, True] Translation: X:175.94, Y:149.35, Z:0.13 [[-2.15191164e-02 -9.99768437e-01 0.00000000e+00 1.75935714e+02] [ 9.99768437e-01 -2.15191164e-02 0.00000000e+00 1.49354826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29481714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.620371743 meters Centerline goodness : 0.985083 Centerline is valid? [True, True] Translation: X:175.95, Y:149.38, Z:0.13 [[-2.19588272e-02 -9.99758876e-01 0.00000000e+00 1.75946096e+02] [ 9.99758876e-01 -2.19588272e-02 0.00000000e+00 1.49381931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29444489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.650371743 meters Centerline goodness : 0.985842 Centerline is valid? [True, True] Translation: X:175.95, Y:149.41, Z:0.13 [[-2.55738517e-02 -9.99672936e-01 0.00000000e+00 1.75946676e+02] [ 9.99672936e-01 -2.55738517e-02 0.00000000e+00 1.49406706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25621358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.680371743 meters Centerline goodness : 0.986090 Centerline is valid? [True, True] Translation: X:175.95, Y:149.43, Z:0.12 [[-2.88502014e-02 -9.99583746e-01 0.00000000e+00 1.75952647e+02] [ 9.99583746e-01 -2.88502014e-02 0.00000000e+00 1.49431961e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23641498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.710371743 meters Centerline goodness : 0.984640 Centerline is valid? [True, True] Translation: X:175.95, Y:149.45, Z:0.12 [[-3.30113708e-02 -9.99454976e-01 0.00000000e+00 1.75951912e+02] [ 9.99454976e-01 -3.30113708e-02 0.00000000e+00 1.49450560e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21918411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.740371743 meters Centerline goodness : 0.986743 Centerline is valid? [True, True] Translation: X:175.96, Y:149.49, Z:0.12 [[-3.02545792e-02 -9.99542225e-01 0.00000000e+00 1.75961587e+02] [ 9.99542225e-01 -3.02545792e-02 0.00000000e+00 1.49485974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22266964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.770371743 meters Centerline goodness : 0.985542 Centerline is valid? [True, True] Translation: X:175.97, Y:149.51, Z:0.12 [[-3.04644790e-02 -9.99535850e-01 0.00000000e+00 1.75970688e+02] [ 9.99535850e-01 -3.04644790e-02 0.00000000e+00 1.49514551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24168340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.800371743 meters Centerline goodness : 0.986024 Centerline is valid? [True, True] Translation: X:175.97, Y:149.54, Z:0.12 [[-3.16146996e-02 -9.99500130e-01 0.00000000e+00 1.75974372e+02] [ 9.99500130e-01 -3.16146996e-02 0.00000000e+00 1.49543849e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24520014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.830371743 meters Centerline goodness : 0.984804 Centerline is valid? [True, True] Translation: X:175.98, Y:149.57, Z:0.13 [[-3.37823398e-02 -9.99429214e-01 0.00000000e+00 1.75981349e+02] [ 9.99429214e-01 -3.37823398e-02 0.00000000e+00 1.49570680e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28409996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86037174300003 meters Centerline goodness : 0.982677 Centerline is valid? [True, True] Translation: X:175.98, Y:149.59, Z:0.13 [[-3.99995118e-02 -9.99199699e-01 0.00000000e+00 1.75977020e+02] [ 9.99199699e-01 -3.99995118e-02 0.00000000e+00 1.49586487e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32949916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.890371743 meters Centerline goodness : 0.985512 Centerline is valid? [True, True] Translation: X:175.99, Y:149.62, Z:0.13 [[-3.57628641e-02 -9.99360304e-01 0.00000000e+00 1.75987439e+02] [ 9.99360304e-01 -3.57628641e-02 0.00000000e+00 1.49622012e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27455989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92037174300003 meters Centerline goodness : 0.985759 Centerline is valid? [True, True] Translation: X:175.99, Y:149.65, Z:0.12 [[-3.93372792e-02 -9.99225990e-01 0.00000000e+00 1.75994116e+02] [ 9.99225990e-01 -3.93372792e-02 0.00000000e+00 1.49652197e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23785803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.950371743 meters Centerline goodness : 0.985099 Centerline is valid? [True, True] Translation: X:176.00, Y:149.68, Z:0.13 [[-4.30490266e-02 -9.99072961e-01 0.00000000e+00 1.75995270e+02] [ 9.99072961e-01 -4.30490266e-02 0.00000000e+00 1.49678008e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25233555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.980371743 meters Centerline goodness : 0.985668 Centerline is valid? [True, True] Translation: X:176.00, Y:149.71, Z:0.13 [[-5.02995038e-02 -9.98734179e-01 0.00000000e+00 1.75999005e+02] [ 9.98734179e-01 -5.02995038e-02 0.00000000e+00 1.49707292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25590721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.010371743 meters Centerline goodness : 0.985581 Centerline is valid? [True, True] Translation: X:176.00, Y:149.74, Z:0.12 [[-5.34960213e-02 -9.98568063e-01 0.00000000e+00 1.76000785e+02] [ 9.98568063e-01 -5.34960213e-02 0.00000000e+00 1.49735638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23084163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.040371743 meters Centerline goodness : 0.986006 Centerline is valid? [True, True] Translation: X:176.00, Y:149.76, Z:0.12 [[-5.87128862e-02 -9.98274911e-01 0.00000000e+00 1.75999622e+02] [ 9.98274911e-01 -5.87128862e-02 0.00000000e+00 1.49762879e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23422714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.070371743 meters Centerline goodness : 0.984222 Centerline is valid? [True, True] Translation: X:176.00, Y:149.80, Z:0.12 [[-5.93716492e-02 -9.98235948e-01 0.00000000e+00 1.76003892e+02] [ 9.98235948e-01 -5.93716492e-02 0.00000000e+00 1.49795215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24692060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.100371743 meters Centerline goodness : 0.984568 Centerline is valid? [True, True] Translation: X:176.00, Y:149.82, Z:0.12 [[-6.66642871e-02 -9.97775462e-01 0.00000000e+00 1.76000982e+02] [ 9.97775462e-01 -6.66642871e-02 0.00000000e+00 1.49819467e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23388405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.130371743 meters Centerline goodness : 0.984218 Centerline is valid? [True, True] Translation: X:176.00, Y:149.85, Z:0.12 [[-6.81489222e-02 -9.97675160e-01 0.00000000e+00 1.76001646e+02] [ 9.97675160e-01 -6.81489222e-02 0.00000000e+00 1.49847129e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24988168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.160371743 meters Centerline goodness : 0.984638 Centerline is valid? [True, True] Translation: X:176.00, Y:149.87, Z:0.12 [[-7.05608568e-02 -9.97507476e-01 0.00000000e+00 1.75999822e+02] [ 9.97507476e-01 -7.05608568e-02 0.00000000e+00 1.49872967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23965558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.190371743 meters Centerline goodness : 0.986176 Centerline is valid? [True, True] Translation: X:175.99, Y:149.90, Z:0.12 [[-7.42507436e-02 -9.97239604e-01 0.00000000e+00 1.75993757e+02] [ 9.97239604e-01 -7.42507436e-02 0.00000000e+00 1.49901154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23645046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.220371743 meters Centerline goodness : 0.984693 Centerline is valid? [True, True] Translation: X:175.99, Y:149.93, Z:0.12 [[-7.21754882e-02 -9.97391948e-01 0.00000000e+00 1.75993841e+02] [ 9.97391948e-01 -7.21754882e-02 0.00000000e+00 1.49929158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24747309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.250371743 meters Centerline goodness : 0.986720 Centerline is valid? [True, True] Translation: X:175.99, Y:149.96, Z:0.13 [[-7.34978999e-02 -9.97295372e-01 0.00000000e+00 1.75986050e+02] [ 9.97295372e-01 -7.34978999e-02 0.00000000e+00 1.49957112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25387845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.280371743 meters Centerline goodness : 0.985238 Centerline is valid? [True, True] Translation: X:175.98, Y:149.99, Z:0.13 [[-7.37728953e-02 -9.97275067e-01 0.00000000e+00 1.75982955e+02] [ 9.97275067e-01 -7.37728953e-02 0.00000000e+00 1.49986459e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27971575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.310371743 meters Centerline goodness : 0.987924 Centerline is valid? [True, True] Translation: X:175.98, Y:150.01, Z:0.13 [[-7.65102291e-02 -9.97068796e-01 0.00000000e+00 1.75975466e+02] [ 9.97068796e-01 -7.65102291e-02 0.00000000e+00 1.50009622e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28145463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.340371743 meters Centerline goodness : 0.987654 Centerline is valid? [True, True] Translation: X:175.98, Y:150.04, Z:0.13 [[-7.46745696e-02 -9.97207957e-01 0.00000000e+00 1.75975589e+02] [ 9.97207957e-01 -7.46745696e-02 0.00000000e+00 1.50040144e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28396268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.370371743 meters Centerline goodness : 0.986926 Centerline is valid? [True, True] Translation: X:175.97, Y:150.07, Z:0.13 [[-7.56385641e-02 -9.97135301e-01 0.00000000e+00 1.75966553e+02] [ 9.97135301e-01 -7.56385641e-02 0.00000000e+00 1.50065136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32525834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.400371743 meters Centerline goodness : 0.986975 Centerline is valid? [True, True] Translation: X:175.96, Y:150.10, Z:0.13 [[-7.58334765e-02 -9.97120496e-01 0.00000000e+00 1.75962803e+02] [ 9.97120496e-01 -7.58334765e-02 0.00000000e+00 1.50095472e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30219554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.430371743 meters Centerline goodness : 0.986577 Centerline is valid? [True, True] Translation: X:175.96, Y:150.13, Z:0.13 [[-7.30147806e-02 -9.97330859e-01 0.00000000e+00 1.75957908e+02] [ 9.97330859e-01 -7.30147806e-02 0.00000000e+00 1.50126418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34307692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.460371743 meters Centerline goodness : 0.986884 Centerline is valid? [True, True] Translation: X:175.95, Y:150.15, Z:0.13 [[-7.61507716e-02 -9.97096314e-01 0.00000000e+00 1.75949161e+02] [ 9.97096314e-01 -7.61507716e-02 0.00000000e+00 1.50150975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30075579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.490371743 meters Centerline goodness : 0.988277 Centerline is valid? [True, True] Translation: X:175.95, Y:150.18, Z:0.13 [[-7.12544900e-02 -9.97458168e-01 0.00000000e+00 1.75945352e+02] [ 9.97458168e-01 -7.12544900e-02 0.00000000e+00 1.50180147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29870300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.520371743 meters Centerline goodness : 0.988141 Centerline is valid? [True, True] Translation: X:175.94, Y:150.21, Z:0.13 [[-7.33304946e-02 -9.97307695e-01 0.00000000e+00 1.75937720e+02] [ 9.97307695e-01 -7.33304946e-02 0.00000000e+00 1.50207892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30401320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.550371743 meters Centerline goodness : 0.988203 Centerline is valid? [True, True] Translation: X:175.94, Y:150.24, Z:0.13 [[-7.03146110e-02 -9.97524865e-01 0.00000000e+00 1.75936482e+02] [ 9.97524865e-01 -7.03146110e-02 0.00000000e+00 1.50237177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27978691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.580371743 meters Centerline goodness : 0.992471 Centerline is valid? [True, True] Translation: X:175.92, Y:150.26, Z:0.13 [[-7.61834773e-02 -9.97093816e-01 0.00000000e+00 1.75920100e+02] [ 9.97093816e-01 -7.61834773e-02 0.00000000e+00 1.50263586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27109874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61037174300003 meters Centerline goodness : 0.988636 Centerline is valid? [True, True] Translation: X:175.92, Y:150.29, Z:0.13 [[-6.79080865e-02 -9.97691581e-01 0.00000000e+00 1.75922969e+02] [ 9.97691581e-01 -6.79080865e-02 0.00000000e+00 1.50294057e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28374561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.640371743 meters Centerline goodness : 0.988308 Centerline is valid? [True, True] Translation: X:175.91, Y:150.32, Z:0.13 [[-6.59017705e-02 -9.97826115e-01 0.00000000e+00 1.75914184e+02] [ 9.97826115e-01 -6.59017705e-02 0.00000000e+00 1.50318691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26530871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67037174300003 meters Centerline goodness : 0.989232 Centerline is valid? [True, True] Translation: X:175.91, Y:150.35, Z:0.13 [[-6.57899273e-02 -9.97833496e-01 0.00000000e+00 1.75909583e+02] [ 9.97833496e-01 -6.57899273e-02 0.00000000e+00 1.50347673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30542523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.700371743 meters Centerline goodness : 0.988619 Centerline is valid? [True, True] Translation: X:175.91, Y:150.37, Z:0.13 [[-6.46552352e-02 -9.97907661e-01 0.00000000e+00 1.75905889e+02] [ 9.97907661e-01 -6.46552352e-02 0.00000000e+00 1.50374311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31430616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.730371743 meters Centerline goodness : 0.988619 Centerline is valid? [True, True] Translation: X:175.91, Y:150.40, Z:0.13 [[-6.49541701e-02 -9.97888248e-01 0.00000000e+00 1.75905681e+02] [ 9.97888248e-01 -6.49541701e-02 0.00000000e+00 1.50401665e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31430616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.760371743 meters Centerline goodness : 0.990086 Centerline is valid? [True, True] Translation: X:175.90, Y:150.42, Z:0.13 [[-6.57716299e-02 -9.97834702e-01 0.00000000e+00 1.75896164e+02] [ 9.97834702e-01 -6.57716299e-02 0.00000000e+00 1.50422169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34690370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.790371743 meters Centerline goodness : 0.991786 Centerline is valid? [True, True] Translation: X:175.90, Y:149.90, Z:0.13 [[-3.71370574e-02 -9.99310182e-01 0.00000000e+00 1.75900758e+02] [ 9.99310182e-01 -3.71370574e-02 0.00000000e+00 1.49900314e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33596805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.820371743 meters Centerline goodness : 0.990847 Centerline is valid? [True, True] Translation: X:175.89, Y:149.93, Z:0.13 [[-3.78756511e-02 -9.99282460e-01 0.00000000e+00 1.75893252e+02] [ 9.99282460e-01 -3.78756511e-02 0.00000000e+00 1.49926572e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34899345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.850371743 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:175.89, Y:149.96, Z:0.13 [[-4.06720921e-02 -9.99172548e-01 0.00000000e+00 1.75889296e+02] [ 9.99172548e-01 -4.06720921e-02 0.00000000e+00 1.49955013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32016423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.880371743 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:175.89, Y:149.98, Z:0.13 [[-4.11747047e-02 -9.99151962e-01 0.00000000e+00 1.75887181e+02] [ 9.99151962e-01 -4.11747047e-02 0.00000000e+00 1.49984870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31962498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.910371743 meters Centerline goodness : 0.992057 Centerline is valid? [True, True] Translation: X:175.88, Y:150.01, Z:0.13 [[-4.23769922e-02 -9.99101692e-01 0.00000000e+00 1.75879920e+02] [ 9.99101692e-01 -4.23769922e-02 0.00000000e+00 1.50008977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33116394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.940371743 meters Centerline goodness : 0.992556 Centerline is valid? [True, True] Translation: X:175.88, Y:150.04, Z:0.13 [[-4.31237815e-02 -9.99069737e-01 0.00000000e+00 1.75876820e+02] [ 9.99069737e-01 -4.31237815e-02 0.00000000e+00 1.50037601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.32833476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.970371743 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:175.87, Y:150.07, Z:0.13 [[-4.51904156e-02 -9.98978391e-01 0.00000000e+00 1.75874015e+02] [ 9.98978391e-01 -4.51904156e-02 0.00000000e+00 1.50067201e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29857701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.000371743 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:175.87, Y:150.09, Z:0.13 [[-4.50094400e-02 -9.98986562e-01 0.00000000e+00 1.75867538e+02] [ 9.98986562e-01 -4.50094400e-02 0.00000000e+00 1.50094146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28217968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.030371743 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:175.86, Y:150.12, Z:0.13 [[-4.60697564e-02 -9.98938225e-01 0.00000000e+00 1.75864210e+02] [ 9.98938225e-01 -4.60697564e-02 0.00000000e+00 1.50123265e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26199980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.060371743 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:175.86, Y:150.15, Z:0.13 [[-4.56404741e-02 -9.98957931e-01 0.00000000e+00 1.75858280e+02] [ 9.98957931e-01 -4.56404741e-02 0.00000000e+00 1.50153110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25494428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.090371743 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:175.86, Y:150.18, Z:0.13 [[-4.60020502e-02 -9.98941345e-01 0.00000000e+00 1.75855348e+02] [ 9.98941345e-01 -4.60020502e-02 0.00000000e+00 1.50179690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26016723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.120371743 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:175.85, Y:150.21, Z:0.13 [[-4.68784875e-02 -9.98900599e-01 0.00000000e+00 1.75851623e+02] [ 9.98900599e-01 -4.68784875e-02 0.00000000e+00 1.50207488e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26382284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.150371743 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:175.85, Y:150.24, Z:0.12 [[-4.82261917e-02 -9.98836440e-01 0.00000000e+00 1.75846256e+02] [ 9.98836440e-01 -4.82261917e-02 0.00000000e+00 1.50240053e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22573573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.180371743 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:175.84, Y:150.26, Z:0.13 [[-4.57323512e-02 -9.98953729e-01 0.00000000e+00 1.75843871e+02] [ 9.98953729e-01 -4.57323512e-02 0.00000000e+00 1.50264834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.28620060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.210371743 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:175.84, Y:150.29, Z:0.13 [[-4.07134982e-02 -9.99170862e-01 0.00000000e+00 1.75840332e+02] [ 9.99170862e-01 -4.07134982e-02 0.00000000e+00 1.50291276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33091407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.240371743 meters Centerline goodness : 0.996273 Centerline is valid? [True, True] Translation: X:175.84, Y:150.33, Z:0.13 [[-4.30386928e-02 -9.99073406e-01 0.00000000e+00 1.75838857e+02] [ 9.99073406e-01 -4.30386928e-02 0.00000000e+00 1.50326164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26334378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.270371743 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:175.84, Y:150.35, Z:0.13 [[-4.04037244e-02 -9.99183436e-01 0.00000000e+00 1.75836748e+02] [ 9.99183436e-01 -4.04037244e-02 0.00000000e+00 1.50350477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29889509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.300371743 meters Centerline goodness : 0.995900 Centerline is valid? [True, True] Translation: X:175.84, Y:150.38, Z:0.13 [[-4.18972858e-02 -9.99121923e-01 0.00000000e+00 1.75835158e+02] [ 9.99121923e-01 -4.18972858e-02 0.00000000e+00 1.50384145e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25293451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.330371743 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:175.83, Y:150.41, Z:0.12 [[-4.24945536e-02 -9.99096698e-01 0.00000000e+00 1.75834896e+02] [ 9.99096698e-01 -4.24945536e-02 0.00000000e+00 1.50413419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23876525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36037174300003 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:175.83, Y:150.43, Z:0.13 [[-3.89746132e-02 -9.99240201e-01 0.00000000e+00 1.75833720e+02] [ 9.99240201e-01 -3.89746132e-02 0.00000000e+00 1.50433483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27056844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.390371743 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:175.83, Y:150.46, Z:0.12 [[-3.96086099e-02 -9.99215271e-01 0.00000000e+00 1.75832919e+02] [ 9.99215271e-01 -3.96086099e-02 0.00000000e+00 1.50464399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23514688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42037174300003 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:175.83, Y:150.49, Z:0.12 [[-4.00534121e-02 -9.99197540e-01 0.00000000e+00 1.75832593e+02] [ 9.99197540e-01 -4.00534121e-02 0.00000000e+00 1.50492684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22404205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.450371743 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:175.83, Y:150.53, Z:0.11 [[-4.42015104e-02 -9.99022636e-01 0.00000000e+00 1.75832081e+02] [ 9.99022636e-01 -4.42015104e-02 0.00000000e+00 1.50525220e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13589542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.480371743 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:175.83, Y:150.55, Z:0.11 [[-4.64390819e-02 -9.98921124e-01 0.00000000e+00 1.75831128e+02] [ 9.98921124e-01 -4.64390819e-02 0.00000000e+00 1.50552490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12693910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.510371743 meters Centerline goodness : 0.995947 Centerline is valid? [True, True] Translation: X:175.83, Y:150.55, Z:0.11 [[-4.62428285e-02 -9.98930228e-01 0.00000000e+00 1.75830957e+02] [ 9.98930228e-01 -4.62428285e-02 0.00000000e+00 1.50547054e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12341188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.540371743 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:175.83, Y:150.57, Z:0.11 [[-4.62906347e-02 -9.98928014e-01 0.00000000e+00 1.75830387e+02] [ 9.98928014e-01 -4.62906347e-02 0.00000000e+00 1.50573763e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11614152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.570371743 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:175.83, Y:150.60, Z:0.12 [[-4.35961922e-02 -9.99049234e-01 0.00000000e+00 1.75830049e+02] [ 9.99049234e-01 -4.35961922e-02 0.00000000e+00 1.50598321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21295122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.600371743 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:175.83, Y:150.58, Z:0.12 [[-3.99747062e-02 -9.99200692e-01 0.00000000e+00 1.75830754e+02] [ 9.99200692e-01 -3.99747062e-02 0.00000000e+00 1.50575634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22062968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.630371743 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:175.83, Y:150.60, Z:0.12 [[-3.76833652e-02 -9.99289730e-01 0.00000000e+00 1.75830855e+02] [ 9.99289730e-01 -3.76833652e-02 0.00000000e+00 1.50604614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.23180704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.660371743 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:175.83, Y:150.60, Z:0.12 [[-3.52653767e-02 -9.99377983e-01 0.00000000e+00 1.75831114e+02] [ 9.99377983e-01 -3.52653767e-02 0.00000000e+00 1.50596059e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22747756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.690371743 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:175.83, Y:150.62, Z:0.12 [[-3.52655666e-02 -9.99377976e-01 0.00000000e+00 1.75830713e+02] [ 9.99377976e-01 -3.52655666e-02 0.00000000e+00 1.50623663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21982208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.720371743 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:175.83, Y:150.62, Z:0.12 [[-3.48901233e-02 -9.99391154e-01 0.00000000e+00 1.75831906e+02] [ 9.99391154e-01 -3.48901233e-02 0.00000000e+00 1.50619312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21429734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.750371743 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:175.83, Y:150.63, Z:0.12 [[-3.65784882e-02 -9.99330783e-01 0.00000000e+00 1.75832576e+02] [ 9.99330783e-01 -3.65784882e-02 0.00000000e+00 1.50630957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21444910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.780371743 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:175.84, Y:150.64, Z:0.12 [[-3.97926129e-02 -9.99207960e-01 0.00000000e+00 1.75835328e+02] [ 9.99207960e-01 -3.97926129e-02 0.00000000e+00 1.50638131e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20981518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.810371743 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:175.84, Y:150.67, Z:0.12 [[-4.14493588e-02 -9.99140606e-01 0.00000000e+00 1.75836854e+02] [ 9.99140606e-01 -4.14493588e-02 0.00000000e+00 1.50668190e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16535167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.840371743 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:175.84, Y:150.68, Z:0.11 [[-4.21434717e-02 -9.99111569e-01 0.00000000e+00 1.75839357e+02] [ 9.99111569e-01 -4.21434717e-02 0.00000000e+00 1.50677393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14446469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.870371743 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:175.84, Y:150.66, Z:0.11 [[-4.34448890e-02 -9.99055825e-01 0.00000000e+00 1.75844840e+02] [ 9.99055825e-01 -4.34448890e-02 0.00000000e+00 1.50664748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10869217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.900371743 meters Centerline goodness : 0.993951 Centerline is valid? [True, True] Translation: X:175.85, Y:150.66, Z:0.11 [[-3.92836777e-02 -9.99228098e-01 0.00000000e+00 1.75845852e+02] [ 9.99228098e-01 -3.92836777e-02 0.00000000e+00 1.50660719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13987355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.930371743 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:175.85, Y:150.66, Z:0.11 [[-3.87583691e-02 -9.99248612e-01 0.00000000e+00 1.75847818e+02] [ 9.99248612e-01 -3.87583691e-02 0.00000000e+00 1.50661682e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14120590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.960371743 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:175.85, Y:150.69, Z:0.11 [[-3.94466440e-02 -9.99221678e-01 0.00000000e+00 1.75850038e+02] [ 9.99221678e-01 -3.94466440e-02 0.00000000e+00 1.50688748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11937233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.990371743 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:175.85, Y:150.68, Z:0.11 [[-3.68101304e-02 -9.99322277e-01 0.00000000e+00 1.75852971e+02] [ 9.99322277e-01 -3.68101304e-02 0.00000000e+00 1.50680926e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10756122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.020371743 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:175.85, Y:150.71, Z:0.11 [[-3.70316127e-02 -9.99314095e-01 0.00000000e+00 1.75854415e+02] [ 9.99314095e-01 -3.70316127e-02 0.00000000e+00 1.50710340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08979314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.050371743 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:175.86, Y:150.72, Z:0.11 [[-3.86563494e-02 -9.99252564e-01 0.00000000e+00 1.75856913e+02] [ 9.99252564e-01 -3.86563494e-02 0.00000000e+00 1.50720536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.10772666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.080371743 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:175.86, Y:150.72, Z:0.11 [[-3.53629380e-02 -9.99374536e-01 0.00000000e+00 1.75859566e+02] [ 9.99374536e-01 -3.53629380e-02 0.00000000e+00 1.50716203e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13429345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11037174300003 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:175.86, Y:150.73, Z:0.11 [[-3.59166679e-02 -9.99354788e-01 0.00000000e+00 1.75860064e+02] [ 9.99354788e-01 -3.59166679e-02 0.00000000e+00 1.50726084e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12995115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.140371743 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:175.86, Y:150.73, Z:0.11 [[-3.42192549e-02 -9.99414350e-01 0.00000000e+00 1.75861527e+02] [ 9.99414350e-01 -3.42192549e-02 0.00000000e+00 1.50732061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12786112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17037174300003 meters Centerline goodness : 0.992360 Centerline is valid? [True, True] Translation: X:175.86, Y:150.76, Z:0.11 [[-3.31509583e-02 -9.99450356e-01 0.00000000e+00 1.75864388e+02] [ 9.99450356e-01 -3.31509583e-02 0.00000000e+00 1.50757118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.14396308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.200371743 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:175.87, Y:150.75, Z:0.11 [[-3.06891536e-02 -9.99528977e-01 0.00000000e+00 1.75865555e+02] [ 9.99528977e-01 -3.06891536e-02 0.00000000e+00 1.50751141e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12782402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.230371743 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:175.87, Y:150.78, Z:0.11 [[-3.04299594e-02 -9.99536902e-01 0.00000000e+00 1.75866239e+02] [ 9.99536902e-01 -3.04299594e-02 0.00000000e+00 1.50779074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12486325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.260371743 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:175.87, Y:150.78, Z:0.11 [[-2.73936185e-02 -9.99624724e-01 0.00000000e+00 1.75868781e+02] [ 9.99624724e-01 -2.73936185e-02 0.00000000e+00 1.50783326e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11646379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.290371743 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:175.87, Y:150.81, Z:0.11 [[-2.65429243e-02 -9.99647675e-01 0.00000000e+00 1.75869831e+02] [ 9.99647675e-01 -2.65429243e-02 0.00000000e+00 1.50808538e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.11380732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.320371743 meters Centerline goodness : 0.992311 Centerline is valid? [True, True] Translation: X:175.87, Y:150.84, Z:0.11 [[-2.84026358e-02 -9.99596564e-01 0.00000000e+00 1.75870602e+02] [ 9.99596564e-01 -2.84026358e-02 0.00000000e+00 1.50837353e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.09025798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.350371743 meters Centerline goodness : 0.991357 Centerline is valid? [True, True] Translation: X:175.88, Y:150.83, Z:0.11 [[-2.41871942e-02 -9.99707447e-01 0.00000000e+00 1.75875888e+02] [ 9.99707447e-01 -2.41871942e-02 0.00000000e+00 1.50830804e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07500692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.380371743 meters Centerline goodness : 0.992174 Centerline is valid? [True, True] Translation: X:175.88, Y:150.86, Z:0.11 [[-2.58550410e-02 -9.99665703e-01 0.00000000e+00 1.75876908e+02] [ 9.99665703e-01 -2.58550410e-02 0.00000000e+00 1.50859909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07950442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.410371743 meters Centerline goodness : 0.991428 Centerline is valid? [True, True] Translation: X:175.88, Y:150.89, Z:0.11 [[-2.78831553e-02 -9.99611189e-01 0.00000000e+00 1.75879987e+02] [ 9.99611189e-01 -2.78831553e-02 0.00000000e+00 1.50886378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07521283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.440371743 meters Centerline goodness : 0.991719 Centerline is valid? [True, True] Translation: X:175.88, Y:150.91, Z:0.11 [[-2.94735461e-02 -9.99565561e-01 0.00000000e+00 1.75880952e+02] [ 9.99565561e-01 -2.94735461e-02 0.00000000e+00 1.50914355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07126398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.470371743 meters Centerline goodness : 0.990858 Centerline is valid? [True, True] Translation: X:175.88, Y:150.93, Z:0.11 [[-3.10210655e-02 -9.99518731e-01 0.00000000e+00 1.75883203e+02] [ 9.99518731e-01 -3.10210655e-02 0.00000000e+00 1.50926702e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07204631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.500371743 meters Centerline goodness : 0.989737 Centerline is valid? [True, True] Translation: X:175.89, Y:150.93, Z:0.11 [[-3.29518145e-02 -9.99456942e-01 0.00000000e+00 1.75886450e+02] [ 9.99456942e-01 -3.29518145e-02 0.00000000e+00 1.50930789e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08218389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.530371743 meters Centerline goodness : 0.990337 Centerline is valid? [True, True] Translation: X:175.89, Y:150.93, Z:0.11 [[-3.50555971e-02 -9.99385364e-01 0.00000000e+00 1.75887398e+02] [ 9.99385364e-01 -3.50555971e-02 0.00000000e+00 1.50932883e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06342456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.560371743 meters Centerline goodness : 0.989914 Centerline is valid? [True, True] Translation: X:175.89, Y:150.93, Z:0.11 [[-3.42492393e-02 -9.99413323e-01 0.00000000e+00 1.75890462e+02] [ 9.99413323e-01 -3.42492393e-02 0.00000000e+00 1.50932847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08604174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.590371743 meters Centerline goodness : 0.989894 Centerline is valid? [True, True] Translation: X:175.89, Y:150.96, Z:0.11 [[-3.75476904e-02 -9.99294837e-01 0.00000000e+00 1.75892283e+02] [ 9.99294837e-01 -3.75476904e-02 0.00000000e+00 1.50958579e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06560974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.620371743 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:175.89, Y:150.99, Z:0.11 [[-4.01600166e-02 -9.99193261e-01 0.00000000e+00 1.75893438e+02] [ 9.99193261e-01 -4.01600166e-02 0.00000000e+00 1.50988000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07822773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.650371743 meters Centerline goodness : 0.989916 Centerline is valid? [True, True] Translation: X:175.89, Y:150.99, Z:0.11 [[-3.97813793e-02 -9.99208408e-01 0.00000000e+00 1.75893333e+02] [ 9.99208408e-01 -3.97813793e-02 0.00000000e+00 1.50991525e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07822773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.680371743 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:175.90, Y:150.99, Z:0.11 [[-4.27110678e-02 -9.99087466e-01 0.00000000e+00 1.75896933e+02] [ 9.99087466e-01 -4.27110678e-02 0.00000000e+00 1.50988260e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06826923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.710371743 meters Centerline goodness : 0.989306 Centerline is valid? [True, True] Translation: X:175.90, Y:150.99, Z:0.11 [[-4.37864191e-02 -9.99040915e-01 0.00000000e+00 1.75898479e+02] [ 9.99040915e-01 -4.37864191e-02 0.00000000e+00 1.50993937e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06733632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.740371743 meters Centerline goodness : 0.989543 Centerline is valid? [True, True] Translation: X:175.90, Y:151.00, Z:0.11 [[-4.48367684e-02 -9.98994326e-01 0.00000000e+00 1.75899840e+02] [ 9.98994326e-01 -4.48367684e-02 0.00000000e+00 1.50997115e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05307763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.770371743 meters Centerline goodness : 0.988848 Centerline is valid? [True, True] Translation: X:175.90, Y:151.00, Z:0.11 [[-4.56911917e-02 -9.98955612e-01 0.00000000e+00 1.75903577e+02] [ 9.98955612e-01 -4.56911917e-02 0.00000000e+00 1.50998174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06072619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.800371743 meters Centerline goodness : 0.990229 Centerline is valid? [True, True] Translation: X:175.91, Y:151.03, Z:0.11 [[-4.76789623e-02 -9.98862712e-01 0.00000000e+00 1.75905424e+02] [ 9.98862712e-01 -4.76789623e-02 0.00000000e+00 1.51027477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05401380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.830371743 meters Centerline goodness : 0.988881 Centerline is valid? [True, True] Translation: X:175.91, Y:151.03, Z:0.11 [[-4.81210107e-02 -9.98841513e-01 0.00000000e+00 1.75908514e+02] [ 9.98841513e-01 -4.81210107e-02 0.00000000e+00 1.51032272e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05596368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86037174300003 meters Centerline goodness : 0.989148 Centerline is valid? [True, True] Translation: X:175.91, Y:151.04, Z:0.10 [[-5.11522028e-02 -9.98690869e-01 0.00000000e+00 1.75911173e+02] [ 9.98690869e-01 -5.11522028e-02 0.00000000e+00 1.51037482e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04289783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.890371743 meters Centerline goodness : 0.988732 Centerline is valid? [True, True] Translation: X:175.91, Y:151.04, Z:0.10 [[-4.95233630e-02 -9.98772965e-01 0.00000000e+00 1.75913571e+02] [ 9.98772965e-01 -4.95233630e-02 0.00000000e+00 1.51043824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04058666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92037174300003 meters Centerline goodness : 0.989172 Centerline is valid? [True, True] Translation: X:175.92, Y:151.05, Z:0.10 [[-4.82045534e-02 -9.98837485e-01 0.00000000e+00 1.75917670e+02] [ 9.98837485e-01 -4.82045534e-02 0.00000000e+00 1.51045021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03888493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.950371743 meters Centerline goodness : 0.988948 Centerline is valid? [True, True] Translation: X:175.92, Y:151.07, Z:0.10 [[-4.87575590e-02 -9.98810643e-01 0.00000000e+00 1.75920441e+02] [ 9.98810643e-01 -4.87575590e-02 0.00000000e+00 1.51073646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.03888598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.980371743 meters Centerline goodness : 0.989260 Centerline is valid? [True, True] Translation: X:175.92, Y:151.09, Z:0.10 [[-4.79076831e-02 -9.98851768e-01 0.00000000e+00 1.75922737e+02] [ 9.98851768e-01 -4.79076831e-02 0.00000000e+00 1.51088146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02373281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.010371743 meters Centerline goodness : 0.988412 Centerline is valid? [True, True] Translation: X:175.93, Y:151.12, Z:0.10 [[-4.99895916e-02 -9.98749739e-01 0.00000000e+00 1.75925904e+02] [ 9.98749739e-01 -4.99895916e-02 0.00000000e+00 1.51118452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02294492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.040371743 meters Centerline goodness : 0.987114 Centerline is valid? [True, True] Translation: X:175.93, Y:151.12, Z:0.10 [[-5.13521813e-02 -9.98680606e-01 0.00000000e+00 1.75927628e+02] [ 9.98680606e-01 -5.13521813e-02 0.00000000e+00 1.51115917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00500969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.070371743 meters Centerline goodness : 0.988888 Centerline is valid? [True, True] Translation: X:175.93, Y:151.11, Z:0.10 [[-5.01939838e-02 -9.98739488e-01 0.00000000e+00 1.75930233e+02] [ 9.98739488e-01 -5.01939838e-02 0.00000000e+00 1.51114704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00696436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.100371743 meters Centerline goodness : 0.987627 Centerline is valid? [True, True] Translation: X:175.93, Y:151.12, Z:0.10 [[-5.05241054e-02 -9.98722842e-01 0.00000000e+00 1.75931682e+02] [ 9.98722842e-01 -5.05241054e-02 0.00000000e+00 1.51117765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.88200032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.130371743 meters Centerline goodness : 0.986588 Centerline is valid? [True, True] Translation: X:175.93, Y:151.12, Z:0.10 [[-5.03664124e-02 -9.98730807e-01 0.00000000e+00 1.75933229e+02] [ 9.98730807e-01 -5.03664124e-02 0.00000000e+00 1.51122917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.81473818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.160371743 meters Centerline goodness : 0.986922 Centerline is valid? [True, True] Translation: X:175.94, Y:151.15, Z:0.10 [[-5.29564247e-02 -9.98596824e-01 0.00000000e+00 1.75935428e+02] [ 9.98596824e-01 -5.29564247e-02 0.00000000e+00 1.51150116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.62689607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.190371743 meters Centerline goodness : 0.987865 Centerline is valid? [True, True] Translation: X:175.94, Y:151.16, Z:0.10 [[-5.39823965e-02 -9.98541887e-01 0.00000000e+00 1.75935608e+02] [ 9.98541887e-01 -5.39823965e-02 0.00000000e+00 1.51157216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82478567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.220371743 meters Centerline goodness : 0.987135 Centerline is valid? [True, True] Translation: X:175.94, Y:151.15, Z:0.10 [[-5.31204587e-02 -9.98588112e-01 0.00000000e+00 1.75938992e+02] [ 9.98588112e-01 -5.31204587e-02 0.00000000e+00 1.51149438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.84899149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.250371743 meters Centerline goodness : 0.988181 Centerline is valid? [True, True] Translation: X:175.94, Y:151.16, Z:0.10 [[-5.20321176e-02 -9.98645412e-01 0.00000000e+00 1.75940335e+02] [ 9.98645412e-01 -5.20321176e-02 0.00000000e+00 1.51158112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.77237820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.280371743 meters Centerline goodness : 0.987189 Centerline is valid? [True, True] Translation: X:175.94, Y:151.18, Z:0.10 [[-5.28242495e-02 -9.98603825e-01 0.00000000e+00 1.75940327e+02] [ 9.98603825e-01 -5.28242495e-02 0.00000000e+00 1.51183761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89166414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.310371743 meters Centerline goodness : 0.987540 Centerline is valid? [True, True] Translation: X:175.94, Y:151.21, Z:0.10 [[-5.21348934e-02 -9.98640052e-01 0.00000000e+00 1.75944150e+02] [ 9.98640052e-01 -5.21348934e-02 0.00000000e+00 1.51212810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.81925227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.340371743 meters Centerline goodness : 0.987249 Centerline is valid? [True, True] Translation: X:175.95, Y:151.21, Z:0.10 [[-5.04262497e-02 -9.98727787e-01 0.00000000e+00 1.75945779e+02] [ 9.98727787e-01 -5.04262497e-02 0.00000000e+00 1.51213362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.79862642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.370371743 meters Centerline goodness : 0.986699 Centerline is valid? [True, True] Translation: X:175.95, Y:151.24, Z:0.10 [[-4.90943381e-02 -9.98794146e-01 0.00000000e+00 1.75949274e+02] [ 9.98794146e-01 -4.90943381e-02 0.00000000e+00 1.51241613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.79030901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.400371743 meters Centerline goodness : 0.987013 Centerline is valid? [True, True] Translation: X:175.95, Y:151.24, Z:0.10 [[-4.58492861e-02 -9.98948369e-01 0.00000000e+00 1.75951885e+02] [ 9.98948369e-01 -4.58492861e-02 0.00000000e+00 1.51242900e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00004832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.430371743 meters Centerline goodness : 0.987732 Centerline is valid? [True, True] Translation: X:175.95, Y:151.27, Z:0.10 [[-4.68987569e-02 -9.98899648e-01 0.00000000e+00 1.75952927e+02] [ 9.98899648e-01 -4.68987569e-02 0.00000000e+00 1.51270255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00091875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.460371743 meters Centerline goodness : 0.986408 Centerline is valid? [True, True] Translation: X:175.96, Y:151.28, Z:0.10 [[-4.58326485e-02 -9.98949132e-01 0.00000000e+00 1.75956950e+02] [ 9.98949132e-01 -4.58326485e-02 0.00000000e+00 1.51275201e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.78569805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.490371743 meters Centerline goodness : 0.987431 Centerline is valid? [True, True] Translation: X:175.96, Y:151.30, Z:0.10 [[-4.97729591e-02 -9.98760558e-01 0.00000000e+00 1.75956151e+02] [ 9.98760558e-01 -4.97729591e-02 0.00000000e+00 1.51301916e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.75509400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.520371743 meters Centerline goodness : 0.987249 Centerline is valid? [True, True] Translation: X:175.96, Y:151.31, Z:0.10 [[-4.80793548e-02 -9.98843519e-01 0.00000000e+00 1.75959206e+02] [ 9.98843519e-01 -4.80793548e-02 0.00000000e+00 1.51306090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57378034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.550371743 meters Centerline goodness : 0.986075 Centerline is valid? [True, True] Translation: X:175.96, Y:151.33, Z:0.10 [[-5.23062657e-02 -9.98631090e-01 0.00000000e+00 1.75961204e+02] [ 9.98631090e-01 -5.23062657e-02 0.00000000e+00 1.51332484e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.55961419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.580371743 meters Centerline goodness : 0.986874 Centerline is valid? [True, True] Translation: X:175.96, Y:151.32, Z:0.10 [[-5.48376416e-02 -9.98495284e-01 0.00000000e+00 1.75961994e+02] [ 9.98495284e-01 -5.48376416e-02 0.00000000e+00 1.51323387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.55251401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61037174300003 meters Centerline goodness : 0.987603 Centerline is valid? [True, True] Translation: X:175.96, Y:151.35, Z:0.10 [[-6.03487935e-02 -9.98177351e-01 0.00000000e+00 1.75964113e+02] [ 9.98177351e-01 -6.03487935e-02 0.00000000e+00 1.51352794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.57058994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.640371743 meters Centerline goodness : 0.986728 Centerline is valid? [True, True] Translation: X:175.97, Y:151.35, Z:0.10 [[-6.40525697e-02 -9.97946526e-01 0.00000000e+00 1.75965572e+02] [ 9.97946526e-01 -6.40525697e-02 0.00000000e+00 1.51354752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.61218620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67037174300003 meters Centerline goodness : 0.987145 Centerline is valid? [True, True] Translation: X:175.97, Y:151.36, Z:0.10 [[-6.37359427e-02 -9.97966798e-01 0.00000000e+00 1.75967652e+02] [ 9.97966798e-01 -6.37359427e-02 0.00000000e+00 1.51357470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53826615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.700371743 meters Centerline goodness : 0.987041 Centerline is valid? [True, True] Translation: X:175.97, Y:151.36, Z:0.10 [[-6.72008045e-02 -9.97739471e-01 0.00000000e+00 1.75969823e+02] [ 9.97739471e-01 -6.72008045e-02 0.00000000e+00 1.51362042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.58822310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.730371743 meters Centerline goodness : 0.985839 Centerline is valid? [True, True] Translation: X:175.97, Y:151.35, Z:0.10 [[-6.60894298e-02 -9.97813704e-01 0.00000000e+00 1.75970887e+02] [ 9.97813704e-01 -6.60894298e-02 0.00000000e+00 1.51354124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66801228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.760371743 meters Centerline goodness : 0.987425 Centerline is valid? [True, True] Translation: X:175.97, Y:151.37, Z:0.10 [[-6.56385300e-02 -9.97843466e-01 0.00000000e+00 1.75971544e+02] [ 9.97843466e-01 -6.56385300e-02 0.00000000e+00 1.51365232e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.55380056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.790371743 meters Centerline goodness : 0.987722 Centerline is valid? [True, True] Translation: X:175.97, Y:151.37, Z:0.10 [[-6.95739427e-02 -9.97576797e-01 0.00000000e+00 1.75972593e+02] [ 9.97576797e-01 -6.95739427e-02 0.00000000e+00 1.51367473e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.51951647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.820371743 meters Centerline goodness : 0.987133 Centerline is valid? [True, True] Translation: X:175.98, Y:151.37, Z:0.10 [[-6.97753230e-02 -9.97562732e-01 0.00000000e+00 1.75976820e+02] [ 9.97562732e-01 -6.97753230e-02 0.00000000e+00 1.51368063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.64645447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.850371743 meters Centerline goodness : 0.988040 Centerline is valid? [True, True] Translation: X:175.98, Y:151.37, Z:0.10 [[-7.22238352e-02 -9.97388449e-01 0.00000000e+00 1.75978029e+02] [ 9.97388449e-01 -7.22238352e-02 0.00000000e+00 1.51368539e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.65925709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.880371743 meters Centerline goodness : 0.987424 Centerline is valid? [True, True] Translation: X:175.98, Y:151.37, Z:0.10 [[-7.25738463e-02 -9.97363042e-01 0.00000000e+00 1.75979175e+02] [ 9.97363042e-01 -7.25738463e-02 0.00000000e+00 1.51374826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59105005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.910371743 meters Centerline goodness : 0.986271 Centerline is valid? [True, True] Translation: X:175.98, Y:151.37, Z:0.10 [[-7.16095779e-02 -9.97432739e-01 0.00000000e+00 1.75981436e+02] [ 9.97432739e-01 -7.16095779e-02 0.00000000e+00 1.51371025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74724792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.940371743 meters Centerline goodness : 0.986367 Centerline is valid? [True, True] Translation: X:175.98, Y:151.40, Z:0.10 [[-7.12779110e-02 -9.97456495e-01 0.00000000e+00 1.75982923e+02] [ 9.97456495e-01 -7.12779110e-02 0.00000000e+00 1.51399401e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.69524232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.970371743 meters Centerline goodness : 0.987186 Centerline is valid? [True, True] Translation: X:175.98, Y:151.40, Z:0.10 [[-6.95053046e-02 -9.97581582e-01 0.00000000e+00 1.75983889e+02] [ 9.97581582e-01 -6.95053046e-02 0.00000000e+00 1.51400026e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.67538561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.000371743 meters Centerline goodness : 0.986837 Centerline is valid? [True, True] Translation: X:175.98, Y:151.43, Z:0.10 [[-6.95640177e-02 -9.97577489e-01 0.00000000e+00 1.75984732e+02] [ 9.97577489e-01 -6.95640177e-02 0.00000000e+00 1.51427374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.56943418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.030371743 meters Centerline goodness : 0.986824 Centerline is valid? [True, True] Translation: X:175.98, Y:151.46, Z:0.09 [[-6.96843085e-02 -9.97569094e-01 0.00000000e+00 1.75984880e+02] [ 9.97569094e-01 -6.96843085e-02 0.00000000e+00 1.51455161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.48475117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.060371743 meters Centerline goodness : 0.987379 Centerline is valid? [True, True] Translation: X:175.99, Y:151.46, Z:0.09 [[-6.71022350e-02 -9.97746105e-01 0.00000000e+00 1.75986220e+02] [ 9.97746105e-01 -6.71022350e-02 0.00000000e+00 1.51460884e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.43626414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.090371743 meters Centerline goodness : 0.986683 Centerline is valid? [True, True] Translation: X:175.99, Y:151.49, Z:0.10 [[-6.84043034e-02 -9.97657682e-01 0.00000000e+00 1.75985492e+02] [ 9.97657682e-01 -6.84043034e-02 0.00000000e+00 1.51488316e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.53899646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.120371743 meters Centerline goodness : 0.988695 Centerline is valid? [True, True] Translation: X:175.99, Y:151.48, Z:0.09 [[-6.67110852e-02 -9.97772334e-01 0.00000000e+00 1.75985595e+02] [ 9.97772334e-01 -6.67110852e-02 0.00000000e+00 1.51484413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.46879593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.150371743 meters Centerline goodness : 0.986712 Centerline is valid? [True, True] Translation: X:175.99, Y:151.51, Z:0.10 [[-6.68342019e-02 -9.97764095e-01 0.00000000e+00 1.75985143e+02] [ 9.97764095e-01 -6.68342019e-02 0.00000000e+00 1.51509983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.62663800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.180371743 meters Centerline goodness : 0.988036 Centerline is valid? [True, True] Translation: X:175.99, Y:151.54, Z:0.10 [[-6.71652744e-02 -9.97741863e-01 0.00000000e+00 1.75985342e+02] [ 9.97741863e-01 -6.71652744e-02 0.00000000e+00 1.51537001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.56241448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.210371743 meters Centerline goodness : 0.987006 Centerline is valid? [True, True] Translation: X:175.99, Y:151.57, Z:0.10 [[-6.88249346e-02 -9.97628753e-01 0.00000000e+00 1.75985886e+02] [ 9.97628753e-01 -6.88249346e-02 0.00000000e+00 1.51565464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74458417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.240371743 meters Centerline goodness : 0.984912 Centerline is valid? [True, True] Translation: X:175.99, Y:151.56, Z:0.09 [[-7.04088367e-02 -9.97518218e-01 0.00000000e+00 1.75987670e+02] [ 9.97518218e-01 -7.04088367e-02 0.00000000e+00 1.51562634e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.46942367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.270371743 meters Centerline goodness : 0.987480 Centerline is valid? [True, True] Translation: X:175.99, Y:151.58, Z:0.10 [[-6.82221037e-02 -9.97670158e-01 0.00000000e+00 1.75987913e+02] [ 9.97670158e-01 -6.82221037e-02 0.00000000e+00 1.51575890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.74458061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.300371743 meters Centerline goodness : 0.986886 Centerline is valid? [True, True] Translation: X:175.99, Y:151.60, Z:0.10 [[-6.87938848e-02 -9.97630894e-01 0.00000000e+00 1.75988694e+02] [ 9.97630894e-01 -6.87938848e-02 0.00000000e+00 1.51602893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.63547382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.330371743 meters Centerline goodness : 0.986911 Centerline is valid? [True, True] Translation: X:175.99, Y:151.63, Z:0.10 [[-7.06206975e-02 -9.97503242e-01 0.00000000e+00 1.75988311e+02] [ 9.97503242e-01 -7.06206975e-02 0.00000000e+00 1.51626834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.71706726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36037174300003 meters Centerline goodness : 0.986013 Centerline is valid? [True, True] Translation: X:175.99, Y:151.66, Z:0.10 [[-6.86319198e-02 -9.97642050e-01 0.00000000e+00 1.75991489e+02] [ 9.97642050e-01 -6.86319198e-02 0.00000000e+00 1.51655446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.83199895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.390371743 meters Centerline goodness : 0.986050 Centerline is valid? [True, True] Translation: X:175.99, Y:151.68, Z:0.10 [[-6.78674128e-02 -9.97694349e-01 0.00000000e+00 1.75994935e+02] [ 9.97694349e-01 -6.78674128e-02 0.00000000e+00 1.51684071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.91862112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42037174300003 meters Centerline goodness : 0.986856 Centerline is valid? [True, True] Translation: X:176.00, Y:151.71, Z:0.10 [[-6.80404139e-02 -9.97682566e-01 0.00000000e+00 1.75995523e+02] [ 9.97682566e-01 -6.80404139e-02 0.00000000e+00 1.51711681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.82626847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.450371743 meters Centerline goodness : 0.985755 Centerline is valid? [True, True] Translation: X:176.00, Y:151.71, Z:0.10 [[-6.94110657e-02 -9.97588143e-01 0.00000000e+00 1.75996512e+02] [ 9.97588143e-01 -6.94110657e-02 0.00000000e+00 1.51709277e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00196104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.480371743 meters Centerline goodness : 0.985572 Centerline is valid? [True, True] Translation: X:176.00, Y:151.71, Z:0.10 [[-6.59688390e-02 -9.97821684e-01 0.00000000e+00 1.75998699e+02] [ 9.97821684e-01 -6.59688390e-02 0.00000000e+00 1.51711288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00535459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.510371743 meters Centerline goodness : 0.985147 Centerline is valid? [True, True] Translation: X:176.00, Y:151.71, Z:0.10 [[-6.39368498e-02 -9.97953946e-01 0.00000000e+00 1.76001834e+02] [ 9.97953946e-01 -6.39368498e-02 0.00000000e+00 1.51710282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85925903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.540371743 meters Centerline goodness : 0.985147 Centerline is valid? [True, True] Translation: X:176.00, Y:151.71, Z:0.10 [[-6.35698190e-02 -9.97977394e-01 0.00000000e+00 1.76001742e+02] [ 9.97977394e-01 -6.35698190e-02 0.00000000e+00 1.51712922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.85925903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.570371743 meters Centerline goodness : 0.983877 Centerline is valid? [True, True] Translation: X:176.00, Y:151.72, Z:0.10 [[-6.43839670e-02 -9.97925200e-01 0.00000000e+00 1.76003488e+02] [ 9.97925200e-01 -6.43839670e-02 0.00000000e+00 1.51719135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.94289341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.600371743 meters Centerline goodness : 0.985442 Centerline is valid? [True, True] Translation: X:176.00, Y:152.14, Z:0.10 [[-7.37246480e-02 -9.97278635e-01 0.00000000e+00 1.76002097e+02] [ 9.97278635e-01 -7.37246480e-02 0.00000000e+00 1.52136365e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.59879028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.630371743 meters Centerline goodness : 0.986402 Centerline is valid? [True, True] Translation: X:176.00, Y:152.13, Z:0.09 [[-7.44731697e-02 -9.97223018e-01 0.00000000e+00 1.76004041e+02] [ 9.97223018e-01 -7.44731697e-02 0.00000000e+00 1.52134896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.42924007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.660371743 meters Centerline goodness : 0.986551 Centerline is valid? [True, True] Translation: X:176.01, Y:152.09, Z:0.09 [[-7.17981902e-02 -9.97419180e-01 0.00000000e+00 1.76007944e+02] [ 9.97419180e-01 -7.17981902e-02 0.00000000e+00 1.52092408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.47908956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.690371743 meters Centerline goodness : 0.983659 Centerline is valid? [True, True] Translation: X:175.99, Y:152.71, Z:0.10 [[-1.00913594e-01 -9.94895194e-01 0.00000000e+00 1.75994726e+02] [ 9.94895194e-01 -1.00913594e-01 0.00000000e+00 1.52707046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.66566309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.720371743 meters Centerline goodness : 0.989815 Centerline is valid? [True, True] Translation: X:176.01, Y:151.76, Z:0.10 [[-8.43433027e-02 -9.96436755e-01 0.00000000e+00 1.76012742e+02] [ 9.96436755e-01 -8.43433027e-02 0.00000000e+00 1.51756578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.80436772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.750371743 meters Centerline goodness : 0.985525 Centerline is valid? [True, True] Translation: X:176.02, Y:152.15, Z:0.10 [[-8.01687574e-02 -9.96781305e-01 0.00000000e+00 1.76018223e+02] [ 9.96781305e-01 -8.01687574e-02 0.00000000e+00 1.52154542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00430896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.780371743 meters Centerline goodness : 0.989485 Centerline is valid? [True, True] Translation: X:176.02, Y:151.77, Z:0.10 [[-8.67872867e-02 -9.96226865e-01 0.00000000e+00 1.76022204e+02] [ 9.96226865e-01 -8.67872867e-02 0.00000000e+00 1.51768457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.96321148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.810371743 meters Centerline goodness : 0.982646 Centerline is valid? [True, True] Translation: X:176.01, Y:152.74, Z:0.10 [[-1.02182025e-01 -9.94765718e-01 0.00000000e+00 1.76012195e+02] [ 9.94765718e-01 -1.02182025e-01 0.00000000e+00 1.52736428e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 9.89644518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.840371743 meters Centerline goodness : 0.989613 Centerline is valid? [True, True] Translation: X:176.03, Y:151.79, Z:0.10 [[-8.53395423e-02 -9.96351927e-01 0.00000000e+00 1.76030124e+02] [ 9.96351927e-01 -8.53395423e-02 0.00000000e+00 1.51790517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00697161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.870371743 meters Centerline goodness : 0.989660 Centerline is valid? [True, True] Translation: X:176.03, Y:151.79, Z:0.10 [[-8.42318726e-02 -9.96446181e-01 0.00000000e+00 1.76033129e+02] [ 9.96446181e-01 -8.42318726e-02 0.00000000e+00 1.51790490e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00744032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.900371743 meters Centerline goodness : 0.989574 Centerline is valid? [True, True] Translation: X:176.04, Y:151.80, Z:0.10 [[-8.25341066e-02 -9.96588241e-01 0.00000000e+00 1.76035161e+02] [ 9.96588241e-01 -8.25341066e-02 0.00000000e+00 1.51797178e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00590178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.930371743 meters Centerline goodness : 0.990242 Centerline is valid? [True, True] Translation: X:176.04, Y:151.80, Z:0.10 [[-7.88362839e-02 -9.96887577e-01 0.00000000e+00 1.76038368e+02] [ 9.96887577e-01 -7.88362839e-02 0.00000000e+00 1.51795187e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00211363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.960371743 meters Centerline goodness : 0.989178 Centerline is valid? [True, True] Translation: X:176.04, Y:151.79, Z:0.10 [[-7.70664891e-02 -9.97025956e-01 0.00000000e+00 1.76039353e+02] [ 9.97025956e-01 -7.70664891e-02 0.00000000e+00 1.51790234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02055944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.990371743 meters Centerline goodness : 0.985817 Centerline is valid? [True, True] Translation: X:176.05, Y:152.15, Z:0.10 [[-6.95115849e-02 -9.97581144e-01 0.00000000e+00 1.76048285e+02] [ 9.97581144e-01 -6.95115849e-02 0.00000000e+00 1.52153906e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02853518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.020371743 meters Centerline goodness : 0.985746 Centerline is valid? [True, True] Translation: X:176.05, Y:152.18, Z:0.10 [[-6.76903571e-02 -9.97706377e-01 0.00000000e+00 1.76051668e+02] [ 9.97706377e-01 -6.76903571e-02 0.00000000e+00 1.52176854e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.02197503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.050371743 meters Centerline goodness : 0.984088 Centerline is valid? [True, True] Translation: X:176.04, Y:152.69, Z:0.10 [[-8.87048470e-02 -9.96057955e-01 0.00000000e+00 1.76041292e+02] [ 9.96057955e-01 -8.87048470e-02 0.00000000e+00 1.52686588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.00065469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.080371743 meters Centerline goodness : 0.983923 Centerline is valid? [True, True] Translation: X:176.06, Y:152.19, Z:0.11 [[-6.20794880e-02 -9.98071208e-01 0.00000000e+00 1.76057107e+02] [ 9.98071208e-01 -6.20794880e-02 0.00000000e+00 1.52189530e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06471652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11037174300003 meters Centerline goodness : 0.989008 Centerline is valid? [True, True] Translation: X:176.05, Y:151.81, Z:0.10 [[-6.62917883e-02 -9.97800280e-01 0.00000000e+00 1.76051930e+02] [ 9.97800280e-01 -6.62917883e-02 0.00000000e+00 1.51812480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.04956157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.140371743 meters Centerline goodness : 0.984068 Centerline is valid? [True, True] Translation: X:176.06, Y:151.84, Z:0.11 [[-5.59031238e-02 -9.98436198e-01 0.00000000e+00 1.76060919e+02] [ 9.98436198e-01 -5.59031238e-02 0.00000000e+00 1.51837791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.06031022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17037174300003 meters Centerline goodness : 0.983355 Centerline is valid? [True, True] Translation: X:176.06, Y:151.86, Z:0.11 [[-5.56333515e-02 -9.98451266e-01 0.00000000e+00 1.76063635e+02] [ 9.98451266e-01 -5.56333515e-02 0.00000000e+00 1.51863633e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.07062147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.200371743 meters Centerline goodness : 0.983211 Centerline is valid? [True, True] Translation: X:176.07, Y:151.89, Z:0.11 [[-5.53037056e-02 -9.98469579e-01 0.00000000e+00 1.76066272e+02] [ 9.98469579e-01 -5.53037056e-02 0.00000000e+00 1.51893096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08068440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.230371743 meters Centerline goodness : 0.988631 Centerline is valid? [True, True] Translation: X:176.06, Y:151.92, Z:0.11 [[-6.65053932e-02 -9.97786066e-01 0.00000000e+00 1.76063396e+02] [ 9.97786066e-01 -6.65053932e-02 0.00000000e+00 1.51923765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08554984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.260371743 meters Centerline goodness : 0.986063 Centerline is valid? [True, True] Translation: X:176.07, Y:151.96, Z:0.11 [[-6.33124574e-02 -9.97993754e-01 0.00000000e+00 1.76072354e+02] [ 9.97993754e-01 -6.33124574e-02 0.00000000e+00 1.51960334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05714482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.290371743 meters Centerline goodness : 0.985103 Centerline is valid? [True, True] Translation: X:176.07, Y:151.99, Z:0.11 [[-6.34508450e-02 -9.97984965e-01 0.00000000e+00 1.76073917e+02] [ 9.97984965e-01 -6.34508450e-02 0.00000000e+00 1.51988532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.05166022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.320371743 meters Centerline goodness : 0.982461 Centerline is valid? [True, True] Translation: X:176.08, Y:152.01, Z:0.11 [[-5.54852816e-02 -9.98459505e-01 0.00000000e+00 1.76079666e+02] [ 9.98459505e-01 -5.54852816e-02 0.00000000e+00 1.52007122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.08775038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.350371743 meters Centerline goodness : 0.981902 Centerline is valid? [True, True] Translation: X:176.08, Y:152.04, Z:0.11 [[-5.51653248e-02 -9.98477234e-01 0.00000000e+00 1.76080608e+02] [ 9.98477234e-01 -5.51653248e-02 0.00000000e+00 1.52035103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12296819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.380371743 meters Centerline goodness : 0.982136 Centerline is valid? [True, True] Translation: X:176.08, Y:152.06, Z:0.11 [[-5.60396739e-02 -9.98428543e-01 0.00000000e+00 1.76081698e+02] [ 9.98428543e-01 -5.60396739e-02 0.00000000e+00 1.52064690e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.12749337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.410371743 meters Centerline goodness : 0.981100 Centerline is valid? [True, True] Translation: X:176.08, Y:152.09, Z:0.11 [[-5.40982136e-02 -9.98535619e-01 0.00000000e+00 1.76084119e+02] [ 9.98535619e-01 -5.40982136e-02 0.00000000e+00 1.52091811e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13379863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.440371743 meters Centerline goodness : 0.982001 Centerline is valid? [True, True] Translation: X:176.08, Y:152.08, Z:0.11 [[-5.71467454e-02 -9.98365789e-01 0.00000000e+00 1.76084890e+02] [ 9.98365789e-01 -5.71467454e-02 0.00000000e+00 1.52076788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13548304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.470371743 meters Centerline goodness : 0.981722 Centerline is valid? [True, True] Translation: X:176.09, Y:152.09, Z:0.11 [[-5.37435316e-02 -9.98554772e-01 0.00000000e+00 1.76086966e+02] [ 9.98554772e-01 -5.37435316e-02 0.00000000e+00 1.52090990e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13175711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.500371743 meters Centerline goodness : 0.986279 Centerline is valid? [True, True] Translation: X:176.08, Y:151.75, Z:0.11 [[-6.37169279e-02 -9.97968012e-01 0.00000000e+00 1.76080649e+02] [ 9.97968012e-01 -6.37169279e-02 0.00000000e+00 1.51746761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.13800798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.530371743 meters Centerline goodness : 0.981947 Centerline is valid? [True, True] Translation: X:176.09, Y:151.77, Z:0.12 [[-5.53405525e-02 -9.98467537e-01 0.00000000e+00 1.76089138e+02] [ 9.98467537e-01 -5.53405525e-02 0.00000000e+00 1.51774093e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.16160863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.560371743 meters Centerline goodness : 0.984951 Centerline is valid? [True, True] Translation: X:176.08, Y:151.80, Z:0.12 [[-6.60113348e-02 -9.97818873e-01 0.00000000e+00 1.76083069e+02] [ 9.97818873e-01 -6.60113348e-02 0.00000000e+00 1.51801701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15349736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.590371743 meters Centerline goodness : 0.981612 Centerline is valid? [True, True] Translation: X:176.09, Y:152.15, Z:0.12 [[-6.14459686e-02 -9.98110411e-01 0.00000000e+00 1.76091282e+02] [ 9.98110411e-01 -6.14459686e-02 0.00000000e+00 1.52150142e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.15155232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.620371743 meters Centerline goodness : 0.980542 Centerline is valid? [True, True] Translation: X:176.09, Y:152.14, Z:0.12 [[-6.05950444e-02 -9.98162432e-01 0.00000000e+00 1.76094130e+02] [ 9.98162432e-01 -6.05950444e-02 0.00000000e+00 1.52143471e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19188001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.650371743 meters Centerline goodness : 0.985527 Centerline is valid? [True, True] Translation: X:176.09, Y:151.81, Z:0.12 [[-6.70187310e-02 -9.97751717e-01 0.00000000e+00 1.76088369e+02] [ 9.97751717e-01 -6.70187310e-02 0.00000000e+00 1.51810279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.17435643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.680371743 meters Centerline goodness : 0.981612 Centerline is valid? [True, True] Translation: X:176.10, Y:151.84, Z:0.12 [[-5.84909259e-02 -9.98287940e-01 0.00000000e+00 1.76096264e+02] [ 9.98287940e-01 -5.84909259e-02 0.00000000e+00 1.51838065e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.20431034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.710371743 meters Centerline goodness : 0.985469 Centerline is valid? [True, True] Translation: X:176.09, Y:151.87, Z:0.12 [[-6.73691294e-02 -9.97728119e-01 0.00000000e+00 1.76090015e+02] [ 9.97728119e-01 -6.73691294e-02 0.00000000e+00 1.51865298e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.19455098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.740371743 meters Centerline goodness : 0.979402 Centerline is valid? [True, True] Translation: X:176.10, Y:151.89, Z:0.12 [[-5.96326686e-02 -9.98220389e-01 0.00000000e+00 1.76096879e+02] [ 9.98220389e-01 -5.96326686e-02 0.00000000e+00 1.51891603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22332886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.770371743 meters Centerline goodness : 0.980598 Centerline is valid? [True, True] Translation: X:176.10, Y:151.87, Z:0.12 [[-5.44264314e-02 -9.98517783e-01 0.00000000e+00 1.76099645e+02] [ 9.98517783e-01 -5.44264314e-02 0.00000000e+00 1.51865826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21508982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.800371743 meters Centerline goodness : 0.980261 Centerline is valid? [True, True] Translation: X:176.10, Y:151.89, Z:0.12 [[-5.59015055e-02 -9.98436288e-01 0.00000000e+00 1.76099732e+02] [ 9.98436288e-01 -5.59015055e-02 0.00000000e+00 1.51892904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.22434857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.830371743 meters Centerline goodness : 0.981034 Centerline is valid? [True, True] Translation: X:176.09, Y:151.91, Z:0.12 [[-6.14756208e-02 -9.98108585e-01 0.00000000e+00 1.76093426e+02] [ 9.98108585e-01 -6.14756208e-02 0.00000000e+00 1.51910120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.21025822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86037174300003 meters Centerline goodness : 0.980261 Centerline is valid? [True, True] Translation: X:176.10, Y:151.94, Z:0.12 [[-5.69486798e-02 -9.98377107e-01 0.00000000e+00 1.76101292e+02] [ 9.98377107e-01 -5.69486798e-02 0.00000000e+00 1.51943493e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24619108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.890371743 meters Centerline goodness : 0.979506 Centerline is valid? [True, True] Translation: X:176.10, Y:151.97, Z:0.13 [[-5.74370180e-02 -9.98349132e-01 0.00000000e+00 1.76101617e+02] [ 9.98349132e-01 -5.74370180e-02 0.00000000e+00 1.51971777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25624271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.920371743 meters Centerline goodness : 0.983431 Centerline is valid? [True, True] Translation: X:176.10, Y:152.00, Z:0.13 [[-5.92721648e-02 -9.98241860e-01 0.00000000e+00 1.76098733e+02] [ 9.98241860e-01 -5.92721648e-02 0.00000000e+00 1.51998962e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.25490121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.950371743 meters Centerline goodness : 0.979723 Centerline is valid? [True, True] Translation: X:176.10, Y:152.02, Z:0.13 [[-5.98230989e-02 -9.98208995e-01 0.00000000e+00 1.76098931e+02] [ 9.98208995e-01 -5.98230989e-02 0.00000000e+00 1.52023617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26912971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.980371743 meters Centerline goodness : 0.980018 Centerline is valid? [True, True] Translation: X:176.10, Y:152.06, Z:0.13 [[-5.59543964e-02 -9.98433326e-01 0.00000000e+00 1.76103678e+02] [ 9.98433326e-01 -5.59543964e-02 0.00000000e+00 1.52055328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27986511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.010371743 meters Centerline goodness : 0.980742 Centerline is valid? [True, True] Translation: X:176.10, Y:152.08, Z:0.13 [[-6.03454027e-02 -9.98177556e-01 0.00000000e+00 1.76097652e+02] [ 9.98177556e-01 -6.03454027e-02 0.00000000e+00 1.52078205e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27663446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.040371743 meters Centerline goodness : 0.984281 Centerline is valid? [True, True] Translation: X:176.10, Y:152.11, Z:0.13 [[-6.38893557e-02 -9.97956988e-01 0.00000000e+00 1.76099052e+02] [ 9.97956988e-01 -6.38893557e-02 0.00000000e+00 1.52113965e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27107411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.070371743 meters Centerline goodness : 0.981316 Centerline is valid? [True, True] Translation: X:176.10, Y:152.13, Z:0.12 [[-6.16528681e-02 -9.98097652e-01 0.00000000e+00 1.76098814e+02] [ 9.98097652e-01 -6.16528681e-02 0.00000000e+00 1.52134444e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.24473959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.100371743 meters Centerline goodness : 0.981447 Centerline is valid? [True, True] Translation: X:176.10, Y:152.16, Z:0.13 [[-6.21260890e-02 -9.98068309e-01 0.00000000e+00 1.76098476e+02] [ 9.98068309e-01 -6.21260890e-02 0.00000000e+00 1.52161366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27749114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.130371743 meters Centerline goodness : 0.981426 Centerline is valid? [True, True] Translation: X:176.10, Y:152.19, Z:0.13 [[-6.14174464e-02 -9.98112167e-01 0.00000000e+00 1.76098975e+02] [ 9.98112167e-01 -6.14174464e-02 0.00000000e+00 1.52189753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27995847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.160371743 meters Centerline goodness : 0.981854 Centerline is valid? [True, True] Translation: X:176.10, Y:152.22, Z:0.13 [[-6.33638115e-02 -9.97990495e-01 0.00000000e+00 1.76096600e+02] [ 9.97990495e-01 -6.33638115e-02 0.00000000e+00 1.52218336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.27868402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.190371743 meters Centerline goodness : 0.981656 Centerline is valid? [True, True] Translation: X:176.10, Y:152.25, Z:0.13 [[-6.08430833e-02 -9.98147343e-01 0.00000000e+00 1.76099367e+02] [ 9.98147343e-01 -6.08430833e-02 0.00000000e+00 1.52248388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31922621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.220371743 meters Centerline goodness : 0.984131 Centerline is valid? [True, True] Translation: X:176.10, Y:152.29, Z:0.13 [[-6.67786861e-02 -9.97767812e-01 0.00000000e+00 1.76099382e+02] [ 9.97767812e-01 -6.67786861e-02 0.00000000e+00 1.52285924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.26971924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.250371743 meters Centerline goodness : 0.979679 Centerline is valid? [True, True] Translation: X:176.10, Y:152.31, Z:0.13 [[-5.80378648e-02 -9.98314382e-01 0.00000000e+00 1.76101421e+02] [ 9.98314382e-01 -5.80378648e-02 0.00000000e+00 1.52308548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34486260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.280371743 meters Centerline goodness : 0.981067 Centerline is valid? [True, True] Translation: X:176.10, Y:152.34, Z:0.13 [[-6.14407691e-02 -9.98110731e-01 0.00000000e+00 1.76097242e+02] [ 9.98110731e-01 -6.14407691e-02 0.00000000e+00 1.52335939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30100545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.310371743 meters Centerline goodness : 0.981504 Centerline is valid? [True, True] Translation: X:176.09, Y:152.35, Z:0.13 [[-6.49469209e-02 -9.97888720e-01 0.00000000e+00 1.76091435e+02] [ 9.97888720e-01 -6.49469209e-02 0.00000000e+00 1.52351709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31888283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.340371743 meters Centerline goodness : 0.980459 Centerline is valid? [True, True] Translation: X:176.10, Y:152.39, Z:0.13 [[-6.29102922e-02 -9.98019186e-01 0.00000000e+00 1.76095153e+02] [ 9.98019186e-01 -6.29102922e-02 0.00000000e+00 1.52388952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.29137625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.370371743 meters Centerline goodness : 0.982071 Centerline is valid? [True, True] Translation: X:176.09, Y:152.42, Z:0.13 [[-6.62075302e-02 -9.97805874e-01 0.00000000e+00 1.76092220e+02] [ 9.97805874e-01 -6.62075302e-02 0.00000000e+00 1.52419630e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.30185823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.400371743 meters Centerline goodness : 0.982856 Centerline is valid? [True, True] Translation: X:176.09, Y:152.43, Z:0.13 [[-6.56597143e-02 -9.97842073e-01 0.00000000e+00 1.76090486e+02] [ 9.97842073e-01 -6.56597143e-02 0.00000000e+00 1.52429351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33191956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.430371743 meters Centerline goodness : 0.982223 Centerline is valid? [True, True] Translation: X:176.09, Y:152.45, Z:0.13 [[-6.38993641e-02 -9.97956347e-01 0.00000000e+00 1.76087262e+02] [ 9.97956347e-01 -6.38993641e-02 0.00000000e+00 1.52453091e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31810708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.460371743 meters Centerline goodness : 0.982223 Centerline is valid? [True, True] Translation: X:176.09, Y:152.48, Z:0.13 [[-6.45374822e-02 -9.97915284e-01 0.00000000e+00 1.76087022e+02] [ 9.97915284e-01 -6.45374822e-02 0.00000000e+00 1.52480429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.31810708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.490371743 meters Centerline goodness : 0.980738 Centerline is valid? [True, True] Translation: X:176.09, Y:152.51, Z:0.13 [[-6.29773916e-02 -9.98014954e-01 0.00000000e+00 1.76086461e+02] [ 9.98014954e-01 -6.29773916e-02 0.00000000e+00 1.52508666e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33695906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.520371743 meters Centerline goodness : 0.984036 Centerline is valid? [True, True] Translation: X:176.08, Y:152.52, Z:0.13 [[-6.53634461e-02 -9.97861523e-01 0.00000000e+00 1.76079742e+02] [ 9.97861523e-01 -6.53634461e-02 0.00000000e+00 1.52522565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33189191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.550371743 meters Centerline goodness : 0.981357 Centerline is valid? [True, True] Translation: X:176.08, Y:152.54, Z:0.13 [[-6.21868060e-02 -9.98064528e-01 0.00000000e+00 1.76078039e+02] [ 9.98064528e-01 -6.21868060e-02 0.00000000e+00 1.52543913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34252813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.580371743 meters Centerline goodness : 0.979847 Centerline is valid? [True, True] Translation: X:176.08, Y:152.57, Z:0.13 [[-6.30164994e-02 -9.98012485e-01 0.00000000e+00 1.76076144e+02] [ 9.98012485e-01 -6.30164994e-02 0.00000000e+00 1.52570346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.34204597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61037174300003 meters Centerline goodness : 0.981799 Centerline is valid? [True, True] Translation: X:176.07, Y:152.59, Z:0.13 [[-6.74079759e-02 -9.97725496e-01 0.00000000e+00 1.76070719e+02] [ 9.97725496e-01 -6.74079759e-02 0.00000000e+00 1.52594645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.33597865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.640371743 meters Centerline goodness : 0.982381 Centerline is valid? [True, True] Translation: X:176.07, Y:152.62, Z:0.14 [[-7.20769977e-02 -9.97399071e-01 0.00000000e+00 1.76066498e+02] [ 9.97399071e-01 -7.20769977e-02 0.00000000e+00 1.52622892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38158490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.670371743 meters Centerline goodness : 0.982398 Centerline is valid? [True, True] Translation: X:176.06, Y:152.65, Z:0.14 [[-7.33500001e-02 -9.97306261e-01 0.00000000e+00 1.76063682e+02] [ 9.97306261e-01 -7.33500001e-02 0.00000000e+00 1.52649596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36841330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.700371743 meters Centerline goodness : 0.984707 Centerline is valid? [True, True] Translation: X:176.06, Y:152.68, Z:0.14 [[-7.62314932e-02 -9.97090146e-01 0.00000000e+00 1.76058387e+02] [ 9.97090146e-01 -7.62314932e-02 0.00000000e+00 1.52675099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37278604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.730371743 meters Centerline goodness : 0.985048 Centerline is valid? [True, True] Translation: X:176.06, Y:152.70, Z:0.14 [[-7.88217187e-02 -9.96888728e-01 0.00000000e+00 1.76055116e+02] [ 9.96888728e-01 -7.88217187e-02 0.00000000e+00 1.52703984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38352823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.760371743 meters Centerline goodness : 0.984938 Centerline is valid? [True, True] Translation: X:176.05, Y:152.73, Z:0.14 [[-8.21638100e-02 -9.96618838e-01 0.00000000e+00 1.76049314e+02] [ 9.96618838e-01 -8.21638100e-02 0.00000000e+00 1.52728632e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39765303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.790371743 meters Centerline goodness : 0.984389 Centerline is valid? [True, True] Translation: X:176.05, Y:152.76, Z:0.14 [[-7.99923734e-02 -9.96795476e-01 0.00000000e+00 1.76046965e+02] [ 9.96795476e-01 -7.99923734e-02 0.00000000e+00 1.52756488e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36785780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.820371743 meters Centerline goodness : 0.988082 Centerline is valid? [True, True] Translation: X:176.04, Y:152.79, Z:0.14 [[-8.79992874e-02 -9.96120538e-01 0.00000000e+00 1.76037489e+02] [ 9.96120538e-01 -8.79992874e-02 0.00000000e+00 1.52785983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36169988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.850371743 meters Centerline goodness : 0.984176 Centerline is valid? [True, True] Translation: X:176.04, Y:152.81, Z:0.14 [[-7.97239489e-02 -9.96816980e-01 0.00000000e+00 1.76041063e+02] [ 9.96816980e-01 -7.97239489e-02 0.00000000e+00 1.52813286e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.35749677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.880371743 meters Centerline goodness : 0.984167 Centerline is valid? [True, True] Translation: X:176.04, Y:152.84, Z:0.14 [[-7.90632643e-02 -9.96869600e-01 0.00000000e+00 1.76037489e+02] [ 9.96869600e-01 -7.90632643e-02 0.00000000e+00 1.52842084e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39998236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.910371743 meters Centerline goodness : 0.987527 Centerline is valid? [True, True] Translation: X:176.02, Y:152.87, Z:0.14 [[-8.22654628e-02 -9.96610452e-01 0.00000000e+00 1.76023766e+02] [ 9.96610452e-01 -8.22654628e-02 0.00000000e+00 1.52870514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36207963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.940371743 meters Centerline goodness : 0.983651 Centerline is valid? [True, True] Translation: X:176.03, Y:152.90, Z:0.14 [[-7.26325681e-02 -9.97358767e-01 0.00000000e+00 1.76027685e+02] [ 9.97358767e-01 -7.26325681e-02 0.00000000e+00 1.52898372e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36640124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.970371743 meters Centerline goodness : 0.982638 Centerline is valid? [True, True] Translation: X:176.02, Y:152.92, Z:0.14 [[-6.95659128e-02 -9.97577357e-01 0.00000000e+00 1.76019476e+02] [ 9.97577357e-01 -6.95659128e-02 0.00000000e+00 1.52922101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37367121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.000371743 meters Centerline goodness : 0.983872 Centerline is valid? [True, True] Translation: X:176.02, Y:152.95, Z:0.14 [[-6.68360541e-02 -9.97763971e-01 0.00000000e+00 1.76019798e+02] [ 9.97763971e-01 -6.68360541e-02 0.00000000e+00 1.52953775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39699650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.030371743 meters Centerline goodness : 0.982102 Centerline is valid? [True, True] Translation: X:176.01, Y:152.97, Z:0.14 [[-7.28021089e-02 -9.97346406e-01 0.00000000e+00 1.76008204e+02] [ 9.97346406e-01 -7.28021089e-02 0.00000000e+00 1.52968894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37400192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.060371743 meters Centerline goodness : 0.981830 Centerline is valid? [True, True] Translation: X:176.01, Y:153.01, Z:0.14 [[-6.23224226e-02 -9.98056068e-01 0.00000000e+00 1.76013063e+02] [ 9.98056068e-01 -6.23224226e-02 0.00000000e+00 1.53007652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41318838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.090371743 meters Centerline goodness : 0.982906 Centerline is valid? [True, True] Translation: X:176.01, Y:153.03, Z:0.14 [[-6.15001240e-02 -9.98107076e-01 0.00000000e+00 1.76009792e+02] [ 9.98107076e-01 -6.15001240e-02 0.00000000e+00 1.53033876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41471992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.120371743 meters Centerline goodness : 0.984213 Centerline is valid? [True, True] Translation: X:176.01, Y:153.06, Z:0.14 [[-5.71017999e-02 -9.98368361e-01 0.00000000e+00 1.76007667e+02] [ 9.98368361e-01 -5.71017999e-02 0.00000000e+00 1.53064437e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40226420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.150371743 meters Centerline goodness : 0.983596 Centerline is valid? [True, True] Translation: X:176.00, Y:153.09, Z:0.14 [[-5.68356126e-02 -9.98383550e-01 0.00000000e+00 1.76004855e+02] [ 9.98383550e-01 -5.68356126e-02 0.00000000e+00 1.53089829e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40009846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.180371743 meters Centerline goodness : 0.983241 Centerline is valid? [True, True] Translation: X:176.00, Y:153.12, Z:0.14 [[-5.53114931e-02 -9.98469148e-01 0.00000000e+00 1.76004227e+02] [ 9.98469148e-01 -5.53114931e-02 0.00000000e+00 1.53118222e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41095586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.210371743 meters Centerline goodness : 0.981895 Centerline is valid? [True, True] Translation: X:176.00, Y:153.15, Z:0.14 [[-5.48253242e-02 -9.98495961e-01 0.00000000e+00 1.76002789e+02] [ 9.98495961e-01 -5.48253242e-02 0.00000000e+00 1.53146301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41506918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.240371743 meters Centerline goodness : 0.983298 Centerline is valid? [True, True] Translation: X:176.00, Y:153.17, Z:0.14 [[-5.23624270e-02 -9.98628147e-01 0.00000000e+00 1.76000589e+02] [ 9.98628147e-01 -5.23624270e-02 0.00000000e+00 1.53173324e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42392764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.270371743 meters Centerline goodness : 0.981459 Centerline is valid? [True, True] Translation: X:176.00, Y:153.20, Z:0.14 [[-4.87266782e-02 -9.98812150e-01 0.00000000e+00 1.76002505e+02] [ 9.98812150e-01 -4.87266782e-02 0.00000000e+00 1.53204397e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42831972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.300371743 meters Centerline goodness : 0.981393 Centerline is valid? [True, True] Translation: X:176.00, Y:153.23, Z:0.14 [[-4.82216156e-02 -9.98836661e-01 0.00000000e+00 1.75999870e+02] [ 9.98836661e-01 -4.82216156e-02 0.00000000e+00 1.53229786e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42912419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.330371743 meters Centerline goodness : 0.981315 Centerline is valid? [True, True] Translation: X:175.99, Y:153.24, Z:0.14 [[-5.06916753e-02 -9.98714351e-01 0.00000000e+00 1.75989662e+02] [ 9.98714351e-01 -5.06916753e-02 0.00000000e+00 1.53244095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41307071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36037174300003 meters Centerline goodness : 0.986708 Centerline is valid? [True, True] Translation: X:175.99, Y:153.28, Z:0.14 [[-5.38597434e-02 -9.98548511e-01 0.00000000e+00 1.75988746e+02] [ 9.98548511e-01 -5.38597434e-02 0.00000000e+00 1.53282042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38124347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.390371743 meters Centerline goodness : 0.978222 Centerline is valid? [True, True] Translation: X:176.01, Y:153.32, Z:0.14 [[-3.22900722e-02 -9.99478540e-01 0.00000000e+00 1.76007391e+02] [ 9.99478540e-01 -3.22900722e-02 0.00000000e+00 1.53320028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43516507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.420371743 meters Centerline goodness : 0.981834 Centerline is valid? [True, True] Translation: X:176.00, Y:153.72, Z:0.14 [[-4.12112114e-02 -9.99150457e-01 0.00000000e+00 1.75999995e+02] [ 9.99150457e-01 -4.12112114e-02 0.00000000e+00 1.53716316e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40950429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.450371743 meters Centerline goodness : 0.980424 Centerline is valid? [True, True] Translation: X:176.00, Y:153.73, Z:0.14 [[-3.91001632e-02 -9.99235296e-01 0.00000000e+00 1.76001024e+02] [ 9.99235296e-01 -3.91001632e-02 0.00000000e+00 1.53726176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41714194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.480371743 meters Centerline goodness : 0.987553 Centerline is valid? [True, True] Translation: X:176.70, Y:153.50, Z:0.75 [[-3.53270982e-02 9.99375803e-01 0.00000000e+00 1.76698409e+02] [ 9.99375803e-01 3.53270982e-02 0.00000000e+00 1.53497711e+02] [ 0.00000000e+00 0.00000000e+00 -1.00000000e+00 7.52343086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.510371743 meters Centerline goodness : 0.986961 Centerline is valid? [True, True] Translation: X:176.03, Y:153.45, Z:0.14 [[-1.18415902e-01 -9.92964085e-01 0.00000000e+00 1.76029120e+02] [ 9.92964085e-01 -1.18415902e-01 0.00000000e+00 1.53445630e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38357220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.540371743 meters Centerline goodness : 0.981043 Centerline is valid? [True, True] Translation: X:176.01, Y:153.83, Z:0.14 [[-1.02457455e-01 -9.94737387e-01 0.00000000e+00 1.76012017e+02] [ 9.94737387e-01 -1.02457455e-01 0.00000000e+00 1.53829694e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41406691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.570371743 meters Centerline goodness : 0.988007 Centerline is valid? [True, True] Translation: X:176.72, Y:153.65, Z:0.75 [[-1.08781076e-01 9.94065731e-01 0.00000000e+00 1.76718442e+02] [ 9.94065731e-01 1.08781076e-01 0.00000000e+00 1.53654097e+02] [ 0.00000000e+00 0.00000000e+00 -1.00000000e+00 7.52104733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.600371743 meters Centerline goodness : 0.988719 Centerline is valid? [True, True] Translation: X:176.06, Y:153.56, Z:0.14 [[-1.80093105e-01 -9.83649568e-01 0.00000000e+00 1.76063049e+02] [ 9.83649568e-01 -1.80093105e-01 0.00000000e+00 1.53560546e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38271733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.630371743 meters Centerline goodness : 0.983428 Centerline is valid? [True, True] Translation: X:175.92, Y:154.53, Z:0.14 [[-1.90702696e-01 -9.81647840e-01 0.00000000e+00 1.75915292e+02] [ 9.81647840e-01 -1.90702696e-01 0.00000000e+00 1.54528772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36756773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.660371743 meters Centerline goodness : 0.988009 Centerline is valid? [True, True] Translation: X:176.06, Y:153.57, Z:0.14 [[-1.72026970e-01 -9.85092240e-01 0.00000000e+00 1.76062496e+02] [ 9.85092240e-01 -1.72026970e-01 0.00000000e+00 1.53574317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38540598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.690371743 meters Centerline goodness : 0.988917 Centerline is valid? [True, True] Translation: X:176.06, Y:153.58, Z:0.14 [[-1.69784758e-01 -9.85481170e-01 0.00000000e+00 1.76063673e+02] [ 9.85481170e-01 -1.69784758e-01 0.00000000e+00 1.53576983e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37269798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.720371743 meters Centerline goodness : 0.987847 Centerline is valid? [True, True] Translation: X:176.07, Y:153.58, Z:0.14 [[-1.67519383e-01 -9.85868782e-01 0.00000000e+00 1.76065206e+02] [ 9.85868782e-01 -1.67519383e-01 0.00000000e+00 1.53577331e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.37409031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.750371743 meters Centerline goodness : 0.988668 Centerline is valid? [True, True] Translation: X:176.07, Y:153.58, Z:0.14 [[-1.64525357e-01 -9.86372854e-01 0.00000000e+00 1.76069034e+02] [ 9.86372854e-01 -1.64525357e-01 0.00000000e+00 1.53577941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.36506256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.780371743 meters Centerline goodness : 0.983464 Centerline is valid? [True, True] Translation: X:175.93, Y:154.56, Z:0.14 [[-1.73049560e-01 -9.84913118e-01 0.00000000e+00 1.75927149e+02] [ 9.84913118e-01 -1.73049560e-01 0.00000000e+00 1.54563569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41682766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.810371743 meters Centerline goodness : 0.983194 Centerline is valid? [True, True] Translation: X:175.93, Y:154.57, Z:0.14 [[-1.70807227e-01 -9.85304466e-01 0.00000000e+00 1.75929349e+02] [ 9.85304466e-01 -1.70807227e-01 0.00000000e+00 1.54567480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41128405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.840371743 meters Centerline goodness : 0.982463 Centerline is valid? [True, True] Translation: X:175.94, Y:154.55, Z:0.15 [[-1.64965199e-01 -9.86299388e-01 0.00000000e+00 1.75937980e+02] [ 9.86299388e-01 -1.64965199e-01 0.00000000e+00 1.54545595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45337469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.870371743 meters Centerline goodness : 0.982719 Centerline is valid? [True, True] Translation: X:175.94, Y:154.57, Z:0.15 [[-1.63139728e-01 -9.86602974e-01 0.00000000e+00 1.75937683e+02] [ 9.86602974e-01 -1.63139728e-01 0.00000000e+00 1.54567291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45489459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.900371743 meters Centerline goodness : 0.984349 Centerline is valid? [True, True] Translation: X:176.08, Y:153.61, Z:0.14 [[-1.56857795e-01 -9.87621199e-01 0.00000000e+00 1.76076645e+02] [ 9.87621199e-01 -1.56857795e-01 0.00000000e+00 1.53613636e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43436965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.930371743 meters Centerline goodness : 0.984434 Centerline is valid? [True, True] Translation: X:176.08, Y:153.62, Z:0.14 [[-1.56614221e-01 -9.87659853e-01 0.00000000e+00 1.76079197e+02] [ 9.87659853e-01 -1.56614221e-01 0.00000000e+00 1.53619346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42738342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.960371743 meters Centerline goodness : 0.982488 Centerline is valid? [True, True] Translation: X:175.95, Y:154.62, Z:0.14 [[-1.61067364e-01 -9.86943415e-01 0.00000000e+00 1.75945011e+02] [ 9.86943415e-01 -1.61067364e-01 0.00000000e+00 1.54615260e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40902113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.990371743 meters Centerline goodness : 0.982059 Centerline is valid? [True, True] Translation: X:175.95, Y:154.61, Z:0.14 [[-1.57010548e-01 -9.87596926e-01 0.00000000e+00 1.75952865e+02] [ 9.87596926e-01 -1.57010548e-01 0.00000000e+00 1.54611544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43072614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.020371743 meters Centerline goodness : 0.980972 Centerline is valid? [True, True] Translation: X:175.95, Y:154.62, Z:0.14 [[-1.55796084e-01 -9.87789239e-01 0.00000000e+00 1.75954385e+02] [ 9.87789239e-01 -1.55796084e-01 0.00000000e+00 1.54622089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43207876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.050371743 meters Centerline goodness : 0.982700 Centerline is valid? [True, True] Translation: X:175.96, Y:154.63, Z:0.14 [[-1.53844596e-01 -9.88095056e-01 0.00000000e+00 1.75956300e+02] [ 9.88095056e-01 -1.53844596e-01 0.00000000e+00 1.54631575e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.43537595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.080371743 meters Centerline goodness : 0.981054 Centerline is valid? [True, True] Translation: X:175.96, Y:154.64, Z:0.14 [[-1.52210606e-01 -9.88348082e-01 0.00000000e+00 1.75961835e+02] [ 9.88348082e-01 -1.52210606e-01 0.00000000e+00 1.54642199e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44352420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11037174300003 meters Centerline goodness : 0.980523 Centerline is valid? [True, True] Translation: X:175.97, Y:154.64, Z:0.14 [[-1.49076318e-01 -9.88825693e-01 0.00000000e+00 1.75965583e+02] [ 9.88825693e-01 -1.49076318e-01 0.00000000e+00 1.54640357e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44214839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.140371743 meters Centerline goodness : 0.984114 Centerline is valid? [True, True] Translation: X:176.09, Y:153.67, Z:0.14 [[-1.44856538e-01 -9.89452669e-01 0.00000000e+00 1.76091645e+02] [ 9.89452669e-01 -1.44856538e-01 0.00000000e+00 1.53670787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41881892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.170371743 meters Centerline goodness : 0.976800 Centerline is valid? [True, True] Translation: X:176.08, Y:153.97, Z:0.14 [[-1.13391469e-01 -9.93550389e-01 0.00000000e+00 1.76076230e+02] [ 9.93550389e-01 -1.13391469e-01 0.00000000e+00 1.53971198e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39653543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.200371743 meters Centerline goodness : 0.976723 Centerline is valid? [True, True] Translation: X:176.11, Y:153.66, Z:0.14 [[-1.14800060e-01 -9.93388618e-01 0.00000000e+00 1.76114992e+02] [ 9.93388618e-01 -1.14800060e-01 0.00000000e+00 1.53655876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38349149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.230371743 meters Centerline goodness : 0.980552 Centerline is valid? [True, True] Translation: X:175.98, Y:154.67, Z:0.14 [[-1.48017604e-01 -9.88984726e-01 0.00000000e+00 1.75979025e+02] [ 9.88984726e-01 -1.48017604e-01 0.00000000e+00 1.54671649e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41197671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.260371743 meters Centerline goodness : 0.982077 Centerline is valid? [True, True] Translation: X:176.11, Y:153.70, Z:0.14 [[-1.46631298e-01 -9.89191216e-01 0.00000000e+00 1.76108025e+02] [ 9.89191216e-01 -1.46631298e-01 0.00000000e+00 1.53695072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41419172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.290371743 meters Centerline goodness : 0.982112 Centerline is valid? [True, True] Translation: X:176.11, Y:153.70, Z:0.14 [[-1.46495667e-01 -9.89211312e-01 0.00000000e+00 1.76110306e+02] [ 9.89211312e-01 -1.46495667e-01 0.00000000e+00 1.53704070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41558864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.320371743 meters Centerline goodness : 0.976486 Centerline is valid? [True, True] Translation: X:176.14, Y:153.67, Z:0.14 [[-1.09728343e-01 -9.93961614e-01 0.00000000e+00 1.76143958e+02] [ 9.93961614e-01 -1.09728343e-01 0.00000000e+00 1.53667675e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41176753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.350371743 meters Centerline goodness : 0.976486 Centerline is valid? [True, True] Translation: X:176.14, Y:153.67, Z:0.14 [[-1.09411739e-01 -9.93996515e-01 0.00000000e+00 1.76143554e+02] [ 9.93996515e-01 -1.09411739e-01 0.00000000e+00 1.53670233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.41176753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.380371743 meters Centerline goodness : 0.977142 Centerline is valid? [True, True] Translation: X:176.15, Y:153.66, Z:0.14 [[-1.12787936e-01 -9.93619083e-01 0.00000000e+00 1.76146743e+02] [ 9.93619083e-01 -1.12787936e-01 0.00000000e+00 1.53660273e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38507130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.410371743 meters Centerline goodness : 0.974834 Centerline is valid? [True, True] Translation: X:176.15, Y:153.68, Z:0.14 [[-1.11850396e-01 -9.93725057e-01 0.00000000e+00 1.76153784e+02] [ 9.93725057e-01 -1.11850396e-01 0.00000000e+00 1.53676257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42915840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.440371743 meters Centerline goodness : 0.980555 Centerline is valid? [True, True] Translation: X:176.13, Y:153.72, Z:0.14 [[-1.50264172e-01 -9.88645881e-01 0.00000000e+00 1.76130767e+02] [ 9.88645881e-01 -1.50264172e-01 0.00000000e+00 1.53715059e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40904135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.470371743 meters Centerline goodness : 0.980301 Centerline is valid? [True, True] Translation: X:176.13, Y:153.72, Z:0.14 [[-1.50859987e-01 -9.88555140e-01 0.00000000e+00 1.76133673e+02] [ 9.88555140e-01 -1.50859987e-01 0.00000000e+00 1.53716675e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40848613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.500371743 meters Centerline goodness : 0.980158 Centerline is valid? [True, True] Translation: X:176.14, Y:153.72, Z:0.14 [[-1.51478328e-01 -9.88460579e-01 0.00000000e+00 1.76136069e+02] [ 9.88460579e-01 -1.51478328e-01 0.00000000e+00 1.53721761e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40917304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.530371743 meters Centerline goodness : 0.979537 Centerline is valid? [True, True] Translation: X:176.14, Y:153.72, Z:0.14 [[-1.50343070e-01 -9.88633886e-01 0.00000000e+00 1.76144641e+02] [ 9.88633886e-01 -1.50343070e-01 0.00000000e+00 1.53720450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39435990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.560371743 meters Centerline goodness : 0.975165 Centerline is valid? [True, True] Translation: X:176.17, Y:153.68, Z:0.14 [[-1.16206382e-01 -9.93225089e-01 0.00000000e+00 1.76172208e+02] [ 9.93225089e-01 -1.16206382e-01 0.00000000e+00 1.53682046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39242949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.590371743 meters Centerline goodness : 0.977174 Centerline is valid? [True, True] Translation: X:176.17, Y:153.70, Z:0.14 [[-1.20513870e-01 -9.92711644e-01 0.00000000e+00 1.76174850e+02] [ 9.92711644e-01 -1.20513870e-01 0.00000000e+00 1.53698366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39515028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.620371743 meters Centerline goodness : 0.982264 Centerline is valid? [True, True] Translation: X:176.16, Y:153.73, Z:0.14 [[-1.48043713e-01 -9.88980818e-01 0.00000000e+00 1.76158027e+02] [ 9.88980818e-01 -1.48043713e-01 0.00000000e+00 1.53725622e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38684133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.650371743 meters Centerline goodness : 0.977173 Centerline is valid? [True, True] Translation: X:176.18, Y:153.69, Z:0.14 [[-1.20014319e-01 -9.92772161e-01 0.00000000e+00 1.76180420e+02] [ 9.92772161e-01 -1.20014319e-01 0.00000000e+00 1.53690824e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42954318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.680371743 meters Centerline goodness : 0.978100 Centerline is valid? [True, True] Translation: X:176.18, Y:153.70, Z:0.14 [[-1.22005373e-01 -9.92529440e-01 0.00000000e+00 1.76181097e+02] [ 9.92529440e-01 -1.22005373e-01 0.00000000e+00 1.53704676e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38888810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.710371743 meters Centerline goodness : 0.979770 Centerline is valid? [True, True] Translation: X:176.19, Y:153.69, Z:0.14 [[-1.23868210e-01 -9.92298678e-01 0.00000000e+00 1.76185022e+02] [ 9.92298678e-01 -1.23868210e-01 0.00000000e+00 1.53694709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.39388545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.740371743 meters Centerline goodness : 0.980840 Centerline is valid? [True, True] Translation: X:176.18, Y:153.70, Z:0.14 [[-1.26164208e-01 -9.92009371e-01 0.00000000e+00 1.76184554e+02] [ 9.92009371e-01 -1.26164208e-01 0.00000000e+00 1.53702000e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40562778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.770371743 meters Centerline goodness : 0.979229 Centerline is valid? [True, True] Translation: X:176.19, Y:153.70, Z:0.14 [[-1.25433641e-01 -9.92102012e-01 0.00000000e+00 1.76187847e+02] [ 9.92102012e-01 -1.25433641e-01 0.00000000e+00 1.53701710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40259716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.800371743 meters Centerline goodness : 0.982180 Centerline is valid? [True, True] Translation: X:176.19, Y:153.70, Z:0.14 [[-1.25613042e-01 -9.92079313e-01 0.00000000e+00 1.76187405e+02] [ 9.92079313e-01 -1.25613042e-01 0.00000000e+00 1.53704329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.38809834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.830371743 meters Centerline goodness : 0.980803 Centerline is valid? [True, True] Translation: X:176.19, Y:153.70, Z:0.14 [[-1.21503716e-01 -9.92590977e-01 0.00000000e+00 1.76190352e+02] [ 9.92590977e-01 -1.21503716e-01 0.00000000e+00 1.53700426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40061087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86037174300003 meters Centerline goodness : 0.982073 Centerline is valid? [True, True] Translation: X:176.19, Y:153.71, Z:0.14 [[-1.19125875e-01 -9.92879160e-01 0.00000000e+00 1.76189944e+02] [ 9.92879160e-01 -1.19125875e-01 0.00000000e+00 1.53707846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42072997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.890371743 meters Centerline goodness : 0.981623 Centerline is valid? [True, True] Translation: X:176.19, Y:153.70, Z:0.14 [[-1.12990258e-01 -9.93596096e-01 0.00000000e+00 1.76193242e+02] [ 9.93596096e-01 -1.12990258e-01 0.00000000e+00 1.53703381e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.40520884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.920371743 meters Centerline goodness : 0.982641 Centerline is valid? [True, True] Translation: X:176.19, Y:153.70, Z:0.14 [[-1.06834418e-01 -9.94276826e-01 0.00000000e+00 1.76194690e+02] [ 9.94276826e-01 -1.06834418e-01 0.00000000e+00 1.53704243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42523084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.950371743 meters Centerline goodness : 0.982180 Centerline is valid? [True, True] Translation: X:176.20, Y:153.70, Z:0.14 [[-1.03171950e-01 -9.94663535e-01 0.00000000e+00 1.76196193e+02] [ 9.94663535e-01 -1.03171950e-01 0.00000000e+00 1.53701495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42116385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.980371743 meters Centerline goodness : 0.983698 Centerline is valid? [True, True] Translation: X:176.19, Y:153.72, Z:0.14 [[-1.13211953e-01 -9.93570860e-01 0.00000000e+00 1.76186991e+02] [ 9.93570860e-01 -1.13211953e-01 0.00000000e+00 1.53719372e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42250473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.010371743 meters Centerline goodness : 0.980826 Centerline is valid? [True, True] Translation: X:176.20, Y:153.69, Z:0.14 [[-9.26109090e-02 -9.95702375e-01 0.00000000e+00 1.76200912e+02] [ 9.95702375e-01 -9.26109090e-02 0.00000000e+00 1.53691466e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44054906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.040371743 meters Centerline goodness : 0.982372 Centerline is valid? [True, True] Translation: X:176.20, Y:153.72, Z:0.14 [[-9.06099252e-02 -9.95886460e-01 0.00000000e+00 1.76197905e+02] [ 9.95886460e-01 -9.06099252e-02 0.00000000e+00 1.53720954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.42053955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.070371743 meters Centerline goodness : 0.984076 Centerline is valid? [True, True] Translation: X:176.20, Y:153.71, Z:0.15 [[-9.37339614e-02 -9.95597280e-01 0.00000000e+00 1.76196401e+02] [ 9.95597280e-01 -9.37339614e-02 0.00000000e+00 1.53709290e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45313642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.100371743 meters Centerline goodness : 0.983506 Centerline is valid? [True, True] Translation: X:176.20, Y:153.71, Z:0.15 [[-8.10986102e-02 -9.96706083e-01 0.00000000e+00 1.76204993e+02] [ 9.96706083e-01 -8.10986102e-02 0.00000000e+00 1.53705880e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46706703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.130371743 meters Centerline goodness : 0.984780 Centerline is valid? [True, True] Translation: X:176.21, Y:153.71, Z:0.15 [[-8.01553551e-02 -9.96782383e-01 0.00000000e+00 1.76206551e+02] [ 9.96782383e-01 -8.01553551e-02 0.00000000e+00 1.53706785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47638230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.160371743 meters Centerline goodness : 0.985803 Centerline is valid? [True, True] Translation: X:176.20, Y:153.71, Z:0.15 [[-8.53603403e-02 -9.96350145e-01 0.00000000e+00 1.76204501e+02] [ 9.96350145e-01 -8.53603403e-02 0.00000000e+00 1.53709043e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48010378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.190371743 meters Centerline goodness : 0.985526 Centerline is valid? [True, True] Translation: X:176.21, Y:153.70, Z:0.15 [[-7.82086358e-02 -9.96937014e-01 0.00000000e+00 1.76214117e+02] [ 9.96937014e-01 -7.82086358e-02 0.00000000e+00 1.53701882e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50693641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.220371743 meters Centerline goodness : 0.986029 Centerline is valid? [True, True] Translation: X:176.22, Y:153.70, Z:0.15 [[-7.44386232e-02 -9.97225597e-01 0.00000000e+00 1.76219158e+02] [ 9.97225597e-01 -7.44386232e-02 0.00000000e+00 1.53701222e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49432995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.250371743 meters Centerline goodness : 0.988729 Centerline is valid? [True, True] Translation: X:176.22, Y:153.70, Z:0.15 [[-7.80334173e-02 -9.96950744e-01 0.00000000e+00 1.76222514e+02] [ 9.96950744e-01 -7.80334173e-02 0.00000000e+00 1.53703497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49185130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.280371743 meters Centerline goodness : 0.988837 Centerline is valid? [True, True] Translation: X:176.23, Y:153.71, Z:0.15 [[-7.76108612e-02 -9.96983728e-01 0.00000000e+00 1.76225918e+02] [ 9.96983728e-01 -7.76108612e-02 0.00000000e+00 1.53706242e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49123586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.310371743 meters Centerline goodness : 0.988989 Centerline is valid? [True, True] Translation: X:176.23, Y:153.71, Z:0.15 [[-7.73521409e-02 -9.97003835e-01 0.00000000e+00 1.76229340e+02] [ 9.97003835e-01 -7.73521409e-02 0.00000000e+00 1.53714222e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49420563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.340371743 meters Centerline goodness : 0.990738 Centerline is valid? [True, True] Translation: X:176.24, Y:153.72, Z:0.15 [[-7.92809226e-02 -9.96852314e-01 0.00000000e+00 1.76237719e+02] [ 9.96852314e-01 -7.92809226e-02 0.00000000e+00 1.53715869e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50972103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.370371743 meters Centerline goodness : 0.990943 Centerline is valid? [True, True] Translation: X:176.24, Y:153.72, Z:0.15 [[-8.05590203e-02 -9.96749840e-01 0.00000000e+00 1.76242026e+02] [ 9.96749840e-01 -8.05590203e-02 0.00000000e+00 1.53719551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51863540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.400371743 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:176.25, Y:153.73, Z:0.15 [[-8.49091088e-02 -9.96388701e-01 0.00000000e+00 1.76250368e+02] [ 9.96388701e-01 -8.49091088e-02 0.00000000e+00 1.53729060e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53678917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.430371743 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:176.25, Y:153.74, Z:0.15 [[-8.76728099e-02 -9.96149325e-01 0.00000000e+00 1.76254145e+02] [ 9.96149325e-01 -8.76728099e-02 0.00000000e+00 1.53735243e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54579265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.460371743 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:176.26, Y:153.75, Z:0.15 [[-8.99824558e-02 -9.95943351e-01 0.00000000e+00 1.76257401e+02] [ 9.95943351e-01 -8.99824558e-02 0.00000000e+00 1.53746570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54336274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.490371743 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:176.27, Y:153.75, Z:0.15 [[-9.59517311e-02 -9.95385988e-01 0.00000000e+00 1.76265092e+02] [ 9.95385988e-01 -9.59517311e-02 0.00000000e+00 1.53754640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54047140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.520371743 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:176.27, Y:153.76, Z:0.15 [[-9.90596368e-02 -9.95081498e-01 0.00000000e+00 1.76268882e+02] [ 9.95081498e-01 -9.90596368e-02 0.00000000e+00 1.53757731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52979956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.550371743 meters Centerline goodness : 0.995828 Centerline is valid? [True, True] Translation: X:176.28, Y:153.77, Z:0.15 [[-1.05332121e-01 -9.94437099e-01 0.00000000e+00 1.76275423e+02] [ 9.94437099e-01 -1.05332121e-01 0.00000000e+00 1.53772268e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54751457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.580371743 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:176.28, Y:153.77, Z:0.15 [[-1.08046449e-01 -9.94145847e-01 0.00000000e+00 1.76279482e+02] [ 9.94145847e-01 -1.08046449e-01 0.00000000e+00 1.53769494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54766336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61037174300003 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:176.28, Y:153.78, Z:0.16 [[-1.10807254e-01 -9.93841915e-01 0.00000000e+00 1.76281544e+02] [ 9.93841915e-01 -1.10807254e-01 0.00000000e+00 1.53781030e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55063890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.640371743 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:176.29, Y:153.78, Z:0.16 [[-1.16251267e-01 -9.93219836e-01 0.00000000e+00 1.76286386e+02] [ 9.93219836e-01 -1.16251267e-01 0.00000000e+00 1.53784638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56366490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.670371743 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:176.29, Y:153.79, Z:0.16 [[-1.17795152e-01 -9.93037916e-01 0.00000000e+00 1.76288183e+02] [ 9.93037916e-01 -1.17795152e-01 0.00000000e+00 1.53789752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56401279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.700371743 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:176.29, Y:153.80, Z:0.16 [[-1.21864145e-01 -9.92546790e-01 0.00000000e+00 1.76290767e+02] [ 9.92546790e-01 -1.21864145e-01 0.00000000e+00 1.53796056e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57763590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.730371743 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:176.29, Y:153.81, Z:0.16 [[-1.23614633e-01 -9.92330299e-01 0.00000000e+00 1.76290554e+02] [ 9.92330299e-01 -1.23614633e-01 0.00000000e+00 1.53808205e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58195900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.760371743 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:176.29, Y:153.81, Z:0.16 [[-1.24983176e-01 -9.92158861e-01 0.00000000e+00 1.76291201e+02] [ 9.92158861e-01 -1.24983176e-01 0.00000000e+00 1.53809577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58517758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.790371743 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:176.29, Y:153.81, Z:0.16 [[-1.26552806e-01 -9.91959872e-01 0.00000000e+00 1.76291248e+02] [ 9.91959872e-01 -1.26552806e-01 0.00000000e+00 1.53813699e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58564384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.820371743 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:176.29, Y:153.82, Z:0.16 [[-1.29488673e-01 -9.91580901e-01 0.00000000e+00 1.76292974e+02] [ 9.91580901e-01 -1.29488673e-01 0.00000000e+00 1.53815769e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59301787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.850371743 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:176.29, Y:153.82, Z:0.16 [[-1.30973794e-01 -9.91385831e-01 0.00000000e+00 1.76292516e+02] [ 9.91385831e-01 -1.30973794e-01 0.00000000e+00 1.53823876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58964730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.880371743 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:176.29, Y:153.82, Z:0.16 [[-1.32678003e-01 -9.91159194e-01 0.00000000e+00 1.76292918e+02] [ 9.91159194e-01 -1.32678003e-01 0.00000000e+00 1.53824396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57384421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.910371743 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:176.29, Y:153.84, Z:0.16 [[-1.34382306e-01 -9.90929561e-01 0.00000000e+00 1.76290816e+02] [ 9.90929561e-01 -1.34382306e-01 0.00000000e+00 1.53837404e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58387142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.940371743 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:176.29, Y:153.84, Z:0.16 [[-1.35635736e-01 -9.90758773e-01 0.00000000e+00 1.76290036e+02] [ 9.90758773e-01 -1.35635736e-01 0.00000000e+00 1.53841639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59341797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.970371743 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:176.29, Y:153.84, Z:0.16 [[-1.37066528e-01 -9.90561844e-01 0.00000000e+00 1.76289837e+02] [ 9.90561844e-01 -1.37066528e-01 0.00000000e+00 1.53839216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59633168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.000371743 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:176.29, Y:153.86, Z:0.16 [[-1.40520022e-01 -9.90077837e-01 0.00000000e+00 1.76286758e+02] [ 9.90077837e-01 -1.40520022e-01 0.00000000e+00 1.53861359e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60303004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.030371743 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:176.29, Y:153.85, Z:0.16 [[-1.42115581e-01 -9.89850070e-01 0.00000000e+00 1.76287560e+02] [ 9.89850070e-01 -1.42115581e-01 0.00000000e+00 1.53847641e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60245745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.060371743 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:176.29, Y:153.85, Z:0.16 [[-1.45646329e-01 -9.89336721e-01 0.00000000e+00 1.76285360e+02] [ 9.89336721e-01 -1.45646329e-01 0.00000000e+00 1.53853489e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59949704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.090371743 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:176.28, Y:153.88, Z:0.16 [[-1.47609599e-01 -9.89045705e-01 0.00000000e+00 1.76281345e+02] [ 9.89045705e-01 -1.47609599e-01 0.00000000e+00 1.53880218e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59769458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.120371743 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:176.28, Y:153.86, Z:0.16 [[-1.48873819e-01 -9.88856201e-01 0.00000000e+00 1.76281509e+02] [ 9.88856201e-01 -1.48873819e-01 0.00000000e+00 1.53862273e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59916092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.150371743 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:176.28, Y:153.87, Z:0.16 [[-1.52314630e-01 -9.88332056e-01 0.00000000e+00 1.76276024e+02] [ 9.88332056e-01 -1.52314630e-01 0.00000000e+00 1.53869497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59207321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.180371743 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:176.27, Y:153.88, Z:0.16 [[-1.53038707e-01 -9.88220195e-01 0.00000000e+00 1.76273083e+02] [ 9.88220195e-01 -1.53038707e-01 0.00000000e+00 1.53880454e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57614523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.210371743 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:176.27, Y:153.88, Z:0.16 [[-1.55869785e-01 -9.87777612e-01 0.00000000e+00 1.76268395e+02] [ 9.87777612e-01 -1.55869785e-01 0.00000000e+00 1.53877369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58821070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.240371743 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:176.27, Y:153.88, Z:0.16 [[-1.56324627e-01 -9.87705731e-01 0.00000000e+00 1.76265123e+02] [ 9.87705731e-01 -1.56324627e-01 0.00000000e+00 1.53884681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57971446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.270371743 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:176.26, Y:153.89, Z:0.16 [[-1.55932583e-01 -9.87767700e-01 0.00000000e+00 1.76264783e+02] [ 9.87767700e-01 -1.55932583e-01 0.00000000e+00 1.53887206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57971446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.300371743 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:176.26, Y:153.89, Z:0.16 [[-1.56222570e-01 -9.87721878e-01 0.00000000e+00 1.76262116e+02] [ 9.87721878e-01 -1.56222570e-01 0.00000000e+00 1.53886809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58536821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.330371743 meters Centerline goodness : 0.996215 Centerline is valid? [True, True] Translation: X:176.26, Y:153.89, Z:0.16 [[-1.57153992e-01 -9.87574110e-01 0.00000000e+00 1.76255601e+02] [ 9.87574110e-01 -1.57153992e-01 0.00000000e+00 1.53890225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58849239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36037174300003 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:176.25, Y:153.89, Z:0.16 [[-1.56944824e-01 -9.87607373e-01 0.00000000e+00 1.76251787e+02] [ 9.87607373e-01 -1.56944824e-01 0.00000000e+00 1.53892434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58899528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.390371743 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:176.24, Y:153.89, Z:0.16 [[-1.56533625e-01 -9.87672630e-01 0.00000000e+00 1.76244816e+02] [ 9.87672630e-01 -1.56533625e-01 0.00000000e+00 1.53893275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58664214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.420371743 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:176.24, Y:153.89, Z:0.16 [[-1.55818675e-01 -9.87785675e-01 0.00000000e+00 1.76241575e+02] [ 9.87785675e-01 -1.55818675e-01 0.00000000e+00 1.53892423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57894216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.450371743 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:176.24, Y:153.90, Z:0.16 [[-1.55368138e-01 -9.87856640e-01 0.00000000e+00 1.76237107e+02] [ 9.87856640e-01 -1.55368138e-01 0.00000000e+00 1.53902991e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56860636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.480371743 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:176.23, Y:153.90, Z:0.16 [[-1.54743841e-01 -9.87954626e-01 0.00000000e+00 1.76233958e+02] [ 9.87954626e-01 -1.54743841e-01 0.00000000e+00 1.53898895e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56466398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.510371743 meters Centerline goodness : 0.992127 Centerline is valid? [True, True] Translation: X:176.23, Y:153.91, Z:0.16 [[-1.53737279e-01 -9.88111759e-01 0.00000000e+00 1.76225457e+02] [ 9.88111759e-01 -1.53737279e-01 0.00000000e+00 1.53906428e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55262711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.540371743 meters Centerline goodness : 0.992027 Centerline is valid? [True, True] Translation: X:176.22, Y:153.90, Z:0.15 [[-1.52869628e-01 -9.88246364e-01 0.00000000e+00 1.76221725e+02] [ 9.88246364e-01 -1.52869628e-01 0.00000000e+00 1.53903993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54945415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.570371743 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:176.21, Y:153.90, Z:0.15 [[-1.52300595e-01 -9.88334219e-01 0.00000000e+00 1.76213958e+02] [ 9.88334219e-01 -1.52300595e-01 0.00000000e+00 1.53903732e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54820841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.600371743 meters Centerline goodness : 0.991412 Centerline is valid? [True, True] Translation: X:176.21, Y:153.90, Z:0.16 [[-1.51572992e-01 -9.88446067e-01 0.00000000e+00 1.76209996e+02] [ 9.88446067e-01 -1.51572992e-01 0.00000000e+00 1.53904238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55048044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.630371743 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:176.21, Y:153.90, Z:0.15 [[-1.51065953e-01 -9.88523686e-01 0.00000000e+00 1.76205962e+02] [ 9.88523686e-01 -1.51065953e-01 0.00000000e+00 1.53904819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54468568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.660371743 meters Centerline goodness : 0.990121 Centerline is valid? [True, True] Translation: X:176.20, Y:153.91, Z:0.15 [[-1.49687207e-01 -9.88733402e-01 0.00000000e+00 1.76199180e+02] [ 9.88733402e-01 -1.49687207e-01 0.00000000e+00 1.53905705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52473588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.690371743 meters Centerline goodness : 0.987740 Centerline is valid? [True, True] Translation: X:176.21, Y:153.88, Z:0.15 [[-1.34441836e-01 -9.90921487e-01 0.00000000e+00 1.76205917e+02] [ 9.90921487e-01 -1.34441836e-01 0.00000000e+00 1.53879791e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48474314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.720371743 meters Centerline goodness : 0.987596 Centerline is valid? [True, True] Translation: X:176.19, Y:153.91, Z:0.15 [[-1.48113589e-01 -9.88970356e-01 0.00000000e+00 1.76192174e+02] [ 9.88970356e-01 -1.48113589e-01 0.00000000e+00 1.53909151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52179691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.750371743 meters Centerline goodness : 0.986252 Centerline is valid? [True, True] Translation: X:176.20, Y:153.88, Z:0.15 [[-1.30222183e-01 -9.91484838e-01 0.00000000e+00 1.76197047e+02] [ 9.91484838e-01 -1.30222183e-01 0.00000000e+00 1.53878315e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48364136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.780371743 meters Centerline goodness : 0.986163 Centerline is valid? [True, True] Translation: X:176.19, Y:153.88, Z:0.15 [[-1.28900920e-01 -9.91657478e-01 0.00000000e+00 1.76193984e+02] [ 9.91657478e-01 -1.28900920e-01 0.00000000e+00 1.53881607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48825297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.810371743 meters Centerline goodness : 0.983369 Centerline is valid? [True, True] Translation: X:176.19, Y:153.88, Z:0.15 [[-1.24558609e-01 -9.92212252e-01 0.00000000e+00 1.76190160e+02] [ 9.92212252e-01 -1.24558609e-01 0.00000000e+00 1.53877252e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46809465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.840371743 meters Centerline goodness : 0.983936 Centerline is valid? [True, True] Translation: X:176.18, Y:153.90, Z:0.15 [[-1.39730570e-01 -9.90189562e-01 0.00000000e+00 1.76175327e+02] [ 9.90189562e-01 -1.39730570e-01 0.00000000e+00 1.53904394e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51674739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.870371743 meters Centerline goodness : 0.983417 Centerline is valid? [True, True] Translation: X:176.19, Y:153.88, Z:0.15 [[-1.18337218e-01 -9.92973465e-01 0.00000000e+00 1.76185720e+02] [ 9.92973465e-01 -1.18337218e-01 0.00000000e+00 1.53876234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47025901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.900371743 meters Centerline goodness : 0.982594 Centerline is valid? [True, True] Translation: X:176.18, Y:153.88, Z:0.15 [[-1.14960470e-01 -9.93370067e-01 0.00000000e+00 1.76180617e+02] [ 9.93370067e-01 -1.14960470e-01 0.00000000e+00 1.53876078e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47914661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.930371743 meters Centerline goodness : 0.982036 Centerline is valid? [True, True] Translation: X:176.17, Y:153.90, Z:0.15 [[-1.31631584e-01 -9.91298707e-01 0.00000000e+00 1.76166037e+02] [ 9.91298707e-01 -1.31631584e-01 0.00000000e+00 1.53900580e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51999445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.960371743 meters Centerline goodness : 0.981482 Centerline is valid? [True, True] Translation: X:176.18, Y:153.87, Z:0.14 [[-1.07881826e-01 -9.94163725e-01 0.00000000e+00 1.76178155e+02] [ 9.94163725e-01 -1.07881826e-01 0.00000000e+00 1.53873269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44769721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.990371743 meters Centerline goodness : 0.981427 Centerline is valid? [True, True] Translation: X:176.16, Y:153.90, Z:0.15 [[-1.25453787e-01 -9.92099464e-01 0.00000000e+00 1.76160676e+02] [ 9.92099464e-01 -1.25453787e-01 0.00000000e+00 1.53897108e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50352579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.020371743 meters Centerline goodness : 0.980448 Centerline is valid? [True, True] Translation: X:176.17, Y:153.88, Z:0.14 [[-1.05179603e-01 -9.94453242e-01 0.00000000e+00 1.76171428e+02] [ 9.94453242e-01 -1.05179603e-01 0.00000000e+00 1.53875864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44340414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.050371743 meters Centerline goodness : 0.981404 Centerline is valid? [True, True] Translation: X:176.16, Y:153.90, Z:0.15 [[-1.20218793e-01 -9.92747421e-01 0.00000000e+00 1.76156086e+02] [ 9.92747421e-01 -1.20218793e-01 0.00000000e+00 1.53896786e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49348743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.080371743 meters Centerline goodness : 0.980971 Centerline is valid? [True, True] Translation: X:176.17, Y:153.88, Z:0.14 [[-9.80495419e-02 -9.95181535e-01 0.00000000e+00 1.76167948e+02] [ 9.95181535e-01 -9.80495419e-02 0.00000000e+00 1.53880894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44656323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11037174300003 meters Centerline goodness : 0.980606 Centerline is valid? [True, True] Translation: X:176.17, Y:153.87, Z:0.14 [[-9.49691105e-02 -9.95480220e-01 0.00000000e+00 1.76168431e+02] [ 9.95480220e-01 -9.49691105e-02 0.00000000e+00 1.53867858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44869168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.140371743 meters Centerline goodness : 0.978656 Centerline is valid? [True, True] Translation: X:176.16, Y:153.88, Z:0.15 [[-9.50255051e-02 -9.95474838e-01 0.00000000e+00 1.76163953e+02] [ 9.95474838e-01 -9.50255051e-02 0.00000000e+00 1.53875885e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50035944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.170371743 meters Centerline goodness : 0.978414 Centerline is valid? [True, True] Translation: X:176.16, Y:153.87, Z:0.15 [[-9.19893317e-02 -9.95759993e-01 0.00000000e+00 1.76164975e+02] [ 9.95759993e-01 -9.19893317e-02 0.00000000e+00 1.53873209e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47899919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.200371743 meters Centerline goodness : 0.979164 Centerline is valid? [True, True] Translation: X:176.16, Y:153.87, Z:0.15 [[-9.09724115e-02 -9.95853413e-01 0.00000000e+00 1.76163734e+02] [ 9.95853413e-01 -9.09724115e-02 0.00000000e+00 1.53874008e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49745811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.230371743 meters Centerline goodness : 0.978910 Centerline is valid? [True, True] Translation: X:176.16, Y:153.88, Z:0.15 [[-9.12377071e-02 -9.95829142e-01 0.00000000e+00 1.76163188e+02] [ 9.95829142e-01 -9.12377071e-02 0.00000000e+00 1.53877875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49456585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.260371743 meters Centerline goodness : 0.979886 Centerline is valid? [True, True] Translation: X:176.17, Y:153.88, Z:0.15 [[-8.57613852e-02 -9.96315705e-01 0.00000000e+00 1.76165633e+02] [ 9.96315705e-01 -8.57613852e-02 0.00000000e+00 1.53878639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.45894921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.290371743 meters Centerline goodness : 0.978724 Centerline is valid? [True, True] Translation: X:176.16, Y:153.88, Z:0.15 [[-8.93526529e-02 -9.96000052e-01 0.00000000e+00 1.76164609e+02] [ 9.96000052e-01 -8.93526529e-02 0.00000000e+00 1.53880992e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49019593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.320371743 meters Centerline goodness : 0.979865 Centerline is valid? [True, True] Translation: X:176.17, Y:153.88, Z:0.15 [[-8.79036887e-02 -9.96128978e-01 0.00000000e+00 1.76166514e+02] [ 9.96128978e-01 -8.79036887e-02 0.00000000e+00 1.53875350e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49157395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.350371743 meters Centerline goodness : 0.980923 Centerline is valid? [True, True] Translation: X:176.17, Y:153.89, Z:0.15 [[-8.95228145e-02 -9.95984772e-01 0.00000000e+00 1.76166994e+02] [ 9.95984772e-01 -8.95228145e-02 0.00000000e+00 1.53894935e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49266756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.380371743 meters Centerline goodness : 0.980337 Centerline is valid? [True, True] Translation: X:176.16, Y:153.91, Z:0.15 [[-1.05864079e-01 -9.94380610e-01 0.00000000e+00 1.76157661e+02] [ 9.94380610e-01 -1.05864079e-01 0.00000000e+00 1.53910359e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51706330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.410371743 meters Centerline goodness : 0.980560 Centerline is valid? [True, True] Translation: X:176.17, Y:153.89, Z:0.15 [[-8.79725399e-02 -9.96122900e-01 0.00000000e+00 1.76171278e+02] [ 9.96122900e-01 -8.79725399e-02 0.00000000e+00 1.53887614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48115378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.440371743 meters Centerline goodness : 0.980877 Centerline is valid? [True, True] Translation: X:176.16, Y:153.92, Z:0.15 [[-1.07025219e-01 -9.94256306e-01 0.00000000e+00 1.76161838e+02] [ 9.94256306e-01 -1.07025219e-01 0.00000000e+00 1.53917362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52169862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.470371743 meters Centerline goodness : 0.981677 Centerline is valid? [True, True] Translation: X:176.17, Y:153.89, Z:0.15 [[-9.40772287e-02 -9.95564902e-01 0.00000000e+00 1.76173765e+02] [ 9.95564902e-01 -9.40772287e-02 0.00000000e+00 1.53893343e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51911035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.500371743 meters Centerline goodness : 0.982326 Centerline is valid? [True, True] Translation: X:176.17, Y:153.92, Z:0.15 [[-1.08445340e-01 -9.94102413e-01 0.00000000e+00 1.76168284e+02] [ 9.94102413e-01 -1.08445340e-01 0.00000000e+00 1.53920867e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52694958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.530371743 meters Centerline goodness : 0.982811 Centerline is valid? [True, True] Translation: X:176.18, Y:153.89, Z:0.15 [[-8.63903938e-02 -9.96261361e-01 0.00000000e+00 1.76184855e+02] [ 9.96261361e-01 -8.63903938e-02 0.00000000e+00 1.53891208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47298300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.560371743 meters Centerline goodness : 0.984914 Centerline is valid? [True, True] Translation: X:176.17, Y:153.92, Z:0.15 [[-1.09052557e-01 -9.94035985e-01 0.00000000e+00 1.76172451e+02] [ 9.94035985e-01 -1.09052557e-01 0.00000000e+00 1.53924040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53730360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.590371743 meters Centerline goodness : 0.985422 Centerline is valid? [True, True] Translation: X:176.18, Y:153.93, Z:0.15 [[-1.08522225e-01 -9.94094023e-01 0.00000000e+00 1.76176458e+02] [ 9.94094023e-01 -1.08522225e-01 0.00000000e+00 1.53931947e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54274710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.620371743 meters Centerline goodness : 0.985237 Centerline is valid? [True, True] Translation: X:176.19, Y:153.91, Z:0.15 [[-9.42920028e-02 -9.95544584e-01 0.00000000e+00 1.76190409e+02] [ 9.95544584e-01 -9.42920028e-02 0.00000000e+00 1.53912861e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52762161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.650371743 meters Centerline goodness : 0.986621 Centerline is valid? [True, True] Translation: X:176.18, Y:153.93, Z:0.16 [[-1.06030088e-01 -9.94362922e-01 0.00000000e+00 1.76184274e+02] [ 9.94362922e-01 -1.06030088e-01 0.00000000e+00 1.53934025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55370210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.680371743 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:176.19, Y:153.94, Z:0.15 [[-9.31829249e-02 -9.95649006e-01 0.00000000e+00 1.76192912e+02] [ 9.95649006e-01 -9.31829249e-02 0.00000000e+00 1.53936955e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52737989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.710371743 meters Centerline goodness : 0.989342 Centerline is valid? [True, True] Translation: X:176.19, Y:153.93, Z:0.16 [[-1.01880365e-01 -9.94796658e-01 0.00000000e+00 1.76192154e+02] [ 9.94796658e-01 -1.01880365e-01 0.00000000e+00 1.53930244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57230005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.740371743 meters Centerline goodness : 0.990024 Centerline is valid? [True, True] Translation: X:176.19, Y:153.93, Z:0.16 [[-1.00215011e-01 -9.94965804e-01 0.00000000e+00 1.76194052e+02] [ 9.94965804e-01 -1.00215011e-01 0.00000000e+00 1.53932878e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57787686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.770371743 meters Centerline goodness : 0.989886 Centerline is valid? [True, True] Translation: X:176.20, Y:153.93, Z:0.16 [[-9.65049941e-02 -9.95332500e-01 0.00000000e+00 1.76198708e+02] [ 9.95332500e-01 -9.65049941e-02 0.00000000e+00 1.53932022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57744774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.800371743 meters Centerline goodness : 0.990554 Centerline is valid? [True, True] Translation: X:176.20, Y:153.94, Z:0.16 [[-9.45532093e-02 -9.95519809e-01 0.00000000e+00 1.76200665e+02] [ 9.95519809e-01 -9.45532093e-02 0.00000000e+00 1.53935455e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58938184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.830371743 meters Centerline goodness : 0.990225 Centerline is valid? [True, True] Translation: X:176.21, Y:153.92, Z:0.16 [[-8.56735775e-02 -9.96323260e-01 0.00000000e+00 1.76208144e+02] [ 9.96323260e-01 -8.56735775e-02 0.00000000e+00 1.53922570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59206964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86037174300003 meters Centerline goodness : 0.990839 Centerline is valid? [True, True] Translation: X:176.21, Y:153.95, Z:0.16 [[-9.03754801e-02 -9.95907763e-01 0.00000000e+00 1.76206473e+02] [ 9.95907763e-01 -9.03754801e-02 0.00000000e+00 1.53947726e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59290038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.890371743 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:176.21, Y:153.94, Z:0.16 [[-8.89218474e-02 -9.96038606e-01 0.00000000e+00 1.76209594e+02] [ 9.96038606e-01 -8.89218474e-02 0.00000000e+00 1.53943509e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59117113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.920371743 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:176.22, Y:153.94, Z:0.16 [[-8.77935866e-02 -9.96138688e-01 0.00000000e+00 1.76215510e+02] [ 9.96138688e-01 -8.77935866e-02 0.00000000e+00 1.53938418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59600613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.950371743 meters Centerline goodness : 0.992300 Centerline is valid? [True, True] Translation: X:176.22, Y:153.94, Z:0.16 [[-8.76830870e-02 -9.96148421e-01 0.00000000e+00 1.76218102e+02] [ 9.96148421e-01 -8.76830870e-02 0.00000000e+00 1.53941315e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60111147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.980371743 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:176.22, Y:153.96, Z:0.16 [[-8.88083881e-02 -9.96048729e-01 0.00000000e+00 1.76222807e+02] [ 9.96048729e-01 -8.88083881e-02 0.00000000e+00 1.53960602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61200801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.010371743 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:176.23, Y:153.95, Z:0.16 [[-9.01286018e-02 -9.95930136e-01 0.00000000e+00 1.76226704e+02] [ 9.95930136e-01 -9.01286018e-02 0.00000000e+00 1.53950584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62005998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.040371743 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:176.23, Y:153.96, Z:0.16 [[-9.11592604e-02 -9.95836327e-01 0.00000000e+00 1.76228852e+02] [ 9.95836327e-01 -9.11592604e-02 0.00000000e+00 1.53964839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62720170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.070371743 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:176.24, Y:153.96, Z:0.16 [[-9.41058121e-02 -9.95562201e-01 0.00000000e+00 1.76236202e+02] [ 9.95562201e-01 -9.41058121e-02 0.00000000e+00 1.53959202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62997577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.100371743 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:176.24, Y:153.96, Z:0.16 [[-9.55346597e-02 -9.95426104e-01 0.00000000e+00 1.76239177e+02] [ 9.95426104e-01 -9.55346597e-02 0.00000000e+00 1.53964578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63382428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.130371743 meters Centerline goodness : 0.996439 Centerline is valid? [True, True] Translation: X:176.25, Y:153.97, Z:0.16 [[-9.80573585e-02 -9.95180765e-01 0.00000000e+00 1.76245527e+02] [ 9.95180765e-01 -9.80573585e-02 0.00000000e+00 1.53970005e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63624016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.160371743 meters Centerline goodness : 0.996439 Centerline is valid? [True, True] Translation: X:176.25, Y:153.97, Z:0.16 [[-9.76751265e-02 -9.95218353e-01 0.00000000e+00 1.76245235e+02] [ 9.95218353e-01 -9.76751265e-02 0.00000000e+00 1.53972537e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63624016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.190371743 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:176.25, Y:153.98, Z:0.16 [[-9.82680087e-02 -9.95159986e-01 0.00000000e+00 1.76247780e+02] [ 9.95159986e-01 -9.82680087e-02 0.00000000e+00 1.53979869e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63794442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.220371743 meters Centerline goodness : 0.997293 Centerline is valid? [True, True] Translation: X:176.25, Y:153.98, Z:0.17 [[-9.89988064e-02 -9.95087552e-01 0.00000000e+00 1.76250175e+02] [ 9.95087552e-01 -9.89988064e-02 0.00000000e+00 1.53984234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65869623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.250371743 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:176.26, Y:153.99, Z:0.17 [[-9.99921708e-02 -9.94988224e-01 0.00000000e+00 1.76255283e+02] [ 9.94988224e-01 -9.99921708e-02 0.00000000e+00 1.53987380e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65697087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.280371743 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:176.26, Y:154.00, Z:0.17 [[-1.00475986e-01 -9.94939484e-01 0.00000000e+00 1.76257339e+02] [ 9.94939484e-01 -1.00475986e-01 0.00000000e+00 1.53997971e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67182768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.310371743 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:176.26, Y:153.99, Z:0.17 [[-1.02658749e-01 -9.94716634e-01 0.00000000e+00 1.76262491e+02] [ 9.94716634e-01 -1.02658749e-01 0.00000000e+00 1.53994843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67361628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.340371743 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:176.26, Y:154.00, Z:0.17 [[-1.03582586e-01 -9.94620856e-01 0.00000000e+00 1.76264055e+02] [ 9.94620856e-01 -1.03582586e-01 0.00000000e+00 1.54004174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67312763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.370371743 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:176.27, Y:154.00, Z:0.17 [[-1.04868153e-01 -9.94486134e-01 0.00000000e+00 1.76266485e+02] [ 9.94486134e-01 -1.04868153e-01 0.00000000e+00 1.54003846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67061428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.400371743 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:176.27, Y:154.01, Z:0.17 [[-1.08472627e-01 -9.94099436e-01 0.00000000e+00 1.76271491e+02] [ 9.94099436e-01 -1.08472627e-01 0.00000000e+00 1.54010871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67234737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.430371743 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:176.28, Y:154.02, Z:0.17 [[-1.13222354e-01 -9.93569675e-01 0.00000000e+00 1.76275901e+02] [ 9.93569675e-01 -1.13222354e-01 0.00000000e+00 1.54022332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69061039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.460371743 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:176.28, Y:154.03, Z:0.17 [[-1.15435420e-01 -9.93314987e-01 0.00000000e+00 1.76277976e+02] [ 9.93314987e-01 -1.15435420e-01 0.00000000e+00 1.54025414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69130219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.490371743 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:176.28, Y:154.03, Z:0.17 [[-1.17726975e-01 -9.93046001e-01 0.00000000e+00 1.76279944e+02] [ 9.93046001e-01 -1.17726975e-01 0.00000000e+00 1.54029434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69314699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.520371743 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:176.28, Y:154.04, Z:0.17 [[-1.22303412e-01 -9.92492758e-01 0.00000000e+00 1.76283018e+02] [ 9.92492758e-01 -1.22303412e-01 0.00000000e+00 1.54040099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69536158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.550371743 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:176.28, Y:154.05, Z:0.17 [[-1.24449395e-01 -9.92225956e-01 0.00000000e+00 1.76284309e+02] [ 9.92225956e-01 -1.24449395e-01 0.00000000e+00 1.54047967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69213212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.580371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:154.06, Z:0.17 [[-1.28354199e-01 -9.91728390e-01 0.00000000e+00 1.76287524e+02] [ 9.91728390e-01 -1.28354199e-01 0.00000000e+00 1.54056995e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69840592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61037174300003 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:176.23, Y:154.75, Z:0.17 [[-1.31438332e-01 -9.91324349e-01 0.00000000e+00 1.76233021e+02] [ 9.91324349e-01 -1.31438332e-01 0.00000000e+00 1.54745045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70523247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.640371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:154.06, Z:0.17 [[-1.31060280e-01 -9.91374401e-01 0.00000000e+00 1.76290364e+02] [ 9.91374401e-01 -1.31060280e-01 0.00000000e+00 1.54059576e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70221762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.670371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:154.06, Z:0.17 [[-1.34723292e-01 -9.90883260e-01 0.00000000e+00 1.76292136e+02] [ 9.90883260e-01 -1.34723292e-01 0.00000000e+00 1.54063036e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70607966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.700371743 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:176.29, Y:154.07, Z:0.17 [[-1.36204432e-01 -9.90680752e-01 0.00000000e+00 1.76293004e+02] [ 9.90680752e-01 -1.36204432e-01 0.00000000e+00 1.54065104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70725107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.730371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:154.08, Z:0.17 [[-1.39511792e-01 -9.90220410e-01 0.00000000e+00 1.76293429e+02] [ 9.90220410e-01 -1.39511792e-01 0.00000000e+00 1.54076928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71188014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.760371743 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.29, Y:154.07, Z:0.17 [[-1.40244903e-01 -9.90116845e-01 0.00000000e+00 1.76294325e+02] [ 9.90116845e-01 -1.40244903e-01 0.00000000e+00 1.54070578e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71201546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.790371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:154.07, Z:0.17 [[-1.40920522e-01 -9.90020912e-01 0.00000000e+00 1.76294318e+02] [ 9.90020912e-01 -1.40920522e-01 0.00000000e+00 1.54070507e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71755438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.820371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:154.08, Z:0.17 [[-1.42547164e-01 -9.89788011e-01 0.00000000e+00 1.76292385e+02] [ 9.89788011e-01 -1.42547164e-01 0.00000000e+00 1.54083311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71379807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.850371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:154.07, Z:0.17 [[-1.42637110e-01 -9.89775053e-01 0.00000000e+00 1.76292525e+02] [ 9.89775053e-01 -1.42637110e-01 0.00000000e+00 1.54074477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71209926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.880371743 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.29, Y:154.08, Z:0.17 [[-1.43789171e-01 -9.89608344e-01 0.00000000e+00 1.76290475e+02] [ 9.89608344e-01 -1.43789171e-01 0.00000000e+00 1.54082419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71093062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.910371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.29, Y:154.09, Z:0.17 [[-1.44438879e-01 -9.89513724e-01 0.00000000e+00 1.76289298e+02] [ 9.89513724e-01 -1.44438879e-01 0.00000000e+00 1.54087876e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71178738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.940371743 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:176.29, Y:154.10, Z:0.17 [[-1.44645687e-01 -9.89483514e-01 0.00000000e+00 1.76287635e+02] [ 9.89483514e-01 -1.44645687e-01 0.00000000e+00 1.54097155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66738571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.970371743 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:176.29, Y:154.09, Z:0.17 [[-1.46501078e-01 -9.89210511e-01 0.00000000e+00 1.76286274e+02] [ 9.89210511e-01 -1.46501078e-01 0.00000000e+00 1.54086670e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70929962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.000371743 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:176.28, Y:154.10, Z:0.17 [[-1.48646449e-01 -9.88890405e-01 0.00000000e+00 1.76282740e+02] [ 9.88890405e-01 -1.48646449e-01 0.00000000e+00 1.54095894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71186445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.030371743 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:176.28, Y:154.09, Z:0.17 [[-1.49259045e-01 -9.88798128e-01 0.00000000e+00 1.76281897e+02] [ 9.88798128e-01 -1.49259045e-01 0.00000000e+00 1.54090910e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71583159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.060371743 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:176.28, Y:154.10, Z:0.17 [[-1.50081685e-01 -9.88673600e-01 0.00000000e+00 1.76279680e+02] [ 9.88673600e-01 -1.50081685e-01 0.00000000e+00 1.54096120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71882174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.090371743 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:176.28, Y:154.10, Z:0.17 [[-1.51450816e-01 -9.88464795e-01 0.00000000e+00 1.76275838e+02] [ 9.88464795e-01 -1.51450816e-01 0.00000000e+00 1.54096517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71812626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.120371743 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:176.27, Y:154.10, Z:0.17 [[-1.52317837e-01 -9.88331562e-01 0.00000000e+00 1.76272999e+02] [ 9.88331562e-01 -1.52317837e-01 0.00000000e+00 1.54101212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71451092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.150371743 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:176.27, Y:154.11, Z:0.17 [[-1.53506530e-01 -9.88147633e-01 0.00000000e+00 1.76267323e+02] [ 9.88147633e-01 -1.53506530e-01 0.00000000e+00 1.54110167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71506367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.180371743 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:176.26, Y:154.11, Z:0.17 [[-1.53987849e-01 -9.88072741e-01 0.00000000e+00 1.76264953e+02] [ 9.88072741e-01 -1.53987849e-01 0.00000000e+00 1.54105729e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71127018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.210371743 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:176.26, Y:154.11, Z:0.17 [[-1.54253972e-01 -9.88031230e-01 0.00000000e+00 1.76261712e+02] [ 9.88031230e-01 -1.54253972e-01 0.00000000e+00 1.54108941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70904207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.240371743 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:176.26, Y:154.11, Z:0.17 [[-1.54867850e-01 -9.87935195e-01 0.00000000e+00 1.76255033e+02] [ 9.87935195e-01 -1.54867850e-01 0.00000000e+00 1.54111991e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70500585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.270371743 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:176.25, Y:154.11, Z:0.17 [[-1.55444286e-01 -9.87844661e-01 0.00000000e+00 1.76247795e+02] [ 9.87844661e-01 -1.55444286e-01 0.00000000e+00 1.54112827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69977979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.300371743 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:176.24, Y:154.12, Z:0.17 [[-1.55178106e-01 -9.87886509e-01 0.00000000e+00 1.76243964e+02] [ 9.87886509e-01 -1.55178106e-01 0.00000000e+00 1.54118752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70274614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.330371743 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:176.24, Y:154.12, Z:0.17 [[-1.54986026e-01 -9.87916662e-01 0.00000000e+00 1.76240444e+02] [ 9.87916662e-01 -1.54986026e-01 0.00000000e+00 1.54117230e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69996940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36037174300003 meters Centerline goodness : 0.997544 Centerline is valid? [True, True] Translation: X:176.23, Y:154.12, Z:0.17 [[-1.53985317e-01 -9.88073136e-01 0.00000000e+00 1.76233747e+02] [ 9.88073136e-01 -1.53985317e-01 0.00000000e+00 1.54118541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70234828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.390371743 meters Centerline goodness : 0.996548 Centerline is valid? [True, True] Translation: X:176.23, Y:154.12, Z:0.17 [[-1.53591725e-01 -9.88134395e-01 0.00000000e+00 1.76229354e+02] [ 9.88134395e-01 -1.53591725e-01 0.00000000e+00 1.54122901e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69662940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.420371743 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:176.22, Y:154.12, Z:0.17 [[-1.52503483e-01 -9.88302933e-01 0.00000000e+00 1.76221516e+02] [ 9.88302933e-01 -1.52503483e-01 0.00000000e+00 1.54123166e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70076511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.450371743 meters Centerline goodness : 0.995778 Centerline is valid? [True, True] Translation: X:176.22, Y:154.12, Z:0.17 [[-1.51830590e-01 -9.88406532e-01 0.00000000e+00 1.76217401e+02] [ 9.88406532e-01 -1.51830590e-01 0.00000000e+00 1.54124003e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69524817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.480371743 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:176.21, Y:154.12, Z:0.17 [[-1.50851225e-01 -9.88556477e-01 0.00000000e+00 1.76213558e+02] [ 9.88556477e-01 -1.50851225e-01 0.00000000e+00 1.54124854e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68656947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.510371743 meters Centerline goodness : 0.993933 Centerline is valid? [True, True] Translation: X:176.21, Y:154.13, Z:0.17 [[-1.48747046e-01 -9.88875278e-01 0.00000000e+00 1.76205873e+02] [ 9.88875278e-01 -1.48747046e-01 0.00000000e+00 1.54128909e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68449761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.540371743 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:176.20, Y:154.12, Z:0.17 [[-1.47303946e-01 -9.89091274e-01 0.00000000e+00 1.76201915e+02] [ 9.89091274e-01 -1.47303946e-01 0.00000000e+00 1.54123139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67908571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.570371743 meters Centerline goodness : 0.992806 Centerline is valid? [True, True] Translation: X:176.19, Y:154.12, Z:0.17 [[-1.43717447e-01 -9.89618763e-01 0.00000000e+00 1.76192806e+02] [ 9.89618763e-01 -1.43717447e-01 0.00000000e+00 1.54123801e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67036816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.600371743 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:176.19, Y:154.10, Z:0.17 [[-1.33293731e-01 -9.91076577e-01 0.00000000e+00 1.76194226e+02] [ 9.91076577e-01 -1.33293731e-01 0.00000000e+00 1.54100383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66646446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.630371743 meters Centerline goodness : 0.990807 Centerline is valid? [True, True] Translation: X:176.18, Y:154.12, Z:0.17 [[-1.39469656e-01 -9.90226345e-01 0.00000000e+00 1.76183846e+02] [ 9.90226345e-01 -1.39469656e-01 0.00000000e+00 1.54122516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65650256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.660371743 meters Centerline goodness : 0.989337 Centerline is valid? [True, True] Translation: X:176.17, Y:154.12, Z:0.16 [[-1.35340496e-01 -9.90799147e-01 0.00000000e+00 1.76174911e+02] [ 9.90799147e-01 -1.35340496e-01 0.00000000e+00 1.54121434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64614091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.690371743 meters Centerline goodness : 0.987381 Centerline is valid? [True, True] Translation: X:176.17, Y:154.10, Z:0.16 [[-1.18389875e-01 -9.92967189e-01 0.00000000e+00 1.76174724e+02] [ 9.92967189e-01 -1.18389875e-01 0.00000000e+00 1.54096955e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62052098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.720371743 meters Centerline goodness : 0.986824 Centerline is valid? [True, True] Translation: X:176.17, Y:154.10, Z:0.16 [[-1.15768585e-01 -9.93276213e-01 0.00000000e+00 1.76170822e+02] [ 9.93276213e-01 -1.15768585e-01 0.00000000e+00 1.54095009e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60705253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.750371743 meters Centerline goodness : 0.985659 Centerline is valid? [True, True] Translation: X:176.17, Y:154.10, Z:0.16 [[-1.13503228e-01 -9.93537627e-01 0.00000000e+00 1.76166368e+02] [ 9.93537627e-01 -1.13503228e-01 0.00000000e+00 1.54097685e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60044952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.780371743 meters Centerline goodness : 0.985355 Centerline is valid? [True, True] Translation: X:176.17, Y:154.09, Z:0.15 [[-9.85220816e-02 -9.95134865e-01 0.00000000e+00 1.76168391e+02] [ 9.95134865e-01 -9.85220816e-02 0.00000000e+00 1.54085480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53377587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.810371743 meters Centerline goodness : 0.981723 Centerline is valid? [True, True] Translation: X:176.16, Y:154.09, Z:0.16 [[-1.07893145e-01 -9.94162496e-01 0.00000000e+00 1.76156227e+02] [ 9.94162496e-01 -1.07893145e-01 0.00000000e+00 1.54093419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58708389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.840371743 meters Centerline goodness : 0.981570 Centerline is valid? [True, True] Translation: X:176.15, Y:154.08, Z:0.15 [[-9.63390627e-02 -9.95348575e-01 0.00000000e+00 1.76153110e+02] [ 9.95348575e-01 -9.63390627e-02 0.00000000e+00 1.54081991e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53780209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.870371743 meters Centerline goodness : 0.980237 Centerline is valid? [True, True] Translation: X:176.15, Y:154.09, Z:0.15 [[-9.38070514e-02 -9.95590396e-01 0.00000000e+00 1.76149707e+02] [ 9.95590396e-01 -9.38070514e-02 0.00000000e+00 1.54088409e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52820338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.900371743 meters Centerline goodness : 0.979889 Centerline is valid? [True, True] Translation: X:176.15, Y:154.09, Z:0.15 [[-9.35044618e-02 -9.95618861e-01 0.00000000e+00 1.76145810e+02] [ 9.95618861e-01 -9.35044618e-02 0.00000000e+00 1.54092194e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52287990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.930371743 meters Centerline goodness : 0.980863 Centerline is valid? [True, True] Translation: X:176.14, Y:154.09, Z:0.15 [[-8.76787014e-02 -9.96148807e-01 0.00000000e+00 1.76144264e+02] [ 9.96148807e-01 -8.76787014e-02 0.00000000e+00 1.54089908e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50180310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.960371743 meters Centerline goodness : 0.979573 Centerline is valid? [True, True] Translation: X:176.14, Y:154.09, Z:0.15 [[-8.75164784e-02 -9.96163072e-01 0.00000000e+00 1.76137646e+02] [ 9.96163072e-01 -8.75164784e-02 0.00000000e+00 1.54090396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48030173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.990371743 meters Centerline goodness : 0.979032 Centerline is valid? [True, True] Translation: X:176.13, Y:154.09, Z:0.15 [[-8.96434377e-02 -9.95973922e-01 0.00000000e+00 1.76130565e+02] [ 9.95973922e-01 -8.96434377e-02 0.00000000e+00 1.54089871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47473481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.020371743 meters Centerline goodness : 0.978134 Centerline is valid? [True, True] Translation: X:176.13, Y:154.09, Z:0.15 [[-9.18232645e-02 -9.95775320e-01 0.00000000e+00 1.76126385e+02] [ 9.95775320e-01 -9.18232645e-02 0.00000000e+00 1.54094177e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48478717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.050371743 meters Centerline goodness : 0.974192 Centerline is valid? [True, True] Translation: X:176.12, Y:154.09, Z:0.16 [[-9.17572856e-02 -9.95781402e-01 0.00000000e+00 1.76123622e+02] [ 9.95781402e-01 -9.17572856e-02 0.00000000e+00 1.54094297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57092641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.080371743 meters Centerline goodness : 0.974192 Centerline is valid? [True, True] Translation: X:176.12, Y:154.10, Z:0.16 [[-9.14135228e-02 -9.95813019e-01 0.00000000e+00 1.76123357e+02] [ 9.95813019e-01 -9.14135228e-02 0.00000000e+00 1.54096870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57092641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11037174300003 meters Centerline goodness : 0.973990 Centerline is valid? [True, True] Translation: X:176.12, Y:154.09, Z:0.16 [[-9.35884422e-02 -9.95610970e-01 0.00000000e+00 1.76118254e+02] [ 9.95610970e-01 -9.35884422e-02 0.00000000e+00 1.54093679e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57736655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.140371743 meters Centerline goodness : 0.972636 Centerline is valid? [True, True] Translation: X:176.12, Y:154.10, Z:0.16 [[-9.36189471e-02 -9.95608102e-01 0.00000000e+00 1.76115647e+02] [ 9.95608102e-01 -9.36189471e-02 0.00000000e+00 1.54104660e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57094302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.170371743 meters Centerline goodness : 0.973019 Centerline is valid? [True, True] Translation: X:176.11, Y:154.11, Z:0.16 [[-9.30938948e-02 -9.95657334e-01 0.00000000e+00 1.76111276e+02] [ 9.95657334e-01 -9.30938948e-02 0.00000000e+00 1.54105425e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58653996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.200371743 meters Centerline goodness : 0.974065 Centerline is valid? [True, True] Translation: X:176.11, Y:154.11, Z:0.16 [[-9.41994092e-02 -9.95553349e-01 0.00000000e+00 1.76109473e+02] [ 9.95553349e-01 -9.41994092e-02 0.00000000e+00 1.54108489e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57095365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.230371743 meters Centerline goodness : 0.974971 Centerline is valid? [True, True] Translation: X:176.11, Y:154.10, Z:0.15 [[-9.36915740e-02 -9.95601270e-01 0.00000000e+00 1.76108392e+02] [ 9.95601270e-01 -9.36915740e-02 0.00000000e+00 1.54098732e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54000309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.260371743 meters Centerline goodness : 0.976328 Centerline is valid? [True, True] Translation: X:176.07, Y:154.45, Z:0.16 [[-1.15609822e-01 -9.93294704e-01 0.00000000e+00 1.76071228e+02] [ 9.93294704e-01 -1.15609822e-01 0.00000000e+00 1.54452952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57782529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.290371743 meters Centerline goodness : 0.975108 Centerline is valid? [True, True] Translation: X:176.07, Y:154.42, Z:0.16 [[-1.08982637e-01 -9.94043653e-01 0.00000000e+00 1.76073733e+02] [ 9.94043653e-01 -1.08982637e-01 0.00000000e+00 1.54423842e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56727962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.320371743 meters Centerline goodness : 0.974068 Centerline is valid? [True, True] Translation: X:176.10, Y:154.12, Z:0.15 [[-9.77869242e-02 -9.95207374e-01 0.00000000e+00 1.76100585e+02] [ 9.95207374e-01 -9.77869242e-02 0.00000000e+00 1.54115797e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52654251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.350371743 meters Centerline goodness : 0.976137 Centerline is valid? [True, True] Translation: X:176.10, Y:154.12, Z:0.15 [[-9.74714473e-02 -9.95238322e-01 0.00000000e+00 1.76098750e+02] [ 9.95238322e-01 -9.74714473e-02 0.00000000e+00 1.54115181e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53046258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.380371743 meters Centerline goodness : 0.976193 Centerline is valid? [True, True] Translation: X:176.10, Y:154.12, Z:0.15 [[-9.58871494e-02 -9.95392211e-01 0.00000000e+00 1.76096997e+02] [ 9.95392211e-01 -9.58871494e-02 0.00000000e+00 1.54118414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53790553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.410371743 meters Centerline goodness : 0.977825 Centerline is valid? [True, True] Translation: X:176.10, Y:154.12, Z:0.15 [[-9.40278952e-02 -9.95569563e-01 0.00000000e+00 1.76096578e+02] [ 9.95569563e-01 -9.40278952e-02 0.00000000e+00 1.54115900e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53526129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.440371743 meters Centerline goodness : 0.976566 Centerline is valid? [True, True] Translation: X:176.10, Y:154.11, Z:0.15 [[-8.98648630e-02 -9.95953968e-01 0.00000000e+00 1.76095532e+02] [ 9.95953968e-01 -8.98648630e-02 0.00000000e+00 1.54114781e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54530473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.470371743 meters Centerline goodness : 0.975086 Centerline is valid? [True, True] Translation: X:176.09, Y:154.11, Z:0.16 [[-8.82359476e-02 -9.96099602e-01 0.00000000e+00 1.76094858e+02] [ 9.96099602e-01 -8.82359476e-02 0.00000000e+00 1.54111133e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57072175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.500371743 meters Centerline goodness : 0.975933 Centerline is valid? [True, True] Translation: X:176.10, Y:154.11, Z:0.16 [[-8.38053920e-02 -9.96482140e-01 0.00000000e+00 1.76095143e+02] [ 9.96482140e-01 -8.38053920e-02 0.00000000e+00 1.54113597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55151152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.530371743 meters Centerline goodness : 0.976205 Centerline is valid? [True, True] Translation: X:176.09, Y:154.12, Z:0.15 [[-7.67040387e-02 -9.97053905e-01 0.00000000e+00 1.76094570e+02] [ 9.97053905e-01 -7.67040387e-02 0.00000000e+00 1.54119459e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51120158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.560371743 meters Centerline goodness : 0.975853 Centerline is valid? [True, True] Translation: X:176.10, Y:154.10, Z:0.15 [[-7.20268699e-02 -9.97402692e-01 0.00000000e+00 1.76096071e+02] [ 9.97402692e-01 -7.20268699e-02 0.00000000e+00 1.54104188e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53459644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.590371743 meters Centerline goodness : 0.976021 Centerline is valid? [True, True] Translation: X:176.10, Y:154.11, Z:0.15 [[-6.51108691e-02 -9.97878036e-01 0.00000000e+00 1.76095799e+02] [ 9.97878036e-01 -6.51108691e-02 0.00000000e+00 1.54109396e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54204903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.620371743 meters Centerline goodness : 0.982994 Centerline is valid? [True, True] Translation: X:176.08, Y:154.14, Z:0.15 [[-8.68529692e-02 -9.96221141e-01 0.00000000e+00 1.76079937e+02] [ 9.96221141e-01 -8.68529692e-02 0.00000000e+00 1.54136319e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51880854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.650371743 meters Centerline goodness : 0.975173 Centerline is valid? [True, True] Translation: X:176.10, Y:154.11, Z:0.16 [[-6.18491727e-02 -9.98085507e-01 0.00000000e+00 1.76096285e+02] [ 9.98085507e-01 -6.18491727e-02 0.00000000e+00 1.54112878e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57078432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.680371743 meters Centerline goodness : 0.975964 Centerline is valid? [True, True] Translation: X:176.10, Y:154.11, Z:0.16 [[-5.66779451e-02 -9.98392513e-01 0.00000000e+00 1.76098422e+02] [ 9.98392513e-01 -5.66779451e-02 0.00000000e+00 1.54114827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57220258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.710371743 meters Centerline goodness : 0.974758 Centerline is valid? [True, True] Translation: X:176.10, Y:154.11, Z:0.16 [[-5.74391823e-02 -9.98349007e-01 0.00000000e+00 1.76100349e+02] [ 9.98349007e-01 -5.74391823e-02 0.00000000e+00 1.54105334e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57568067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.740371743 meters Centerline goodness : 0.980297 Centerline is valid? [True, True] Translation: X:176.08, Y:154.14, Z:0.16 [[-8.69444907e-02 -9.96213158e-01 0.00000000e+00 1.76082596e+02] [ 9.96213158e-01 -8.69444907e-02 0.00000000e+00 1.54138304e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59459541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.770371743 meters Centerline goodness : 0.976271 Centerline is valid? [True, True] Translation: X:176.10, Y:154.11, Z:0.16 [[-5.82322418e-02 -9.98303063e-01 0.00000000e+00 1.76102275e+02] [ 9.98303063e-01 -5.82322418e-02 0.00000000e+00 1.54107060e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57447659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.800371743 meters Centerline goodness : 0.975104 Centerline is valid? [True, True] Translation: X:176.10, Y:154.10, Z:0.16 [[-5.81405895e-02 -9.98308405e-01 0.00000000e+00 1.76103527e+02] [ 9.98308405e-01 -5.81405895e-02 0.00000000e+00 1.54103948e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59766498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.830371743 meters Centerline goodness : 0.974034 Centerline is valid? [True, True] Translation: X:176.11, Y:154.11, Z:0.16 [[-5.77821156e-02 -9.98329218e-01 0.00000000e+00 1.76106438e+02] [ 9.98329218e-01 -5.77821156e-02 0.00000000e+00 1.54107495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61772168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86037174300003 meters Centerline goodness : 0.973011 Centerline is valid? [True, True] Translation: X:176.11, Y:154.11, Z:0.16 [[-5.87845088e-02 -9.98270696e-01 0.00000000e+00 1.76108321e+02] [ 9.98270696e-01 -5.87845088e-02 0.00000000e+00 1.54108956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63680609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.890371743 meters Centerline goodness : 0.974455 Centerline is valid? [True, True] Translation: X:176.11, Y:154.11, Z:0.16 [[-5.86109193e-02 -9.98280902e-01 0.00000000e+00 1.76111822e+02] [ 9.98280902e-01 -5.86109193e-02 0.00000000e+00 1.54111382e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62555238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.920371743 meters Centerline goodness : 0.976944 Centerline is valid? [True, True] Translation: X:176.12, Y:154.10, Z:0.16 [[-5.11647428e-02 -9.98690227e-01 0.00000000e+00 1.76117060e+02] [ 9.98690227e-01 -5.11647428e-02 0.00000000e+00 1.54103153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57254892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.950371743 meters Centerline goodness : 0.975886 Centerline is valid? [True, True] Translation: X:176.12, Y:154.12, Z:0.16 [[-5.47081131e-02 -9.98502390e-01 0.00000000e+00 1.76119239e+02] [ 9.98502390e-01 -5.47081131e-02 0.00000000e+00 1.54124623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57848830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.980371743 meters Centerline goodness : 0.978195 Centerline is valid? [True, True] Translation: X:176.12, Y:154.11, Z:0.15 [[-5.03885926e-02 -9.98729688e-01 0.00000000e+00 1.76124065e+02] [ 9.98729688e-01 -5.03885926e-02 0.00000000e+00 1.54114798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52684413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.010371743 meters Centerline goodness : 0.975642 Centerline is valid? [True, True] Translation: X:176.13, Y:154.13, Z:0.16 [[-5.15167308e-02 -9.98672132e-01 0.00000000e+00 1.76125678e+02] [ 9.98672132e-01 -5.15167308e-02 0.00000000e+00 1.54127312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59991125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.040371743 meters Centerline goodness : 0.976182 Centerline is valid? [True, True] Translation: X:176.13, Y:154.13, Z:0.16 [[-5.42246632e-02 -9.98528761e-01 0.00000000e+00 1.76129176e+02] [ 9.98528761e-01 -5.42246632e-02 0.00000000e+00 1.54127650e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62422473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.070371743 meters Centerline goodness : 0.978879 Centerline is valid? [True, True] Translation: X:176.13, Y:154.13, Z:0.16 [[-5.26718297e-02 -9.98611876e-01 0.00000000e+00 1.76132911e+02] [ 9.98611876e-01 -5.26718297e-02 0.00000000e+00 1.54132976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61014344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.100371743 meters Centerline goodness : 0.978807 Centerline is valid? [True, True] Translation: X:176.14, Y:154.13, Z:0.16 [[-5.08760837e-02 -9.98704974e-01 0.00000000e+00 1.76139940e+02] [ 9.98704974e-01 -5.08760837e-02 0.00000000e+00 1.54128275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61948338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.130371743 meters Centerline goodness : 0.981989 Centerline is valid? [True, True] Translation: X:176.13, Y:154.15, Z:0.16 [[-6.77173306e-02 -9.97704547e-01 0.00000000e+00 1.76131424e+02] [ 9.97704547e-01 -6.77173306e-02 0.00000000e+00 1.54152445e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61023310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.160371743 meters Centerline goodness : 0.980459 Centerline is valid? [True, True] Translation: X:176.15, Y:154.13, Z:0.16 [[-5.35414238e-02 -9.98565629e-01 0.00000000e+00 1.76146693e+02] [ 9.98565629e-01 -5.35414238e-02 0.00000000e+00 1.54134451e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63710810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.190371743 meters Centerline goodness : 0.982644 Centerline is valid? [True, True] Translation: X:176.14, Y:154.16, Z:0.16 [[-6.59297197e-02 -9.97824269e-01 0.00000000e+00 1.76141146e+02] [ 9.97824269e-01 -6.59297197e-02 0.00000000e+00 1.54157737e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63924923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.220371743 meters Centerline goodness : 0.983325 Centerline is valid? [True, True] Translation: X:176.14, Y:154.16, Z:0.16 [[-6.55865915e-02 -9.97846882e-01 0.00000000e+00 1.76144242e+02] [ 9.97846882e-01 -6.55865915e-02 0.00000000e+00 1.54158235e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64308565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.250371743 meters Centerline goodness : 0.983544 Centerline is valid? [True, True] Translation: X:176.16, Y:154.14, Z:0.17 [[-5.47822264e-02 -9.98498326e-01 0.00000000e+00 1.76158600e+02] [ 9.98498326e-01 -5.47822264e-02 0.00000000e+00 1.54144602e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65697131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.280371743 meters Centerline goodness : 0.984872 Centerline is valid? [True, True] Translation: X:176.15, Y:154.16, Z:0.17 [[-6.72156762e-02 -9.97738469e-01 0.00000000e+00 1.76153722e+02] [ 9.97738469e-01 -6.72156762e-02 0.00000000e+00 1.54163295e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65667513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.310371743 meters Centerline goodness : 0.985947 Centerline is valid? [True, True] Translation: X:176.16, Y:154.17, Z:0.17 [[-6.97132593e-02 -9.97567071e-01 0.00000000e+00 1.76159697e+02] [ 9.97567071e-01 -6.97132593e-02 0.00000000e+00 1.54170297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65955874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.340371743 meters Centerline goodness : 0.986007 Centerline is valid? [True, True] Translation: X:176.17, Y:154.15, Z:0.17 [[-5.96455470e-02 -9.98219619e-01 0.00000000e+00 1.76170133e+02] [ 9.98219619e-01 -5.96455470e-02 0.00000000e+00 1.54148674e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66410999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.370371743 meters Centerline goodness : 0.988135 Centerline is valid? [True, True] Translation: X:176.17, Y:154.18, Z:0.17 [[-7.70773739e-02 -9.97025114e-01 0.00000000e+00 1.76166773e+02] [ 9.97025114e-01 -7.70773739e-02 0.00000000e+00 1.54180711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66844392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.400371743 meters Centerline goodness : 0.988893 Centerline is valid? [True, True] Translation: X:176.18, Y:154.16, Z:0.16 [[-6.45169507e-02 -9.97916611e-01 0.00000000e+00 1.76178862e+02] [ 9.97916611e-01 -6.45169507e-02 0.00000000e+00 1.54160358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63398807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.430371743 meters Centerline goodness : 0.989716 Centerline is valid? [True, True] Translation: X:176.17, Y:154.20, Z:0.17 [[-8.73006131e-02 -9.96182013e-01 0.00000000e+00 1.76174292e+02] [ 9.96182013e-01 -8.73006131e-02 0.00000000e+00 1.54199968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68234847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.460371743 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:176.18, Y:154.20, Z:0.17 [[-9.03444644e-02 -9.95910577e-01 0.00000000e+00 1.76176929e+02] [ 9.95910577e-01 -9.03444644e-02 0.00000000e+00 1.54199520e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68904989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.490371743 meters Centerline goodness : 0.991295 Centerline is valid? [True, True] Translation: X:176.18, Y:154.21, Z:0.17 [[-9.35468400e-02 -9.95614880e-01 0.00000000e+00 1.76178383e+02] [ 9.95614880e-01 -9.35468400e-02 0.00000000e+00 1.54206614e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69483608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.520371743 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:176.18, Y:154.21, Z:0.17 [[-9.93709792e-02 -9.95050455e-01 0.00000000e+00 1.76181361e+02] [ 9.95050455e-01 -9.93709792e-02 0.00000000e+00 1.54214375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70091896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.550371743 meters Centerline goodness : 0.991985 Centerline is valid? [True, True] Translation: X:176.18, Y:154.22, Z:0.17 [[-1.01483331e-01 -9.94837240e-01 0.00000000e+00 1.76182619e+02] [ 9.94837240e-01 -1.01483331e-01 0.00000000e+00 1.54219160e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69971418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.580371743 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:176.19, Y:154.23, Z:0.17 [[-1.01649940e-01 -9.94820230e-01 0.00000000e+00 1.76185550e+02] [ 9.94820230e-01 -1.01649940e-01 0.00000000e+00 1.54225118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69078051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61037174300003 meters Centerline goodness : 0.992788 Centerline is valid? [True, True] Translation: X:176.19, Y:154.23, Z:0.17 [[-1.05313740e-01 -9.94439046e-01 0.00000000e+00 1.76185279e+02] [ 9.94439046e-01 -1.05313740e-01 0.00000000e+00 1.54232413e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71571651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.640371743 meters Centerline goodness : 0.992087 Centerline is valid? [True, True] Translation: X:176.19, Y:154.24, Z:0.17 [[-1.04282723e-01 -9.94547693e-01 0.00000000e+00 1.76186262e+02] [ 9.94547693e-01 -1.04282723e-01 0.00000000e+00 1.54237246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72030439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.670371743 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:176.18, Y:154.24, Z:0.17 [[-1.04474828e-01 -9.94527531e-01 0.00000000e+00 1.76184817e+02] [ 9.94527531e-01 -1.04474828e-01 0.00000000e+00 1.54241241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71811263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.700371743 meters Centerline goodness : 0.992121 Centerline is valid? [True, True] Translation: X:176.18, Y:154.24, Z:0.17 [[-1.02724480e-01 -9.94709848e-01 0.00000000e+00 1.76184250e+02] [ 9.94709848e-01 -1.02724480e-01 0.00000000e+00 1.54235737e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71324660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.730371743 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:176.18, Y:154.24, Z:0.17 [[-1.01262689e-01 -9.94859723e-01 0.00000000e+00 1.76183744e+02] [ 9.94859723e-01 -1.01262689e-01 0.00000000e+00 1.54236036e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71240958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.760371743 meters Centerline goodness : 0.991738 Centerline is valid? [True, True] Translation: X:176.19, Y:154.22, Z:0.17 [[-9.02856430e-02 -9.95915911e-01 0.00000000e+00 1.76189452e+02] [ 9.95915911e-01 -9.02856430e-02 0.00000000e+00 1.54216021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70724573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.790371743 meters Centerline goodness : 0.992482 Centerline is valid? [True, True] Translation: X:176.19, Y:154.22, Z:0.17 [[-8.86332474e-02 -9.96064329e-01 0.00000000e+00 1.76189095e+02] [ 9.96064329e-01 -8.86332474e-02 0.00000000e+00 1.54216920e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70689663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.820371743 meters Centerline goodness : 0.991510 Centerline is valid? [True, True] Translation: X:176.19, Y:154.22, Z:0.17 [[-8.70924613e-02 -9.96200232e-01 0.00000000e+00 1.76186651e+02] [ 9.96200232e-01 -8.70924613e-02 0.00000000e+00 1.54219393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69015245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.850371743 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:176.18, Y:154.24, Z:0.17 [[-9.34802250e-02 -9.95621137e-01 0.00000000e+00 1.76179006e+02] [ 9.95621137e-01 -9.34802250e-02 0.00000000e+00 1.54237028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67776039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.880371743 meters Centerline goodness : 0.991604 Centerline is valid? [True, True] Translation: X:176.18, Y:154.24, Z:0.17 [[-9.20634344e-02 -9.95753144e-01 0.00000000e+00 1.76177340e+02] [ 9.95753144e-01 -9.20634344e-02 0.00000000e+00 1.54244541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65953608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.910371743 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:176.18, Y:154.24, Z:0.17 [[-9.07312319e-02 -9.95875416e-01 0.00000000e+00 1.76175912e+02] [ 9.95875416e-01 -9.07312319e-02 0.00000000e+00 1.54243025e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66404516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.940371743 meters Centerline goodness : 0.990987 Centerline is valid? [True, True] Translation: X:176.17, Y:154.24, Z:0.17 [[-8.85405444e-02 -9.96072574e-01 0.00000000e+00 1.76172837e+02] [ 9.96072574e-01 -8.85405444e-02 0.00000000e+00 1.54242731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65779204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.970371743 meters Centerline goodness : 0.990987 Centerline is valid? [True, True] Translation: X:176.17, Y:154.25, Z:0.17 [[-8.81515500e-02 -9.96107075e-01 0.00000000e+00 1.76172623e+02] [ 9.96107075e-01 -8.81515500e-02 0.00000000e+00 1.54245291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65779204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.000371743 meters Centerline goodness : 0.991133 Centerline is valid? [True, True] Translation: X:176.17, Y:154.25, Z:0.17 [[-8.68831541e-02 -9.96218509e-01 0.00000000e+00 1.76171356e+02] [ 9.96218509e-01 -8.68831541e-02 0.00000000e+00 1.54247053e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66347451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.030371743 meters Centerline goodness : 0.990464 Centerline is valid? [True, True] Translation: X:176.17, Y:154.25, Z:0.17 [[-8.62935708e-02 -9.96269752e-01 0.00000000e+00 1.76168591e+02] [ 9.96269752e-01 -8.62935708e-02 0.00000000e+00 1.54247436e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66226918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.060371743 meters Centerline goodness : 0.990933 Centerline is valid? [True, True] Translation: X:176.17, Y:154.25, Z:0.17 [[-8.62268391e-02 -9.96275530e-01 0.00000000e+00 1.76167200e+02] [ 9.96275530e-01 -8.62268391e-02 0.00000000e+00 1.54250474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66712304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.090371743 meters Centerline goodness : 0.989775 Centerline is valid? [True, True] Translation: X:176.17, Y:154.26, Z:0.17 [[-8.66748938e-02 -9.96236650e-01 0.00000000e+00 1.76165289e+02] [ 9.96236650e-01 -8.66748938e-02 0.00000000e+00 1.54256854e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66417190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.120371743 meters Centerline goodness : 0.990071 Centerline is valid? [True, True] Translation: X:176.16, Y:154.26, Z:0.17 [[-8.89863365e-02 -9.96032847e-01 0.00000000e+00 1.76161022e+02] [ 9.96032847e-01 -8.89863365e-02 0.00000000e+00 1.54264370e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66623821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.150371743 meters Centerline goodness : 0.988685 Centerline is valid? [True, True] Translation: X:176.17, Y:154.23, Z:0.17 [[-7.76437270e-02 -9.96981169e-01 0.00000000e+00 1.76166318e+02] [ 9.96981169e-01 -7.76437270e-02 0.00000000e+00 1.54230951e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65779958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.180371743 meters Centerline goodness : 0.989158 Centerline is valid? [True, True] Translation: X:176.16, Y:154.26, Z:0.16 [[-9.28088811e-02 -9.95683942e-01 0.00000000e+00 1.76155346e+02] [ 9.95683942e-01 -9.28088811e-02 0.00000000e+00 1.54264358e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64523226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.210371743 meters Centerline goodness : 0.988221 Centerline is valid? [True, True] Translation: X:176.15, Y:154.27, Z:0.16 [[-9.38078896e-02 -9.95590317e-01 0.00000000e+00 1.76153351e+02] [ 9.95590317e-01 -9.38078896e-02 0.00000000e+00 1.54270351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63968774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.240371743 meters Centerline goodness : 0.986784 Centerline is valid? [True, True] Translation: X:176.16, Y:154.24, Z:0.16 [[-8.00996778e-02 -9.96786859e-01 0.00000000e+00 1.76159756e+02] [ 9.96786859e-01 -8.00996778e-02 0.00000000e+00 1.54242268e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62973664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.270371743 meters Centerline goodness : 0.986903 Centerline is valid? [True, True] Translation: X:176.16, Y:154.24, Z:0.16 [[-8.30193541e-02 -9.96547935e-01 0.00000000e+00 1.76156542e+02] [ 9.96547935e-01 -8.30193541e-02 0.00000000e+00 1.54242756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62644968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.300371743 meters Centerline goodness : 0.985688 Centerline is valid? [True, True] Translation: X:176.15, Y:154.25, Z:0.16 [[-8.33843468e-02 -9.96517461e-01 0.00000000e+00 1.76152434e+02] [ 9.96517461e-01 -8.33843468e-02 0.00000000e+00 1.54245529e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60505023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.330371743 meters Centerline goodness : 0.985614 Centerline is valid? [True, True] Translation: X:176.14, Y:154.28, Z:0.16 [[-1.03188969e-01 -9.94661770e-01 0.00000000e+00 1.76137773e+02] [ 9.94661770e-01 -1.03188969e-01 0.00000000e+00 1.54282074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63166137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36037174300003 meters Centerline goodness : 0.985161 Centerline is valid? [True, True] Translation: X:176.15, Y:154.26, Z:0.16 [[-8.03832700e-02 -9.96764029e-01 0.00000000e+00 1.76145809e+02] [ 9.96764029e-01 -8.03832700e-02 0.00000000e+00 1.54255211e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55658980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.390371743 meters Centerline goodness : 0.983747 Centerline is valid? [True, True] Translation: X:176.13, Y:154.29, Z:0.16 [[-1.06680094e-01 -9.94293396e-01 0.00000000e+00 1.76128442e+02] [ 9.94293396e-01 -1.06680094e-01 0.00000000e+00 1.54288056e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61813597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.420371743 meters Centerline goodness : 0.983257 Centerline is valid? [True, True] Translation: X:176.14, Y:154.26, Z:0.16 [[-8.80325871e-02 -9.96117595e-01 0.00000000e+00 1.76136930e+02] [ 9.96117595e-01 -8.80325871e-02 0.00000000e+00 1.54263530e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58139001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.450371743 meters Centerline goodness : 0.981914 Centerline is valid? [True, True] Translation: X:176.13, Y:154.28, Z:0.15 [[-8.60272947e-02 -9.96292781e-01 0.00000000e+00 1.76131671e+02] [ 9.96292781e-01 -8.60272947e-02 0.00000000e+00 1.54275480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54392240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.480371743 meters Centerline goodness : 0.980945 Centerline is valid? [True, True] Translation: X:176.11, Y:154.29, Z:0.16 [[-1.11228705e-01 -9.93794836e-01 0.00000000e+00 1.76109915e+02] [ 9.93794836e-01 -1.11228705e-01 0.00000000e+00 1.54294124e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59042068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.510371743 meters Centerline goodness : 0.979340 Centerline is valid? [True, True] Translation: X:176.12, Y:154.27, Z:0.16 [[-9.23707273e-02 -9.95724685e-01 0.00000000e+00 1.76117994e+02] [ 9.95724685e-01 -9.23707273e-02 0.00000000e+00 1.54269398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55769345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.540371743 meters Centerline goodness : 0.980240 Centerline is valid? [True, True] Translation: X:176.11, Y:154.27, Z:0.15 [[-9.06245976e-02 -9.95885125e-01 0.00000000e+00 1.76114602e+02] [ 9.95885125e-01 -9.06245976e-02 0.00000000e+00 1.54270047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53730127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.570371743 meters Centerline goodness : 0.980067 Centerline is valid? [True, True] Translation: X:176.11, Y:154.27, Z:0.15 [[-9.14092472e-02 -9.95813411e-01 0.00000000e+00 1.76105652e+02] [ 9.95813411e-01 -9.14092472e-02 0.00000000e+00 1.54269233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53316948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.600371743 meters Centerline goodness : 0.980652 Centerline is valid? [True, True] Translation: X:176.09, Y:154.30, Z:0.16 [[-1.13480694e-01 -9.93540202e-01 0.00000000e+00 1.76087645e+02] [ 9.93540202e-01 -1.13480694e-01 0.00000000e+00 1.54301342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56272268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.630371743 meters Centerline goodness : 0.973268 Centerline is valid? [True, True] Translation: X:176.08, Y:154.57, Z:0.16 [[-9.49016679e-02 -9.95486652e-01 0.00000000e+00 1.76076682e+02] [ 9.95486652e-01 -9.49016679e-02 0.00000000e+00 1.54574993e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61497428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.660371743 meters Centerline goodness : 0.981889 Centerline is valid? [True, True] Translation: X:176.07, Y:154.30, Z:0.15 [[-1.11374075e-01 -9.93778555e-01 0.00000000e+00 1.76072742e+02] [ 9.93778555e-01 -1.11374075e-01 0.00000000e+00 1.54298512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54132465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.690371743 meters Centerline goodness : 0.979929 Centerline is valid? [True, True] Translation: X:176.01, Y:155.29, Z:0.16 [[-1.23439494e-01 -9.92352100e-01 0.00000000e+00 1.76012579e+02] [ 9.92352100e-01 -1.23439494e-01 0.00000000e+00 1.55285858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57970370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.720371743 meters Centerline goodness : 0.983780 Centerline is valid? [True, True] Translation: X:176.06, Y:154.31, Z:0.15 [[-1.04616983e-01 -9.94512588e-01 0.00000000e+00 1.76055909e+02] [ 9.94512588e-01 -1.04616983e-01 0.00000000e+00 1.54309020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52248523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.750371743 meters Centerline goodness : 0.981581 Centerline is valid? [True, True] Translation: X:176.00, Y:155.29, Z:0.16 [[-1.15611364e-01 -9.93294525e-01 0.00000000e+00 1.75995045e+02] [ 9.93294525e-01 -1.15611364e-01 0.00000000e+00 1.55288867e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57262322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.780371743 meters Centerline goodness : 0.985351 Centerline is valid? [True, True] Translation: X:176.04, Y:154.32, Z:0.15 [[-9.96973416e-02 -9.95017809e-01 0.00000000e+00 1.76039866e+02] [ 9.95017809e-01 -9.96973416e-02 0.00000000e+00 1.54324720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52262243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.810371743 meters Centerline goodness : 0.982001 Centerline is valid? [True, True] Translation: X:175.99, Y:155.32, Z:0.16 [[-1.12854502e-01 -9.93611524e-01 0.00000000e+00 1.75986732e+02] [ 9.93611524e-01 -1.12854502e-01 0.00000000e+00 1.55319626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57183594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.840371743 meters Centerline goodness : 0.976441 Centerline is valid? [True, True] Translation: X:176.02, Y:154.67, Z:0.16 [[-6.91673260e-02 -9.97605073e-01 0.00000000e+00 1.76020262e+02] [ 9.97605073e-01 -6.91673260e-02 0.00000000e+00 1.54673535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64372434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.870371743 meters Centerline goodness : 0.981306 Centerline is valid? [True, True] Translation: X:175.98, Y:155.33, Z:0.16 [[-1.08167931e-01 -9.94132636e-01 0.00000000e+00 1.75975941e+02] [ 9.94132636e-01 -1.08167931e-01 0.00000000e+00 1.55327483e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61152512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.900371743 meters Centerline goodness : 0.981872 Centerline is valid? [True, True] Translation: X:175.97, Y:155.33, Z:0.16 [[-1.05013716e-01 -9.94470774e-01 0.00000000e+00 1.75968707e+02] [ 9.94470774e-01 -1.05013716e-01 0.00000000e+00 1.55332742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63365507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.930371743 meters Centerline goodness : 0.982511 Centerline is valid? [True, True] Translation: X:175.97, Y:155.31, Z:0.16 [[-1.03045068e-01 -9.94676688e-01 0.00000000e+00 1.75966024e+02] [ 9.94676688e-01 -1.03045068e-01 0.00000000e+00 1.55311514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58535596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.960371743 meters Centerline goodness : 0.977539 Centerline is valid? [True, True] Translation: X:175.96, Y:155.37, Z:0.17 [[-9.13089425e-02 -9.95822613e-01 0.00000000e+00 1.75962735e+02] [ 9.95822613e-01 -9.13089425e-02 0.00000000e+00 1.55374613e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70554754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.990371743 meters Centerline goodness : 0.981145 Centerline is valid? [True, True] Translation: X:175.96, Y:155.33, Z:0.16 [[-9.29626076e-02 -9.95669601e-01 0.00000000e+00 1.75955045e+02] [ 9.95669601e-01 -9.29626076e-02 0.00000000e+00 1.55325751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59517209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.020371743 meters Centerline goodness : 0.981573 Centerline is valid? [True, True] Translation: X:175.95, Y:155.34, Z:0.16 [[-8.85537925e-02 -9.96071396e-01 0.00000000e+00 1.75951528e+02] [ 9.96071396e-01 -8.85537925e-02 0.00000000e+00 1.55335893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63803208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.050371743 meters Centerline goodness : 0.978594 Centerline is valid? [True, True] Translation: X:175.97, Y:154.72, Z:0.17 [[-5.52600361e-02 -9.98471997e-01 0.00000000e+00 1.75973403e+02] [ 9.98471997e-01 -5.52600361e-02 0.00000000e+00 1.54722330e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66074361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.080371743 meters Centerline goodness : 0.979794 Centerline is valid? [True, True] Translation: X:175.97, Y:154.73, Z:0.17 [[-5.70279118e-02 -9.98372584e-01 0.00000000e+00 1.75969131e+02] [ 9.98372584e-01 -5.70279118e-02 0.00000000e+00 1.54733092e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65789295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11037174300003 meters Centerline goodness : 0.981670 Centerline is valid? [True, True] Translation: X:175.94, Y:155.35, Z:0.16 [[-8.70463150e-02 -9.96204266e-01 0.00000000e+00 1.75938920e+02] [ 9.96204266e-01 -8.70463150e-02 0.00000000e+00 1.55348748e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64660113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.140371743 meters Centerline goodness : 0.982249 Centerline is valid? [True, True] Translation: X:175.94, Y:155.35, Z:0.16 [[-8.92418867e-02 -9.96009983e-01 0.00000000e+00 1.75936563e+02] [ 9.96009983e-01 -8.92418867e-02 0.00000000e+00 1.55349301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62673020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.170371743 meters Centerline goodness : 0.979363 Centerline is valid? [True, True] Translation: X:175.94, Y:155.42, Z:0.17 [[-8.25157930e-02 -9.96589757e-01 0.00000000e+00 1.75935546e+02] [ 9.96589757e-01 -8.25157930e-02 0.00000000e+00 1.55417532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72027796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.200371743 meters Centerline goodness : 0.987460 Centerline is valid? [True, True] Translation: X:175.95, Y:154.41, Z:0.16 [[-7.31576978e-02 -9.97320385e-01 0.00000000e+00 1.75950362e+02] [ 9.97320385e-01 -7.31576978e-02 0.00000000e+00 1.54414661e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58894850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.230371743 meters Centerline goodness : 0.981862 Centerline is valid? [True, True] Translation: X:175.95, Y:154.82, Z:0.16 [[-6.38725393e-02 -9.97958065e-01 0.00000000e+00 1.75952842e+02] [ 9.97958065e-01 -6.38725393e-02 0.00000000e+00 1.54819157e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59294347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.260371743 meters Centerline goodness : 0.981485 Centerline is valid? [True, True] Translation: X:175.92, Y:155.38, Z:0.16 [[-1.03398137e-01 -9.94640048e-01 0.00000000e+00 1.75924333e+02] [ 9.94640048e-01 -1.03398137e-01 0.00000000e+00 1.55378378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60111689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.290371743 meters Centerline goodness : 0.981989 Centerline is valid? [True, True] Translation: X:175.92, Y:155.38, Z:0.16 [[-9.97555192e-02 -9.95011978e-01 0.00000000e+00 1.75922225e+02] [ 9.95011978e-01 -9.97555192e-02 0.00000000e+00 1.55382532e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61386950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.320371743 meters Centerline goodness : 0.981345 Centerline is valid? [True, True] Translation: X:175.94, Y:154.90, Z:0.16 [[-7.49080588e-02 -9.97190445e-01 0.00000000e+00 1.75935052e+02] [ 9.97190445e-01 -7.49080588e-02 0.00000000e+00 1.54900895e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61074944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.350371743 meters Centerline goodness : 0.982834 Centerline is valid? [True, True] Translation: X:175.93, Y:154.89, Z:0.16 [[-7.71542023e-02 -9.97019172e-01 0.00000000e+00 1.75931205e+02] [ 9.97019172e-01 -7.71542023e-02 0.00000000e+00 1.54886103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61255957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.380371743 meters Centerline goodness : 0.981672 Centerline is valid? [True, True] Translation: X:175.93, Y:154.90, Z:0.16 [[-7.55968288e-02 -9.97138466e-01 0.00000000e+00 1.75927946e+02] [ 9.97138466e-01 -7.55968288e-02 0.00000000e+00 1.54896706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63849152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.410371743 meters Centerline goodness : 0.981670 Centerline is valid? [True, True] Translation: X:175.91, Y:155.42, Z:0.16 [[-1.02734721e-01 -9.94708790e-01 0.00000000e+00 1.75907610e+02] [ 9.94708790e-01 -1.02734721e-01 0.00000000e+00 1.55421111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63560404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.440371743 meters Centerline goodness : 0.982215 Centerline is valid? [True, True] Translation: X:175.92, Y:154.91, Z:0.16 [[-7.51710108e-02 -9.97170657e-01 0.00000000e+00 1.75920233e+02] [ 9.97170657e-01 -7.51710108e-02 0.00000000e+00 1.54910143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60725717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.470371743 meters Centerline goodness : 0.981319 Centerline is valid? [True, True] Translation: X:175.91, Y:154.90, Z:0.16 [[-7.44777714e-02 -9.97222674e-01 0.00000000e+00 1.75912574e+02] [ 9.97222674e-01 -7.44777714e-02 0.00000000e+00 1.54901772e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63745398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.500371743 meters Centerline goodness : 0.981609 Centerline is valid? [True, True] Translation: X:175.91, Y:154.88, Z:0.16 [[-6.31490181e-02 -9.98004109e-01 0.00000000e+00 1.75913953e+02] [ 9.98004109e-01 -6.31490181e-02 0.00000000e+00 1.54884801e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64766832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.530371743 meters Centerline goodness : 0.981901 Centerline is valid? [True, True] Translation: X:175.90, Y:154.92, Z:0.17 [[-6.39611962e-02 -9.97952386e-01 0.00000000e+00 1.75904390e+02] [ 9.97952386e-01 -6.39611962e-02 0.00000000e+00 1.54920306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65550750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.560371743 meters Centerline goodness : 0.983389 Centerline is valid? [True, True] Translation: X:175.90, Y:154.91, Z:0.16 [[-6.28852213e-02 -9.98020766e-01 0.00000000e+00 1.75899491e+02] [ 9.98020766e-01 -6.28852213e-02 0.00000000e+00 1.54906596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60783925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.590371743 meters Centerline goodness : 0.981917 Centerline is valid? [True, True] Translation: X:175.90, Y:154.90, Z:0.17 [[-5.57356467e-02 -9.98445561e-01 0.00000000e+00 1.75895319e+02] [ 9.98445561e-01 -5.57356467e-02 0.00000000e+00 1.54904296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66168014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.620371743 meters Centerline goodness : 0.983298 Centerline is valid? [True, True] Translation: X:175.89, Y:154.93, Z:0.16 [[-5.60549383e-02 -9.98427686e-01 0.00000000e+00 1.75891614e+02] [ 9.98427686e-01 -5.60549383e-02 0.00000000e+00 1.54934232e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61042712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.650371743 meters Centerline goodness : 0.982834 Centerline is valid? [True, True] Translation: X:175.88, Y:154.96, Z:0.17 [[-5.57551207e-02 -9.98444473e-01 0.00000000e+00 1.75883545e+02] [ 9.98444473e-01 -5.57551207e-02 0.00000000e+00 1.54957496e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67228939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.680371743 meters Centerline goodness : 0.982588 Centerline is valid? [True, True] Translation: X:175.88, Y:154.96, Z:0.17 [[-5.13468755e-02 -9.98680879e-01 0.00000000e+00 1.75881648e+02] [ 9.98680879e-01 -5.13468755e-02 0.00000000e+00 1.54957844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65195053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.710371743 meters Centerline goodness : 0.982022 Centerline is valid? [True, True] Translation: X:175.88, Y:154.99, Z:0.17 [[-4.88218641e-02 -9.98807502e-01 0.00000000e+00 1.75875807e+02] [ 9.98807502e-01 -4.88218641e-02 0.00000000e+00 1.54985206e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65454835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.740371743 meters Centerline goodness : 0.983794 Centerline is valid? [True, True] Translation: X:175.87, Y:155.01, Z:0.17 [[-4.89827864e-02 -9.98799623e-01 0.00000000e+00 1.75871612e+02] [ 9.98799623e-01 -4.89827864e-02 0.00000000e+00 1.55014890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65919622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.770371743 meters Centerline goodness : 0.984985 Centerline is valid? [True, True] Translation: X:175.87, Y:155.04, Z:0.17 [[-4.94926915e-02 -9.98774486e-01 0.00000000e+00 1.75866689e+02] [ 9.98774486e-01 -4.94926915e-02 0.00000000e+00 1.55042139e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65525742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.800371743 meters Centerline goodness : 0.985350 Centerline is valid? [True, True] Translation: X:175.86, Y:155.07, Z:0.17 [[-4.59502402e-02 -9.98943730e-01 0.00000000e+00 1.75861614e+02] [ 9.98943730e-01 -4.59502402e-02 0.00000000e+00 1.55070320e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67089284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.830371743 meters Centerline goodness : 0.984151 Centerline is valid? [True, True] Translation: X:175.86, Y:155.10, Z:0.17 [[-4.49560954e-02 -9.98988964e-01 0.00000000e+00 1.75858278e+02] [ 9.98988964e-01 -4.49560954e-02 0.00000000e+00 1.55096096e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68545055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86037174300003 meters Centerline goodness : 0.984034 Centerline is valid? [True, True] Translation: X:175.85, Y:155.13, Z:0.17 [[-4.09566832e-02 -9.99160923e-01 0.00000000e+00 1.75854779e+02] [ 9.99160923e-01 -4.09566832e-02 0.00000000e+00 1.55127039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67950792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.890371743 meters Centerline goodness : 0.984034 Centerline is valid? [True, True] Translation: X:175.85, Y:155.15, Z:0.17 [[-4.14382273e-02 -9.99141068e-01 0.00000000e+00 1.75854518e+02] [ 9.99141068e-01 -4.14382273e-02 0.00000000e+00 1.55154328e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67950792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.920371743 meters Centerline goodness : 0.986000 Centerline is valid? [True, True] Translation: X:175.85, Y:155.18, Z:0.17 [[-4.23537812e-02 -9.99102676e-01 0.00000000e+00 1.75849865e+02] [ 9.99102676e-01 -4.23537812e-02 0.00000000e+00 1.55182487e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68414018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.950371743 meters Centerline goodness : 0.985191 Centerline is valid? [True, True] Translation: X:175.84, Y:155.21, Z:0.17 [[-4.38538005e-02 -9.99037959e-01 0.00000000e+00 1.75843717e+02] [ 9.99037959e-01 -4.38538005e-02 0.00000000e+00 1.55211974e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69564329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.980371743 meters Centerline goodness : 0.985888 Centerline is valid? [True, True] Translation: X:175.84, Y:155.21, Z:0.17 [[-4.11066617e-02 -9.99154764e-01 0.00000000e+00 1.75844088e+02] [ 9.99154764e-01 -4.11066617e-02 0.00000000e+00 1.55207777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71059127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.010371743 meters Centerline goodness : 0.985685 Centerline is valid? [True, True] Translation: X:175.84, Y:155.21, Z:0.17 [[-3.71234628e-02 -9.99310687e-01 0.00000000e+00 1.75842652e+02] [ 9.99310687e-01 -3.71234628e-02 0.00000000e+00 1.55210390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70563524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.040371743 meters Centerline goodness : 0.984844 Centerline is valid? [True, True] Translation: X:175.84, Y:155.24, Z:0.17 [[-3.90374219e-02 -9.99237749e-01 0.00000000e+00 1.75841761e+02] [ 9.99237749e-01 -3.90374219e-02 0.00000000e+00 1.55237335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70029345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.070371743 meters Centerline goodness : 0.981517 Centerline is valid? [True, True] Translation: X:175.83, Y:155.25, Z:0.17 [[-4.83410657e-02 -9.98830887e-01 0.00000000e+00 1.75831767e+02] [ 9.98830887e-01 -4.83410657e-02 0.00000000e+00 1.55252493e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72060385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.100371743 meters Centerline goodness : 0.981880 Centerline is valid? [True, True] Translation: X:175.83, Y:155.28, Z:0.17 [[-5.35054880e-02 -9.98567555e-01 0.00000000e+00 1.75830160e+02] [ 9.98567555e-01 -5.35054880e-02 0.00000000e+00 1.55280456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69753022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.130371743 meters Centerline goodness : 0.986301 Centerline is valid? [True, True] Translation: X:175.84, Y:155.32, Z:0.17 [[-5.19971757e-02 -9.98647232e-01 0.00000000e+00 1.75835733e+02] [ 9.98647232e-01 -5.19971757e-02 0.00000000e+00 1.55317174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66736562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.160371743 meters Centerline goodness : 0.985497 Centerline is valid? [True, True] Translation: X:175.83, Y:155.34, Z:0.17 [[-5.68493800e-02 -9.98382766e-01 0.00000000e+00 1.75833735e+02] [ 9.98382766e-01 -5.68493800e-02 0.00000000e+00 1.55344531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66091158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.190371743 meters Centerline goodness : 0.985093 Centerline is valid? [True, True] Translation: X:175.83, Y:155.37, Z:0.16 [[-5.99231789e-02 -9.98202992e-01 0.00000000e+00 1.75832073e+02] [ 9.98202992e-01 -5.99231789e-02 0.00000000e+00 1.55370875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63932695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.220371743 meters Centerline goodness : 0.986613 Centerline is valid? [True, True] Translation: X:175.83, Y:155.40, Z:0.16 [[-6.39115480e-02 -9.97955567e-01 0.00000000e+00 1.75829538e+02] [ 9.97955567e-01 -6.39115480e-02 0.00000000e+00 1.55401906e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62098236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.250371743 meters Centerline goodness : 0.986289 Centerline is valid? [True, True] Translation: X:175.83, Y:155.43, Z:0.16 [[-6.59352601e-02 -9.97823903e-01 0.00000000e+00 1.75825988e+02] [ 9.97823903e-01 -6.59352601e-02 0.00000000e+00 1.55426552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63636759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.280371743 meters Centerline goodness : 0.987132 Centerline is valid? [True, True] Translation: X:175.82, Y:155.46, Z:0.16 [[-6.72554210e-02 -9.97735791e-01 0.00000000e+00 1.75823746e+02] [ 9.97735791e-01 -6.72554210e-02 0.00000000e+00 1.55455958e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62988875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.310371743 meters Centerline goodness : 0.987464 Centerline is valid? [True, True] Translation: X:175.82, Y:155.48, Z:0.16 [[-6.76014618e-02 -9.97712405e-01 0.00000000e+00 1.75822492e+02] [ 9.97712405e-01 -6.76014618e-02 0.00000000e+00 1.55484733e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61988887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.340371743 meters Centerline goodness : 0.987047 Centerline is valid? [True, True] Translation: X:175.82, Y:155.51, Z:0.17 [[-6.92417912e-02 -9.97599907e-01 0.00000000e+00 1.75819357e+02] [ 9.97599907e-01 -6.92417912e-02 0.00000000e+00 1.55508250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66277723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.370371743 meters Centerline goodness : 0.988488 Centerline is valid? [True, True] Translation: X:175.81, Y:155.54, Z:0.16 [[-7.07546523e-02 -9.97493749e-01 0.00000000e+00 1.75813971e+02] [ 9.97493749e-01 -7.07546523e-02 0.00000000e+00 1.55539476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63532860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.400371743 meters Centerline goodness : 0.988544 Centerline is valid? [True, True] Translation: X:175.81, Y:155.54, Z:0.16 [[-6.82500933e-02 -9.97668244e-01 0.00000000e+00 1.75811847e+02] [ 9.97668244e-01 -6.82500933e-02 0.00000000e+00 1.55539161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63499419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.430371743 meters Centerline goodness : 0.988619 Centerline is valid? [True, True] Translation: X:175.80, Y:155.56, Z:0.17 [[-7.07600420e-02 -9.97493367e-01 0.00000000e+00 1.75804544e+02] [ 9.97493367e-01 -7.07600420e-02 0.00000000e+00 1.55562087e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65762322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.460371743 meters Centerline goodness : 0.982269 Centerline is valid? [True, True] Translation: X:175.79, Y:155.58, Z:0.17 [[-7.92945085e-02 -9.96851233e-01 0.00000000e+00 1.75790682e+02] [ 9.96851233e-01 -7.92945085e-02 0.00000000e+00 1.55582461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66145399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.490371743 meters Centerline goodness : 0.981432 Centerline is valid? [True, True] Translation: X:175.79, Y:155.61, Z:0.17 [[-7.92962298e-02 -9.96851096e-01 0.00000000e+00 1.75787998e+02] [ 9.96851096e-01 -7.92962298e-02 0.00000000e+00 1.55611943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68881187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.520371743 meters Centerline goodness : 0.974540 Centerline is valid? [True, True] Translation: X:175.78, Y:155.64, Z:0.17 [[-8.12899377e-02 -9.96690497e-01 0.00000000e+00 1.75779257e+02] [ 9.96690497e-01 -8.12899377e-02 0.00000000e+00 1.55636838e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.72089826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.550371743 meters Centerline goodness : 0.991512 Centerline is valid? [True, True] Translation: X:175.78, Y:155.67, Z:0.16 [[-7.81511627e-02 -9.96941521e-01 0.00000000e+00 1.75778356e+02] [ 9.96941521e-01 -7.81511627e-02 0.00000000e+00 1.55669872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64686941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.580371743 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:175.77, Y:155.71, Z:0.17 [[-7.94143950e-02 -9.96841689e-01 0.00000000e+00 1.75768009e+02] [ 9.96841689e-01 -7.94143950e-02 0.00000000e+00 1.55705806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65257148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61037174300003 meters Centerline goodness : 0.992544 Centerline is valid? [True, True] Translation: X:175.76, Y:155.70, Z:0.17 [[-7.96436007e-02 -9.96823403e-01 0.00000000e+00 1.75763654e+02] [ 9.96823403e-01 -7.96436007e-02 0.00000000e+00 1.55698944e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65402856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.640371743 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:175.75, Y:155.73, Z:0.16 [[-7.90252182e-02 -9.96872617e-01 0.00000000e+00 1.75753379e+02] [ 9.96872617e-01 -7.90252182e-02 0.00000000e+00 1.55729938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64198011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.670371743 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:175.75, Y:155.74, Z:0.16 [[-7.88618451e-02 -9.96885555e-01 0.00000000e+00 1.75749210e+02] [ 9.96885555e-01 -7.88618451e-02 0.00000000e+00 1.55738405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64512538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.700371743 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:175.74, Y:155.75, Z:0.16 [[-7.78126941e-02 -9.96967996e-01 0.00000000e+00 1.75740619e+02] [ 9.96967996e-01 -7.78126941e-02 0.00000000e+00 1.55751385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64961114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.730371743 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:175.74, Y:155.77, Z:0.17 [[-7.75364083e-02 -9.96989521e-01 0.00000000e+00 1.75735905e+02] [ 9.96989521e-01 -7.75364083e-02 0.00000000e+00 1.55768421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67339309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.760371743 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:175.73, Y:155.78, Z:0.17 [[-7.61577117e-02 -9.97095784e-01 0.00000000e+00 1.75731390e+02] [ 9.97095784e-01 -7.61577117e-02 0.00000000e+00 1.55776018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67843805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.790371743 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:175.72, Y:155.77, Z:0.17 [[-7.31501871e-02 -9.97320936e-01 0.00000000e+00 1.75722068e+02] [ 9.97320936e-01 -7.31501871e-02 0.00000000e+00 1.55774255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67007327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.820371743 meters Centerline goodness : 0.996011 Centerline is valid? [True, True] Translation: X:175.72, Y:155.80, Z:0.17 [[-7.10757437e-02 -9.97470921e-01 0.00000000e+00 1.75717137e+02] [ 9.97470921e-01 -7.10757437e-02 0.00000000e+00 1.55796175e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65986515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.850371743 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:175.71, Y:155.81, Z:0.16 [[-6.51926902e-02 -9.97872694e-01 0.00000000e+00 1.75708242e+02] [ 9.97872694e-01 -6.51926902e-02 0.00000000e+00 1.55810075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62538675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.880371743 meters Centerline goodness : 0.996586 Centerline is valid? [True, True] Translation: X:175.70, Y:155.81, Z:0.16 [[-6.04728872e-02 -9.98169840e-01 0.00000000e+00 1.75704681e+02] [ 9.98169840e-01 -6.04728872e-02 0.00000000e+00 1.55805678e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63768525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.910371743 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:175.70, Y:155.82, Z:0.16 [[-5.31711598e-02 -9.98585413e-01 0.00000000e+00 1.75696889e+02] [ 9.98585413e-01 -5.31711598e-02 0.00000000e+00 1.55818550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63654995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.940371743 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:175.69, Y:155.80, Z:0.16 [[-4.79705476e-02 -9.98848751e-01 0.00000000e+00 1.75693829e+02] [ 9.98848751e-01 -4.79705476e-02 0.00000000e+00 1.55803806e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64582947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.970371743 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:175.69, Y:155.80, Z:0.17 [[-3.91022733e-02 -9.99235214e-01 0.00000000e+00 1.75686659e+02] [ 9.99235214e-01 -3.91022733e-02 0.00000000e+00 1.55802485e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65436589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.000371743 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:175.68, Y:155.81, Z:0.17 [[-3.59257205e-02 -9.99354463e-01 0.00000000e+00 1.75683315e+02] [ 9.99354463e-01 -3.59257205e-02 0.00000000e+00 1.55808492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65449613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.030371743 meters Centerline goodness : 0.996420 Centerline is valid? [True, True] Translation: X:175.68, Y:155.81, Z:0.17 [[-2.85109255e-02 -9.99593481e-01 0.00000000e+00 1.75680478e+02] [ 9.99593481e-01 -2.85109255e-02 0.00000000e+00 1.55805385e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68490597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.060371743 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:175.68, Y:155.79, Z:0.17 [[-2.50471243e-02 -9.99686272e-01 0.00000000e+00 1.75679713e+02] [ 9.99686272e-01 -2.50471243e-02 0.00000000e+00 1.55788022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68400094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.090371743 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:175.68, Y:155.79, Z:0.17 [[-2.42317976e-02 -9.99706367e-01 0.00000000e+00 1.75678922e+02] [ 9.99706367e-01 -2.42317976e-02 0.00000000e+00 1.55792015e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69738947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.120371743 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:175.68, Y:155.80, Z:0.17 [[-2.16405488e-02 -9.99765816e-01 0.00000000e+00 1.75678581e+02] [ 9.99765816e-01 -2.16405488e-02 0.00000000e+00 1.55802244e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69798644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.150371743 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:175.68, Y:155.82, Z:0.17 [[-2.10905914e-02 -9.99777569e-01 0.00000000e+00 1.75679289e+02] [ 9.99777569e-01 -2.10905914e-02 0.00000000e+00 1.55817383e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69530343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.180371743 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:175.68, Y:155.82, Z:0.17 [[-2.09395317e-02 -9.99780744e-01 0.00000000e+00 1.75679958e+02] [ 9.99780744e-01 -2.09395317e-02 0.00000000e+00 1.55815524e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68240785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.210371743 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:175.68, Y:155.82, Z:0.17 [[-2.14994705e-02 -9.99768860e-01 0.00000000e+00 1.75680988e+02] [ 9.99768860e-01 -2.14994705e-02 0.00000000e+00 1.55821924e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67642508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.240371743 meters Centerline goodness : 0.996057 Centerline is valid? [True, True] Translation: X:175.68, Y:155.83, Z:0.17 [[-2.31488069e-02 -9.99732030e-01 0.00000000e+00 1.75683341e+02] [ 9.99732030e-01 -2.31488069e-02 0.00000000e+00 1.55829067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67722147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.270371743 meters Centerline goodness : 0.996686 Centerline is valid? [True, True] Translation: X:175.69, Y:155.83, Z:0.17 [[-2.30961590e-02 -9.99733248e-01 0.00000000e+00 1.75685059e+02] [ 9.99733248e-01 -2.30961590e-02 0.00000000e+00 1.55829597e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67772419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.300371743 meters Centerline goodness : 0.995969 Centerline is valid? [True, True] Translation: X:175.69, Y:155.85, Z:0.17 [[-2.58465736e-02 -9.99665922e-01 0.00000000e+00 1.75686500e+02] [ 9.99665922e-01 -2.58465736e-02 0.00000000e+00 1.55854127e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65975935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.330371743 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:175.69, Y:155.87, Z:0.17 [[-3.07178865e-02 -9.99528094e-01 0.00000000e+00 1.75687882e+02] [ 9.99528094e-01 -3.07178865e-02 0.00000000e+00 1.55870450e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65972774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36037174300003 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:175.69, Y:155.87, Z:0.17 [[-2.97571383e-02 -9.99557158e-01 0.00000000e+00 1.75690026e+02] [ 9.99557158e-01 -2.97571383e-02 0.00000000e+00 1.55866201e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65986961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.390371743 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:175.69, Y:155.87, Z:0.17 [[-3.15479590e-02 -9.99502239e-01 0.00000000e+00 1.75692789e+02] [ 9.99502239e-01 -3.15479590e-02 0.00000000e+00 1.55868106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66651018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.420371743 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:175.69, Y:155.88, Z:0.17 [[-3.41730127e-02 -9.99415932e-01 0.00000000e+00 1.75693836e+02] [ 9.99415932e-01 -3.41730127e-02 0.00000000e+00 1.55879273e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.66062320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.450371743 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:175.70, Y:155.88, Z:0.17 [[-3.62966760e-02 -9.99341059e-01 0.00000000e+00 1.75696391e+02] [ 9.99341059e-01 -3.62966760e-02 0.00000000e+00 1.55876966e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65141749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.480371743 meters Centerline goodness : 0.994614 Centerline is valid? [True, True] Translation: X:175.70, Y:155.89, Z:0.17 [[-4.16732247e-02 -9.99131294e-01 0.00000000e+00 1.75697764e+02] [ 9.99131294e-01 -4.16732247e-02 0.00000000e+00 1.55889050e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.67355963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.510371743 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:175.70, Y:155.88, Z:0.16 [[-3.98781436e-02 -9.99204550e-01 0.00000000e+00 1.75699999e+02] [ 9.99204550e-01 -3.98781436e-02 0.00000000e+00 1.55879048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63965102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.540371743 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:175.70, Y:155.88, Z:0.16 [[-4.00467914e-02 -9.99197805e-01 0.00000000e+00 1.75700309e+02] [ 9.99197805e-01 -4.00467914e-02 0.00000000e+00 1.55882514e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63129342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.570371743 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:175.70, Y:155.91, Z:0.16 [[-4.09779304e-02 -9.99160052e-01 0.00000000e+00 1.75701675e+02] [ 9.99160052e-01 -4.09779304e-02 0.00000000e+00 1.55910501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64047890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.600371743 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:175.70, Y:155.94, Z:0.16 [[-4.46148199e-02 -9.99004263e-01 0.00000000e+00 1.75702842e+02] [ 9.99004263e-01 -4.46148199e-02 0.00000000e+00 1.55938086e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63138108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.630371743 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:175.70, Y:155.97, Z:0.16 [[-4.70691628e-02 -9.98891633e-01 0.00000000e+00 1.75704097e+02] [ 9.98891633e-01 -4.70691628e-02 0.00000000e+00 1.55965076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62309887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.660371743 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:175.70, Y:155.97, Z:0.16 [[-4.69676753e-02 -9.98896410e-01 0.00000000e+00 1.75704471e+02] [ 9.98896410e-01 -4.69676753e-02 0.00000000e+00 1.55967865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61930478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.690371743 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:175.70, Y:156.00, Z:0.16 [[-4.85216318e-02 -9.98822132e-01 0.00000000e+00 1.75704708e+02] [ 9.98822132e-01 -4.85216318e-02 0.00000000e+00 1.55996956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62285159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.720371743 meters Centerline goodness : 0.995997 Centerline is valid? [True, True] Translation: X:175.70, Y:156.03, Z:0.16 [[-5.12209049e-02 -9.98687348e-01 0.00000000e+00 1.75704276e+02] [ 9.98687348e-01 -5.12209049e-02 0.00000000e+00 1.56025848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61124256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.750371743 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:175.70, Y:156.04, Z:0.16 [[-5.06043283e-02 -9.98718780e-01 0.00000000e+00 1.75704042e+02] [ 9.98718780e-01 -5.06043283e-02 0.00000000e+00 1.56038795e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60656138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.780371743 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:175.70, Y:156.07, Z:0.16 [[-5.10846468e-02 -9.98694327e-01 0.00000000e+00 1.75703808e+02] [ 9.98694327e-01 -5.10846468e-02 0.00000000e+00 1.56066872e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60656138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.810371743 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:175.70, Y:156.07, Z:0.16 [[-4.99222672e-02 -9.98753106e-01 0.00000000e+00 1.75701824e+02] [ 9.98753106e-01 -4.99222672e-02 0.00000000e+00 1.56068592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62730526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.840371743 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:175.70, Y:156.10, Z:0.16 [[-4.98132030e-02 -9.98758552e-01 0.00000000e+00 1.75701495e+02] [ 9.98758552e-01 -4.98132030e-02 0.00000000e+00 1.56096571e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63338057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.870371743 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:175.70, Y:156.12, Z:0.16 [[-4.84584711e-02 -9.98825198e-01 0.00000000e+00 1.75699542e+02] [ 9.98825198e-01 -4.84584711e-02 0.00000000e+00 1.56124355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63233474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.900371743 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:175.70, Y:156.16, Z:0.16 [[-4.84376898e-02 -9.98826206e-01 0.00000000e+00 1.75698788e+02] [ 9.98826206e-01 -4.84376898e-02 0.00000000e+00 1.56155229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64780999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.930371743 meters Centerline goodness : 0.996187 Centerline is valid? [True, True] Translation: X:175.70, Y:156.14, Z:0.16 [[-4.51878623e-02 -9.98978507e-01 0.00000000e+00 1.75698230e+02] [ 9.98978507e-01 -4.51878623e-02 0.00000000e+00 1.56136153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64188787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.960371743 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:175.70, Y:156.17, Z:0.16 [[-4.45247216e-02 -9.99008283e-01 0.00000000e+00 1.75696759e+02] [ 9.99008283e-01 -4.45247216e-02 0.00000000e+00 1.56166626e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64596672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.990371743 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:175.70, Y:156.18, Z:0.16 [[-4.46564275e-02 -9.99002404e-01 0.00000000e+00 1.75695856e+02] [ 9.99002404e-01 -4.46564275e-02 0.00000000e+00 1.56183293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63483968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.020371743 meters Centerline goodness : 0.996589 Centerline is valid? [True, True] Translation: X:175.70, Y:156.17, Z:0.16 [[-4.19471264e-02 -9.99119832e-01 0.00000000e+00 1.75695621e+02] [ 9.99119832e-01 -4.19471264e-02 0.00000000e+00 1.56173728e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63392709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.050371743 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:175.70, Y:156.20, Z:0.16 [[-4.09834336e-02 -9.99159826e-01 0.00000000e+00 1.75695876e+02] [ 9.99159826e-01 -4.09834336e-02 0.00000000e+00 1.56200147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64572581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.080371743 meters Centerline goodness : 0.996052 Centerline is valid? [True, True] Translation: X:175.70, Y:156.23, Z:0.16 [[-4.09473639e-02 -9.99161305e-01 0.00000000e+00 1.75695523e+02] [ 9.99161305e-01 -4.09473639e-02 0.00000000e+00 1.56228859e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64285585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11037174300003 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:175.70, Y:156.26, Z:0.16 [[-4.23308900e-02 -9.99103646e-01 0.00000000e+00 1.75695551e+02] [ 9.99103646e-01 -4.23308900e-02 0.00000000e+00 1.56257586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63074452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.140371743 meters Centerline goodness : 0.995833 Centerline is valid? [True, True] Translation: X:175.70, Y:156.25, Z:0.16 [[-4.36728209e-02 -9.99045887e-01 0.00000000e+00 1.75695718e+02] [ 9.99045887e-01 -4.36728209e-02 0.00000000e+00 1.56250710e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.62248964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.170371743 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:175.70, Y:156.27, Z:0.16 [[-4.30565488e-02 -9.99072637e-01 0.00000000e+00 1.75696986e+02] [ 9.99072637e-01 -4.30565488e-02 0.00000000e+00 1.56271646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61746004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.200371743 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:175.70, Y:156.30, Z:0.16 [[-4.40311571e-02 -9.99030158e-01 0.00000000e+00 1.75695865e+02] [ 9.99030158e-01 -4.40311571e-02 0.00000000e+00 1.56300556e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.60808590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.230371743 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:175.70, Y:156.31, Z:0.16 [[-4.41278501e-02 -9.99025892e-01 0.00000000e+00 1.75696120e+02] [ 9.99025892e-01 -4.41278501e-02 0.00000000e+00 1.56308612e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59155201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.260371743 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:175.70, Y:156.31, Z:0.16 [[-4.52449610e-02 -9.98975922e-01 0.00000000e+00 1.75695979e+02] [ 9.98975922e-01 -4.52449610e-02 0.00000000e+00 1.56309981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58990833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.290371743 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:175.70, Y:156.32, Z:0.16 [[-4.47694625e-02 -9.98997345e-01 0.00000000e+00 1.75697229e+02] [ 9.98997345e-01 -4.47694625e-02 0.00000000e+00 1.56320179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57205151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.320371743 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] Translation: X:175.70, Y:156.35, Z:0.16 [[-4.66831781e-02 -9.98909746e-01 0.00000000e+00 1.75698700e+02] [ 9.98909746e-01 -4.66831781e-02 0.00000000e+00 1.56349569e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55173845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.350371743 meters Centerline goodness : 0.996484 Centerline is valid? [True, True] Translation: X:175.70, Y:156.35, Z:0.15 [[-4.60524979e-02 -9.98939021e-01 0.00000000e+00 1.75699756e+02] [ 9.98939021e-01 -4.60524979e-02 0.00000000e+00 1.56347135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53992896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.380371743 meters Centerline goodness : 0.996661 Centerline is valid? [True, True] Translation: X:175.70, Y:156.37, Z:0.15 [[-4.65195330e-02 -9.98917380e-01 0.00000000e+00 1.75700218e+02] [ 9.98917380e-01 -4.65195330e-02 0.00000000e+00 1.56374174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53209646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.410371743 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:175.70, Y:156.37, Z:0.16 [[-4.79499206e-02 -9.98849741e-01 0.00000000e+00 1.75701660e+02] [ 9.98849741e-01 -4.79499206e-02 0.00000000e+00 1.56373007e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55187123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.440371743 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:175.70, Y:156.39, Z:0.16 [[-4.80337985e-02 -9.98845711e-01 0.00000000e+00 1.75701979e+02] [ 9.98845711e-01 -4.80337985e-02 0.00000000e+00 1.56391837e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55163816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.470371743 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:175.70, Y:156.42, Z:0.16 [[-5.17623187e-02 -9.98659433e-01 0.00000000e+00 1.75703428e+02] [ 9.98659433e-01 -5.17623187e-02 0.00000000e+00 1.56418068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57628583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.500371743 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:175.70, Y:156.45, Z:0.16 [[-5.31045723e-02 -9.98588957e-01 0.00000000e+00 1.75704427e+02] [ 9.98588957e-01 -5.31045723e-02 0.00000000e+00 1.56447604e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58893829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.530371743 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:175.71, Y:156.44, Z:0.16 [[-5.30485721e-02 -9.98591933e-01 0.00000000e+00 1.75706177e+02] [ 9.98591933e-01 -5.30485721e-02 0.00000000e+00 1.56442164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58808183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.560371743 meters Centerline goodness : 0.996074 Centerline is valid? [True, True] Translation: X:175.71, Y:156.47, Z:0.16 [[-5.63692582e-02 -9.98409989e-01 0.00000000e+00 1.75708082e+02] [ 9.98409989e-01 -5.63692582e-02 0.00000000e+00 1.56466987e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57360551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.590371743 meters Centerline goodness : 0.995973 Centerline is valid? [True, True] Translation: X:175.71, Y:156.50, Z:0.16 [[-6.25132655e-02 -9.98044133e-01 0.00000000e+00 1.75707175e+02] [ 9.98044133e-01 -6.25132655e-02 0.00000000e+00 1.56499066e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55042388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.620371743 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:175.71, Y:156.49, Z:0.16 [[-6.13379732e-02 -9.98117054e-01 0.00000000e+00 1.75712921e+02] [ 9.98117054e-01 -6.13379732e-02 0.00000000e+00 1.56491914e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56193703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.650371743 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:175.72, Y:156.51, Z:0.15 [[-6.00014141e-02 -9.98198292e-01 0.00000000e+00 1.75715104e+02] [ 9.98198292e-01 -6.00014141e-02 0.00000000e+00 1.56507240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54445975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.680371743 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:175.72, Y:156.48, Z:0.16 [[-5.75583848e-02 -9.98342142e-01 0.00000000e+00 1.75718304e+02] [ 9.98342142e-01 -5.75583848e-02 0.00000000e+00 1.56484014e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55866104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.710371743 meters Centerline goodness : 0.994602 Centerline is valid? [True, True] Translation: X:175.72, Y:156.51, Z:0.16 [[-5.75510085e-02 -9.98342567e-01 0.00000000e+00 1.75720300e+02] [ 9.98342567e-01 -5.75510085e-02 0.00000000e+00 1.56512306e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55784867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.740371743 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:175.72, Y:156.50, Z:0.16 [[-5.72126820e-02 -9.98362013e-01 0.00000000e+00 1.75722430e+02] [ 9.98362013e-01 -5.72126820e-02 0.00000000e+00 1.56496190e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55366156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.770371743 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:175.73, Y:156.48, Z:0.15 [[-5.31987558e-02 -9.98583944e-01 0.00000000e+00 1.75727659e+02] [ 9.98583944e-01 -5.31987558e-02 0.00000000e+00 1.56479376e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54430236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.800371743 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:175.73, Y:156.51, Z:0.15 [[-5.38469276e-02 -9.98549202e-01 0.00000000e+00 1.75729992e+02] [ 9.98549202e-01 -5.38469276e-02 0.00000000e+00 1.56507645e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53815593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.830371743 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:175.73, Y:156.53, Z:0.16 [[-5.20952256e-02 -9.98642122e-01 0.00000000e+00 1.75734346e+02] [ 9.98642122e-01 -5.20952256e-02 0.00000000e+00 1.56534896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55210091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86037174300003 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:175.74, Y:156.56, Z:0.16 [[-5.37075757e-02 -9.98556707e-01 0.00000000e+00 1.75736035e+02] [ 9.98556707e-01 -5.37075757e-02 0.00000000e+00 1.56563946e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55413042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.890371743 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:175.74, Y:156.58, Z:0.16 [[-5.10042388e-02 -9.98698437e-01 0.00000000e+00 1.75740947e+02] [ 9.98698437e-01 -5.10042388e-02 0.00000000e+00 1.56581823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55169971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.920371743 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:175.74, Y:156.61, Z:0.15 [[-5.24341603e-02 -9.98624383e-01 0.00000000e+00 1.75742865e+02] [ 9.98624383e-01 -5.24341603e-02 0.00000000e+00 1.56610377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54352544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.950371743 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:175.75, Y:156.62, Z:0.15 [[-5.26434552e-02 -9.98613372e-01 0.00000000e+00 1.75747371e+02] [ 9.98613372e-01 -5.26434552e-02 0.00000000e+00 1.56623445e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52040108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.980371743 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:175.75, Y:156.62, Z:0.15 [[-5.30120900e-02 -9.98593871e-01 0.00000000e+00 1.75750516e+02] [ 9.98593871e-01 -5.30120900e-02 0.00000000e+00 1.56623045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53375157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.010371743 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:175.75, Y:156.65, Z:0.15 [[-5.66023478e-02 -9.98396802e-01 0.00000000e+00 1.75751959e+02] [ 9.98396802e-01 -5.66023478e-02 0.00000000e+00 1.56651899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52170139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.040371743 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:175.76, Y:156.66, Z:0.15 [[-5.80047026e-02 -9.98316310e-01 0.00000000e+00 1.75756235e+02] [ 9.98316310e-01 -5.80047026e-02 0.00000000e+00 1.56655620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51932322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.070371743 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:175.76, Y:156.65, Z:0.15 [[-5.89730174e-02 -9.98259577e-01 0.00000000e+00 1.75758349e+02] [ 9.98259577e-01 -5.89730174e-02 0.00000000e+00 1.56653171e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51895178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.100371743 meters Centerline goodness : 0.991751 Centerline is valid? [True, True] Translation: X:175.76, Y:156.66, Z:0.15 [[-5.99989130e-02 -9.98198442e-01 0.00000000e+00 1.75763341e+02] [ 9.98198442e-01 -5.99989130e-02 0.00000000e+00 1.56657167e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53191154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.130371743 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:175.77, Y:156.66, Z:0.15 [[-5.82708386e-02 -9.98300811e-01 0.00000000e+00 1.75765833e+02] [ 9.98300811e-01 -5.82708386e-02 0.00000000e+00 1.56659551e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53673811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.160371743 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:175.77, Y:156.67, Z:0.15 [[-6.08884724e-02 -9.98144576e-01 0.00000000e+00 1.75766765e+02] [ 9.98144576e-01 -6.08884724e-02 0.00000000e+00 1.56670136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52935186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.190371743 meters Centerline goodness : 0.992341 Centerline is valid? [True, True] Translation: X:175.77, Y:156.67, Z:0.15 [[-6.17280779e-02 -9.98093004e-01 0.00000000e+00 1.75770307e+02] [ 9.98093004e-01 -6.17280779e-02 0.00000000e+00 1.56669474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52326180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.220371743 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:175.77, Y:156.67, Z:0.15 [[-6.01941561e-02 -9.98186688e-01 0.00000000e+00 1.75773360e+02] [ 9.98186688e-01 -6.01941561e-02 0.00000000e+00 1.56669544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51825887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.250371743 meters Centerline goodness : 0.991299 Centerline is valid? [True, True] Translation: X:175.78, Y:156.67, Z:0.15 [[-5.75106986e-02 -9.98344890e-01 0.00000000e+00 1.75775858e+02] [ 9.98344890e-01 -5.75106986e-02 0.00000000e+00 1.56670892e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53135135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.280371743 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:175.78, Y:156.70, Z:0.15 [[-5.93864416e-02 -9.98235068e-01 0.00000000e+00 1.75776357e+02] [ 9.98235068e-01 -5.93864416e-02 0.00000000e+00 1.56698563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52683912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.310371743 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:175.78, Y:156.70, Z:0.15 [[-5.65380794e-02 -9.98400444e-01 0.00000000e+00 1.75778079e+02] [ 9.98400444e-01 -5.65380794e-02 0.00000000e+00 1.56697563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53085257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.340371743 meters Centerline goodness : 0.989251 Centerline is valid? [True, True] Translation: X:175.78, Y:156.72, Z:0.15 [[-5.66846906e-02 -9.98392130e-01 0.00000000e+00 1.75779798e+02] [ 9.98392130e-01 -5.66846906e-02 0.00000000e+00 1.56724533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54851723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.370371743 meters Centerline goodness : 0.990057 Centerline is valid? [True, True] Translation: X:175.78, Y:156.75, Z:0.15 [[-5.69695222e-02 -9.98375918e-01 0.00000000e+00 1.75782721e+02] [ 9.98375918e-01 -5.69695222e-02 0.00000000e+00 1.56754543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54574724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.400371743 meters Centerline goodness : 0.989981 Centerline is valid? [True, True] Translation: X:175.78, Y:156.75, Z:0.15 [[-5.74164497e-02 -9.98350315e-01 0.00000000e+00 1.75783578e+02] [ 9.98350315e-01 -5.74164497e-02 0.00000000e+00 1.56750835e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53762569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.430371743 meters Centerline goodness : 0.989086 Centerline is valid? [True, True] Translation: X:175.78, Y:156.76, Z:0.15 [[-5.76812658e-02 -9.98335050e-01 0.00000000e+00 1.75784779e+02] [ 9.98335050e-01 -5.76812658e-02 0.00000000e+00 1.56758839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54002090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.460371743 meters Centerline goodness : 0.988885 Centerline is valid? [True, True] Translation: X:175.77, Y:157.29, Z:0.15 [[-8.04412461e-02 -9.96759352e-01 0.00000000e+00 1.75774692e+02] [ 9.96759352e-01 -8.04412461e-02 0.00000000e+00 1.57286393e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53131720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.490371743 meters Centerline goodness : 0.989517 Centerline is valid? [True, True] Translation: X:176.70, Y:156.92, Z:0.74 [[-3.05511906e-02 9.99533203e-01 0.00000000e+00 1.76696796e+02] [ 9.99533203e-01 3.05511906e-02 0.00000000e+00 1.56919426e+02] [ 0.00000000e+00 0.00000000e+00 -1.00000000e+00 7.36984964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.520371743 meters Centerline goodness : 0.989149 Centerline is valid? [True, True] Translation: X:175.83, Y:156.87, Z:0.15 [[-1.41397544e-01 -9.89952895e-01 0.00000000e+00 1.75832341e+02] [ 9.89952895e-01 -1.41397544e-01 0.00000000e+00 1.56869730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53173475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.550371743 meters Centerline goodness : 0.988722 Centerline is valid? [True, True] Translation: X:175.83, Y:156.87, Z:0.15 [[-1.41470979e-01 -9.89942403e-01 0.00000000e+00 1.75834330e+02] [ 9.89942403e-01 -1.41470979e-01 0.00000000e+00 1.56866190e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52493730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.580371743 meters Centerline goodness : 0.987742 Centerline is valid? [True, True] Translation: X:175.84, Y:156.87, Z:0.15 [[-1.43578299e-01 -9.89638961e-01 0.00000000e+00 1.75835100e+02] [ 9.89638961e-01 -1.43578299e-01 0.00000000e+00 1.56872080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52365646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61037174300003 meters Centerline goodness : 0.988247 Centerline is valid? [True, True] Translation: X:175.84, Y:156.88, Z:0.15 [[-1.43893229e-01 -9.89593219e-01 0.00000000e+00 1.75835990e+02] [ 9.89593219e-01 -1.43893229e-01 0.00000000e+00 1.56883590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51593916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.640371743 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:175.84, Y:156.89, Z:0.15 [[-1.42891412e-01 -9.89738372e-01 0.00000000e+00 1.75835491e+02] [ 9.89738372e-01 -1.42891412e-01 0.00000000e+00 1.56886360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51773263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.670371743 meters Centerline goodness : 0.989330 Centerline is valid? [True, True] Translation: X:175.84, Y:156.89, Z:0.15 [[-1.42539463e-01 -9.89789120e-01 0.00000000e+00 1.75835188e+02] [ 9.89789120e-01 -1.42539463e-01 0.00000000e+00 1.56889016e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51773263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.700371743 meters Centerline goodness : 0.989162 Centerline is valid? [True, True] Translation: X:175.84, Y:156.88, Z:0.15 [[-1.41950259e-01 -9.89873792e-01 0.00000000e+00 1.75836401e+02] [ 9.89873792e-01 -1.41950259e-01 0.00000000e+00 1.56884627e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52802960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.730371743 meters Centerline goodness : 0.988395 Centerline is valid? [True, True] Translation: X:175.84, Y:156.88, Z:0.15 [[-1.39814273e-01 -9.90177746e-01 0.00000000e+00 1.75837836e+02] [ 9.90177746e-01 -1.39814273e-01 0.00000000e+00 1.56878968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53232231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.760371743 meters Centerline goodness : 0.988851 Centerline is valid? [True, True] Translation: X:175.83, Y:156.91, Z:0.15 [[-1.39517304e-01 -9.90219633e-01 0.00000000e+00 1.75834734e+02] [ 9.90219633e-01 -1.39517304e-01 0.00000000e+00 1.56912074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53288797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.790371743 meters Centerline goodness : 0.989352 Centerline is valid? [True, True] Translation: X:175.84, Y:156.89, Z:0.15 [[-1.35407527e-01 -9.90789989e-01 0.00000000e+00 1.75836709e+02] [ 9.90789989e-01 -1.35407527e-01 0.00000000e+00 1.56887949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52337587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.820371743 meters Centerline goodness : 0.988324 Centerline is valid? [True, True] Translation: X:175.84, Y:156.88, Z:0.15 [[-1.34476810e-01 -9.90916741e-01 0.00000000e+00 1.75837105e+02] [ 9.90916741e-01 -1.34476810e-01 0.00000000e+00 1.56883841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53177413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.850371743 meters Centerline goodness : 0.988805 Centerline is valid? [True, True] Translation: X:175.84, Y:156.88, Z:0.15 [[-1.28324619e-01 -9.91732218e-01 0.00000000e+00 1.75836787e+02] [ 9.91732218e-01 -1.28324619e-01 0.00000000e+00 1.56880050e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54025334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.880371743 meters Centerline goodness : 0.988442 Centerline is valid? [True, True] Translation: X:175.84, Y:156.89, Z:0.15 [[-1.24247038e-01 -9.92251316e-01 0.00000000e+00 1.75837941e+02] [ 9.92251316e-01 -1.24247038e-01 0.00000000e+00 1.56886617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54413637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.910371743 meters Centerline goodness : 0.990372 Centerline is valid? [True, True] Translation: X:175.83, Y:156.90, Z:0.15 [[-1.21628539e-01 -9.92575689e-01 0.00000000e+00 1.75834589e+02] [ 9.92575689e-01 -1.21628539e-01 0.00000000e+00 1.56898417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54960186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.940371743 meters Centerline goodness : 0.989019 Centerline is valid? [True, True] Translation: X:175.80, Y:157.29, Z:0.15 [[-1.31124756e-01 -9.91365875e-01 0.00000000e+00 1.75801309e+02] [ 9.91365875e-01 -1.31124756e-01 0.00000000e+00 1.57285194e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54954385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.970371743 meters Centerline goodness : 0.989123 Centerline is valid? [True, True] Translation: X:175.80, Y:157.31, Z:0.15 [[-1.33296074e-01 -9.91076262e-01 0.00000000e+00 1.75798767e+02] [ 9.91076262e-01 -1.33296074e-01 0.00000000e+00 1.57313146e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53857486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.000371743 meters Centerline goodness : 0.988419 Centerline is valid? [True, True] Translation: X:175.79, Y:157.37, Z:0.16 [[-1.26206416e-01 -9.92004002e-01 0.00000000e+00 1.75793572e+02] [ 9.92004002e-01 -1.26206416e-01 0.00000000e+00 1.57369684e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55564134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.030371743 meters Centerline goodness : 0.988610 Centerline is valid? [True, True] Translation: X:175.79, Y:157.40, Z:0.16 [[-1.28580341e-01 -9.91699095e-01 0.00000000e+00 1.75789996e+02] [ 9.91699095e-01 -1.28580341e-01 0.00000000e+00 1.57403582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55032265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.060371743 meters Centerline goodness : 0.988469 Centerline is valid? [True, True] Translation: X:175.79, Y:157.40, Z:0.16 [[-1.26043886e-01 -9.92024666e-01 0.00000000e+00 1.75791707e+02] [ 9.92024666e-01 -1.26043886e-01 0.00000000e+00 1.57398414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55202000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.090371743 meters Centerline goodness : 0.984450 Centerline is valid? [True, True] Translation: X:175.74, Y:157.88, Z:0.15 [[-1.52439657e-01 -9.88312780e-01 0.00000000e+00 1.75737409e+02] [ 9.88312780e-01 -1.52439657e-01 0.00000000e+00 1.57883953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52404110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.120371743 meters Centerline goodness : 0.983633 Centerline is valid? [True, True] Translation: X:175.74, Y:157.91, Z:0.15 [[-1.49616312e-01 -9.88744132e-01 0.00000000e+00 1.75736200e+02] [ 9.88744132e-01 -1.49616312e-01 0.00000000e+00 1.57912746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50203733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.150371743 meters Centerline goodness : 0.988434 Centerline is valid? [True, True] Translation: X:175.79, Y:157.40, Z:0.15 [[-1.21148772e-01 -9.92634361e-01 0.00000000e+00 1.75793569e+02] [ 9.92634361e-01 -1.21148772e-01 0.00000000e+00 1.57399043e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48109973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.180371743 meters Centerline goodness : 0.983380 Centerline is valid? [True, True] Translation: X:175.74, Y:157.97, Z:0.15 [[-1.49990890e-01 -9.88687379e-01 0.00000000e+00 1.75735056e+02] [ 9.88687379e-01 -1.49990890e-01 0.00000000e+00 1.57971401e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49431834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.210371743 meters Centerline goodness : 0.987647 Centerline is valid? [True, True] Translation: X:175.83, Y:156.97, Z:0.15 [[-1.13624922e-01 -9.93523717e-01 0.00000000e+00 1.75832402e+02] [ 9.93523717e-01 -1.13624922e-01 0.00000000e+00 1.56967739e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50166394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.240371743 meters Centerline goodness : 0.992710 Centerline is valid? [True, True] Translation: X:175.82, Y:156.97, Z:0.15 [[-1.35375870e-01 -9.90794315e-01 0.00000000e+00 1.75821204e+02] [ 9.90794315e-01 -1.35375870e-01 0.00000000e+00 1.56967746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51419954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.270371743 meters Centerline goodness : 0.988513 Centerline is valid? [True, True] Translation: X:175.79, Y:157.51, Z:0.15 [[-1.32861680e-01 -9.91134589e-01 0.00000000e+00 1.75788909e+02] [ 9.91134589e-01 -1.32861680e-01 0.00000000e+00 1.57506109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52869567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.300371743 meters Centerline goodness : 0.988629 Centerline is valid? [True, True] Translation: X:175.83, Y:156.98, Z:0.15 [[-1.18449368e-01 -9.92960093e-01 0.00000000e+00 1.75833923e+02] [ 9.92960093e-01 -1.18449368e-01 0.00000000e+00 1.56984172e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52399989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.330371743 meters Centerline goodness : 0.988470 Centerline is valid? [True, True] Translation: X:175.79, Y:157.54, Z:0.15 [[-1.40165149e-01 -9.90128139e-01 0.00000000e+00 1.75788526e+02] [ 9.90128139e-01 -1.40165149e-01 0.00000000e+00 1.57535379e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52917647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36037174300003 meters Centerline goodness : 0.988066 Centerline is valid? [True, True] Translation: X:175.83, Y:157.01, Z:0.15 [[-1.25653334e-01 -9.92074211e-01 0.00000000e+00 1.75834070e+02] [ 9.92074211e-01 -1.25653334e-01 0.00000000e+00 1.57005217e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53044355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.390371743 meters Centerline goodness : 0.989410 Centerline is valid? [True, True] Translation: X:175.83, Y:157.00, Z:0.15 [[-1.27105138e-01 -9.91889250e-01 0.00000000e+00 1.75834352e+02] [ 9.91889250e-01 -1.27105138e-01 0.00000000e+00 1.57001254e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51388504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.420371743 meters Centerline goodness : 0.988980 Centerline is valid? [True, True] Translation: X:175.84, Y:157.00, Z:0.15 [[-1.29738658e-01 -9.91548224e-01 0.00000000e+00 1.75835363e+02] [ 9.91548224e-01 -1.29738658e-01 0.00000000e+00 1.57002420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52434387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.450371743 meters Centerline goodness : 0.989265 Centerline is valid? [True, True] Translation: X:175.84, Y:157.00, Z:0.15 [[-1.34256287e-01 -9.90946643e-01 0.00000000e+00 1.75837347e+02] [ 9.90946643e-01 -1.34256287e-01 0.00000000e+00 1.57004196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51937160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.480371743 meters Centerline goodness : 0.987964 Centerline is valid? [True, True] Translation: X:175.84, Y:157.02, Z:0.15 [[-1.36633609e-01 -9.90621652e-01 0.00000000e+00 1.75836997e+02] [ 9.90621652e-01 -1.36633609e-01 0.00000000e+00 1.57023549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52485277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.510371743 meters Centerline goodness : 0.989044 Centerline is valid? [True, True] Translation: X:175.84, Y:157.00, Z:0.15 [[-1.35715381e-01 -9.90747867e-01 0.00000000e+00 1.75839917e+02] [ 9.90747867e-01 -1.35715381e-01 0.00000000e+00 1.57004888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51675396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.540371743 meters Centerline goodness : 0.989335 Centerline is valid? [True, True] Translation: X:175.84, Y:157.00, Z:0.15 [[-1.35624110e-01 -9.90760365e-01 0.00000000e+00 1.75840635e+02] [ 9.90760365e-01 -1.35624110e-01 0.00000000e+00 1.57004846e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50959436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.570371743 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:175.84, Y:157.02, Z:0.15 [[-1.34766326e-01 -9.90877408e-01 0.00000000e+00 1.75840698e+02] [ 9.90877408e-01 -1.34766326e-01 0.00000000e+00 1.57016473e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49559339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.600371743 meters Centerline goodness : 0.988209 Centerline is valid? [True, True] Translation: X:175.84, Y:157.01, Z:0.15 [[-1.33388994e-01 -9.91063760e-01 0.00000000e+00 1.75842331e+02] [ 9.91063760e-01 -1.33388994e-01 0.00000000e+00 1.57010067e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51421166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.630371743 meters Centerline goodness : 0.987924 Centerline is valid? [True, True] Translation: X:175.84, Y:157.02, Z:0.15 [[-1.33354703e-01 -9.91068375e-01 0.00000000e+00 1.75841441e+02] [ 9.91068375e-01 -1.33354703e-01 0.00000000e+00 1.57024414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51287747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.660371743 meters Centerline goodness : 0.989238 Centerline is valid? [True, True] Translation: X:175.84, Y:157.02, Z:0.15 [[-1.30948180e-01 -9.91389214e-01 0.00000000e+00 1.75841764e+02] [ 9.91389214e-01 -1.30948180e-01 0.00000000e+00 1.57018536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50044186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.690371743 meters Centerline goodness : 0.989357 Centerline is valid? [True, True] Translation: X:175.84, Y:157.02, Z:0.15 [[-1.31001056e-01 -9.91382229e-01 0.00000000e+00 1.75842524e+02] [ 9.91382229e-01 -1.31001056e-01 0.00000000e+00 1.57020399e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50632943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.720371743 meters Centerline goodness : 0.988767 Centerline is valid? [True, True] Translation: X:175.84, Y:157.03, Z:0.15 [[-1.30614482e-01 -9.91433234e-01 0.00000000e+00 1.75842932e+02] [ 9.91433234e-01 -1.30614482e-01 0.00000000e+00 1.57029922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52227776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.750371743 meters Centerline goodness : 0.988656 Centerline is valid? [True, True] Translation: X:175.84, Y:157.03, Z:0.15 [[-1.30773354e-01 -9.91412291e-01 0.00000000e+00 1.75843005e+02] [ 9.91412291e-01 -1.30773354e-01 0.00000000e+00 1.57031268e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51421963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.780371743 meters Centerline goodness : 0.987963 Centerline is valid? [True, True] Translation: X:175.84, Y:157.03, Z:0.15 [[-1.30132194e-01 -9.91496653e-01 0.00000000e+00 1.75843714e+02] [ 9.91496653e-01 -1.30132194e-01 0.00000000e+00 1.57027972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51253837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.810371743 meters Centerline goodness : 0.987990 Centerline is valid? [True, True] Translation: X:175.84, Y:157.03, Z:0.15 [[-1.32451293e-01 -9.91189515e-01 0.00000000e+00 1.75843373e+02] [ 9.91189515e-01 -1.32451293e-01 0.00000000e+00 1.57034550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51160633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.840371743 meters Centerline goodness : 0.987055 Centerline is valid? [True, True] Translation: X:175.84, Y:157.05, Z:0.15 [[-1.33615178e-01 -9.91033291e-01 0.00000000e+00 1.75843146e+02] [ 9.91033291e-01 -1.33615178e-01 0.00000000e+00 1.57045531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50162657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.870371743 meters Centerline goodness : 0.988126 Centerline is valid? [True, True] Translation: X:175.84, Y:157.05, Z:0.15 [[-1.36411087e-01 -9.90652318e-01 0.00000000e+00 1.75843966e+02] [ 9.90652318e-01 -1.36411087e-01 0.00000000e+00 1.57049676e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49497614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.900371743 meters Centerline goodness : 0.987408 Centerline is valid? [True, True] Translation: X:175.84, Y:157.05, Z:0.15 [[-1.37393805e-01 -9.90516503e-01 0.00000000e+00 1.75844528e+02] [ 9.90516503e-01 -1.37393805e-01 0.00000000e+00 1.57050523e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47827462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.930371743 meters Centerline goodness : 0.989363 Centerline is valid? [True, True] Translation: X:175.84, Y:157.06, Z:0.15 [[-1.37922772e-01 -9.90442986e-01 0.00000000e+00 1.75844569e+02] [ 9.90442986e-01 -1.37922772e-01 0.00000000e+00 1.57060361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49889116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.960371743 meters Centerline goodness : 0.988737 Centerline is valid? [True, True] Translation: X:175.84, Y:157.05, Z:0.15 [[-1.39309982e-01 -9.90248822e-01 0.00000000e+00 1.75844586e+02] [ 9.90248822e-01 -1.39309982e-01 0.00000000e+00 1.57053691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50431580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.990371743 meters Centerline goodness : 0.988479 Centerline is valid? [True, True] Translation: X:175.84, Y:157.07, Z:0.15 [[-1.38520820e-01 -9.90359522e-01 0.00000000e+00 1.75844056e+02] [ 9.90359522e-01 -1.38520820e-01 0.00000000e+00 1.57066391e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50025378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.020371743 meters Centerline goodness : 0.987629 Centerline is valid? [True, True] Translation: X:175.85, Y:157.06, Z:0.15 [[-1.38748776e-01 -9.90327611e-01 0.00000000e+00 1.75845140e+02] [ 9.90327611e-01 -1.38748776e-01 0.00000000e+00 1.57057378e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51139090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.050371743 meters Centerline goodness : 0.988855 Centerline is valid? [True, True] Translation: X:175.85, Y:157.06, Z:0.15 [[-1.36671658e-01 -9.90616403e-01 0.00000000e+00 1.75845338e+02] [ 9.90616403e-01 -1.36671658e-01 0.00000000e+00 1.57061470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51419596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.080371743 meters Centerline goodness : 0.988550 Centerline is valid? [True, True] Translation: X:175.85, Y:157.07, Z:0.15 [[-1.36124614e-01 -9.90691723e-01 0.00000000e+00 1.75845307e+02] [ 9.90691723e-01 -1.36124614e-01 0.00000000e+00 1.57068687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51869374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11037174300003 meters Centerline goodness : 0.988516 Centerline is valid? [True, True] Translation: X:175.85, Y:157.06, Z:0.15 [[-1.36940961e-01 -9.90579211e-01 0.00000000e+00 1.75845818e+02] [ 9.90579211e-01 -1.36940961e-01 0.00000000e+00 1.57064506e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53594595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.140371743 meters Centerline goodness : 0.988331 Centerline is valid? [True, True] Translation: X:175.85, Y:157.07, Z:0.15 [[-1.36972509e-01 -9.90574849e-01 0.00000000e+00 1.75846693e+02] [ 9.90574849e-01 -1.36972509e-01 0.00000000e+00 1.57071476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54212371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.170371743 meters Centerline goodness : 0.987862 Centerline is valid? [True, True] Translation: X:175.85, Y:157.07, Z:0.15 [[-1.37659977e-01 -9.90479546e-01 0.00000000e+00 1.75848235e+02] [ 9.90479546e-01 -1.37659977e-01 0.00000000e+00 1.57074782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53467625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.200371743 meters Centerline goodness : 0.988119 Centerline is valid? [True, True] Translation: X:175.85, Y:157.08, Z:0.15 [[-1.38919287e-01 -9.90303707e-01 0.00000000e+00 1.75850379e+02] [ 9.90303707e-01 -1.38919287e-01 0.00000000e+00 1.57077850e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52475027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.230371743 meters Centerline goodness : 0.987929 Centerline is valid? [True, True] Translation: X:175.85, Y:157.09, Z:0.15 [[-1.39886629e-01 -9.90167527e-01 0.00000000e+00 1.75851349e+02] [ 9.90167527e-01 -1.39886629e-01 0.00000000e+00 1.57086229e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52492630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.260371743 meters Centerline goodness : 0.988796 Centerline is valid? [True, True] Translation: X:175.85, Y:157.08, Z:0.15 [[-1.42826457e-01 -9.89747747e-01 0.00000000e+00 1.75850973e+02] [ 9.89747747e-01 -1.42826457e-01 0.00000000e+00 1.57083956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50967088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.290371743 meters Centerline goodness : 0.988505 Centerline is valid? [True, True] Translation: X:175.81, Y:157.64, Z:0.15 [[-1.64137254e-01 -9.86437510e-01 0.00000000e+00 1.75811895e+02] [ 9.86437510e-01 -1.64137254e-01 0.00000000e+00 1.57640531e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49681522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.320371743 meters Centerline goodness : 0.987916 Centerline is valid? [True, True] Translation: X:175.82, Y:157.59, Z:0.15 [[-1.58724426e-01 -9.87322924e-01 0.00000000e+00 1.75818974e+02] [ 9.87322924e-01 -1.58724426e-01 0.00000000e+00 1.57590420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48608489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.350371743 meters Centerline goodness : 0.990962 Centerline is valid? [True, True] Translation: X:175.84, Y:157.12, Z:0.15 [[-1.61893149e-01 -9.86808294e-01 0.00000000e+00 1.75842027e+02] [ 9.86808294e-01 -1.61893149e-01 0.00000000e+00 1.57118504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47617312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.380371743 meters Centerline goodness : 0.986833 Centerline is valid? [True, True] Translation: X:175.82, Y:157.65, Z:0.15 [[-1.60136259e-01 -9.87094919e-01 0.00000000e+00 1.75817274e+02] [ 9.87094919e-01 -1.60136259e-01 0.00000000e+00 1.57652541e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48352940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.410371743 meters Centerline goodness : 0.986884 Centerline is valid? [True, True] Translation: X:175.81, Y:157.69, Z:0.15 [[-1.64339476e-01 -9.86403841e-01 0.00000000e+00 1.75813579e+02] [ 9.86403841e-01 -1.64339476e-01 0.00000000e+00 1.57693276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47834024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.440371743 meters Centerline goodness : 0.985454 Centerline is valid? [True, True] Translation: X:175.83, Y:157.60, Z:0.15 [[-1.48415396e-01 -9.88925108e-01 0.00000000e+00 1.75826978e+02] [ 9.88925108e-01 -1.48415396e-01 0.00000000e+00 1.57599927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49973418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.470371743 meters Centerline goodness : 0.987052 Centerline is valid? [True, True] Translation: X:175.82, Y:157.60, Z:0.15 [[-1.53081629e-01 -9.88213547e-01 0.00000000e+00 1.75824971e+02] [ 9.88213547e-01 -1.53081629e-01 0.00000000e+00 1.57601504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49476408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.500371743 meters Centerline goodness : 0.986017 Centerline is valid? [True, True] Translation: X:175.83, Y:157.60, Z:0.15 [[-1.46695054e-01 -9.89181763e-01 0.00000000e+00 1.75828739e+02] [ 9.89181763e-01 -1.46695054e-01 0.00000000e+00 1.57599970e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50666331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.530371743 meters Centerline goodness : 0.988748 Centerline is valid? [True, True] Translation: X:175.84, Y:157.49, Z:0.15 [[-1.39155364e-01 -9.90270561e-01 0.00000000e+00 1.75836517e+02] [ 9.90270561e-01 -1.39155364e-01 0.00000000e+00 1.57486570e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49408727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.560371743 meters Centerline goodness : 0.986495 Centerline is valid? [True, True] Translation: X:175.83, Y:157.61, Z:0.15 [[-1.44386506e-01 -9.89521368e-01 0.00000000e+00 1.75830726e+02] [ 9.89521368e-01 -1.44386506e-01 0.00000000e+00 1.57606738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51987693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.590371743 meters Centerline goodness : 0.986495 Centerline is valid? [True, True] Translation: X:175.83, Y:157.61, Z:0.15 [[-1.43673299e-01 -9.89625173e-01 0.00000000e+00 1.75830491e+02] [ 9.89625173e-01 -1.43673299e-01 0.00000000e+00 1.57610359e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51987693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.620371743 meters Centerline goodness : 0.986219 Centerline is valid? [True, True] Translation: X:175.83, Y:157.59, Z:0.15 [[-1.38665349e-01 -9.90339296e-01 0.00000000e+00 1.75834011e+02] [ 9.90339296e-01 -1.38665349e-01 0.00000000e+00 1.57590511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53230386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.650371743 meters Centerline goodness : 0.985368 Centerline is valid? [True, True] Translation: X:175.86, Y:157.13, Z:0.15 [[-1.20012061e-01 -9.92772434e-01 0.00000000e+00 1.75862351e+02] [ 9.92772434e-01 -1.20012061e-01 0.00000000e+00 1.57128931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53887482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.680371743 meters Centerline goodness : 0.985410 Centerline is valid? [True, True] Translation: X:175.83, Y:157.67, Z:0.15 [[-1.41610617e-01 -9.89922438e-01 0.00000000e+00 1.75831632e+02] [ 9.89922438e-01 -1.41610617e-01 0.00000000e+00 1.57668028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53121074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.710371743 meters Centerline goodness : 0.985200 Centerline is valid? [True, True] Translation: X:175.84, Y:157.60, Z:0.15 [[-1.33354150e-01 -9.91068449e-01 0.00000000e+00 1.75839575e+02] [ 9.91068449e-01 -1.33354150e-01 0.00000000e+00 1.57600747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51713956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.740371743 meters Centerline goodness : 0.985128 Centerline is valid? [True, True] Translation: X:175.84, Y:157.61, Z:0.15 [[-1.35944387e-01 -9.90716470e-01 0.00000000e+00 1.75840443e+02] [ 9.90716470e-01 -1.35944387e-01 0.00000000e+00 1.57612004e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49565450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.770371743 meters Centerline goodness : 0.985065 Centerline is valid? [True, True] Translation: X:175.84, Y:157.61, Z:0.15 [[-1.35073335e-01 -9.90835604e-01 0.00000000e+00 1.75842290e+02] [ 9.90835604e-01 -1.35073335e-01 0.00000000e+00 1.57606809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48500103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.800371743 meters Centerline goodness : 0.985965 Centerline is valid? [True, True] Translation: X:175.84, Y:157.60, Z:0.15 [[-1.32564835e-01 -9.91174336e-01 0.00000000e+00 1.75844870e+02] [ 9.91174336e-01 -1.32564835e-01 0.00000000e+00 1.57599826e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50859098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.830371743 meters Centerline goodness : 0.983977 Centerline is valid? [True, True] Translation: X:175.84, Y:157.63, Z:0.15 [[-1.34694947e-01 -9.90887113e-01 0.00000000e+00 1.75844601e+02] [ 9.90887113e-01 -1.34694947e-01 0.00000000e+00 1.57631255e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48110565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86037174300003 meters Centerline goodness : 0.983768 Centerline is valid? [True, True] Translation: X:175.87, Y:157.15, Z:0.15 [[-1.10625355e-01 -9.93862179e-01 0.00000000e+00 1.75873256e+02] [ 9.93862179e-01 -1.10625355e-01 0.00000000e+00 1.57152401e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51515842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.890371743 meters Centerline goodness : 0.985280 Centerline is valid? [True, True] Translation: X:175.84, Y:157.66, Z:0.15 [[-1.36605738e-01 -9.90625495e-01 0.00000000e+00 1.75842432e+02] [ 9.90625495e-01 -1.36605738e-01 0.00000000e+00 1.57661808e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50179020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.920371743 meters Centerline goodness : 0.988939 Centerline is valid? [True, True] Translation: X:175.86, Y:157.20, Z:0.15 [[-1.37059749e-01 -9.90562782e-01 0.00000000e+00 1.75859116e+02] [ 9.90562782e-01 -1.37059749e-01 0.00000000e+00 1.57202161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48041973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.950371743 meters Centerline goodness : 0.984350 Centerline is valid? [True, True] Translation: X:175.85, Y:157.67, Z:0.15 [[-1.33399371e-01 -9.91062363e-01 0.00000000e+00 1.75846416e+02] [ 9.91062363e-01 -1.33399371e-01 0.00000000e+00 1.57673844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50830684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.980371743 meters Centerline goodness : 0.988361 Centerline is valid? [True, True] Translation: X:175.86, Y:157.21, Z:0.15 [[-1.40004623e-01 -9.90150850e-01 0.00000000e+00 1.75861154e+02] [ 9.90150850e-01 -1.40004623e-01 0.00000000e+00 1.57211263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48407662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.010371743 meters Centerline goodness : 0.978760 Centerline is valid? [True, True] Translation: X:175.81, Y:158.28, Z:0.15 [[-1.56691316e-01 -9.87647625e-01 0.00000000e+00 1.75814226e+02] [ 9.87647625e-01 -1.56691316e-01 0.00000000e+00 1.58283429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54218111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.040371743 meters Centerline goodness : 0.979725 Centerline is valid? [True, True] Translation: X:175.81, Y:158.29, Z:0.15 [[-1.59289611e-01 -9.87231898e-01 0.00000000e+00 1.75814676e+02] [ 9.87231898e-01 -1.59289611e-01 0.00000000e+00 1.58293495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53536474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.070371743 meters Centerline goodness : 0.988304 Centerline is valid? [True, True] Translation: X:175.86, Y:157.25, Z:0.15 [[-1.39968603e-01 -9.90155942e-01 0.00000000e+00 1.75858282e+02] [ 9.90155942e-01 -1.39968603e-01 0.00000000e+00 1.57251618e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47722827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.100371743 meters Centerline goodness : 0.980193 Centerline is valid? [True, True] Translation: X:175.82, Y:158.31, Z:0.15 [[-1.56677942e-01 -9.87649747e-01 0.00000000e+00 1.75819153e+02] [ 9.87649747e-01 -1.56677942e-01 0.00000000e+00 1.58307952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53091776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.130371743 meters Centerline goodness : 0.981994 Centerline is valid? [True, True] Translation: X:175.87, Y:157.24, Z:0.15 [[-1.04791911e-01 -9.94494171e-01 0.00000000e+00 1.75870793e+02] [ 9.94494171e-01 -1.04791911e-01 0.00000000e+00 1.57241153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50930706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.160371743 meters Centerline goodness : 0.982185 Centerline is valid? [True, True] Translation: X:175.87, Y:157.24, Z:0.15 [[-1.05038436e-01 -9.94468163e-01 0.00000000e+00 1.75871889e+02] [ 9.94468163e-01 -1.05038436e-01 0.00000000e+00 1.57239719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51906046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.190371743 meters Centerline goodness : 0.982010 Centerline is valid? [True, True] Translation: X:175.85, Y:157.75, Z:0.15 [[-1.26241756e-01 -9.91999506e-01 0.00000000e+00 1.75853515e+02] [ 9.91999506e-01 -1.26241756e-01 0.00000000e+00 1.57747527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53317461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.220371743 meters Centerline goodness : 0.989370 Centerline is valid? [True, True] Translation: X:175.86, Y:157.28, Z:0.15 [[-1.29625454e-01 -9.91563030e-01 0.00000000e+00 1.75857820e+02] [ 9.91563030e-01 -1.29625454e-01 0.00000000e+00 1.57275962e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46746853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.250371743 meters Centerline goodness : 0.987928 Centerline is valid? [True, True] Translation: X:175.86, Y:157.28, Z:0.15 [[-1.28326227e-01 -9.91732010e-01 0.00000000e+00 1.75858396e+02] [ 9.91732010e-01 -1.28326227e-01 0.00000000e+00 1.57278475e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49132020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.280371743 meters Centerline goodness : 0.980381 Centerline is valid? [True, True] Translation: X:175.86, Y:157.77, Z:0.16 [[-1.18965840e-01 -9.92898348e-01 0.00000000e+00 1.75857867e+02] [ 9.92898348e-01 -1.18965840e-01 0.00000000e+00 1.57771287e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55408734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.310371743 meters Centerline goodness : 0.982042 Centerline is valid? [True, True] Translation: X:175.86, Y:157.71, Z:0.16 [[-1.18312659e-01 -9.92976392e-01 0.00000000e+00 1.75859488e+02] [ 9.92976392e-01 -1.18312659e-01 0.00000000e+00 1.57711701e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55172914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.340371743 meters Centerline goodness : 0.989197 Centerline is valid? [True, True] Translation: X:175.86, Y:157.29, Z:0.15 [[-1.22415363e-01 -9.92478956e-01 0.00000000e+00 1.75860684e+02] [ 9.92478956e-01 -1.22415363e-01 0.00000000e+00 1.57289836e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49327711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.370371743 meters Centerline goodness : 0.980437 Centerline is valid? [True, True] Translation: X:175.84, Y:158.27, Z:0.15 [[-1.32580956e-01 -9.91172180e-01 0.00000000e+00 1.75836935e+02] [ 9.91172180e-01 -1.32580956e-01 0.00000000e+00 1.58265805e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54971493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.400371743 meters Centerline goodness : 0.982204 Centerline is valid? [True, True] Translation: X:175.86, Y:157.74, Z:0.16 [[-1.00423903e-01 -9.94944742e-01 0.00000000e+00 1.75858046e+02] [ 9.94944742e-01 -1.00423903e-01 0.00000000e+00 1.57737537e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55902193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.430371743 meters Centerline goodness : 0.987775 Centerline is valid? [True, True] Translation: X:175.85, Y:157.32, Z:0.15 [[-1.05087827e-01 -9.94462945e-01 0.00000000e+00 1.75853410e+02] [ 9.94462945e-01 -1.05087827e-01 0.00000000e+00 1.57320116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48418817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.460371743 meters Centerline goodness : 0.982631 Centerline is valid? [True, True] Translation: X:175.86, Y:157.79, Z:0.15 [[-9.68235579e-02 -9.95301562e-01 0.00000000e+00 1.75857281e+02] [ 9.95301562e-01 -9.68235579e-02 0.00000000e+00 1.57786457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53204873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.490371743 meters Centerline goodness : 0.983111 Centerline is valid? [True, True] Translation: X:175.86, Y:157.72, Z:0.15 [[-8.44984383e-02 -9.96423612e-01 0.00000000e+00 1.75861056e+02] [ 9.96423612e-01 -8.44984383e-02 0.00000000e+00 1.57720583e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54315970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.520371743 meters Centerline goodness : 0.979646 Centerline is valid? [True, True] Translation: X:175.84, Y:158.36, Z:0.15 [[-1.12337515e-01 -9.93670108e-01 0.00000000e+00 1.75840546e+02] [ 9.93670108e-01 -1.12337515e-01 0.00000000e+00 1.58361305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54236128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.550371743 meters Centerline goodness : 0.979770 Centerline is valid? [True, True] Translation: X:175.84, Y:158.36, Z:0.15 [[-1.03229397e-01 -9.94657575e-01 0.00000000e+00 1.75840366e+02] [ 9.94657575e-01 -1.03229397e-01 0.00000000e+00 1.58363168e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53362071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.580371743 meters Centerline goodness : 0.980771 Centerline is valid? [True, True] Translation: X:175.84, Y:158.31, Z:0.15 [[-1.02474727e-01 -9.94735608e-01 0.00000000e+00 1.75838763e+02] [ 9.94735608e-01 -1.02474727e-01 0.00000000e+00 1.58305827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48817398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61037174300003 meters Centerline goodness : 0.979764 Centerline is valid? [True, True] Translation: X:175.84, Y:158.39, Z:0.15 [[-8.67284040e-02 -9.96231993e-01 0.00000000e+00 1.75840886e+02] [ 9.96231993e-01 -8.67284040e-02 0.00000000e+00 1.58389079e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49533398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.640371743 meters Centerline goodness : 0.980224 Centerline is valid? [True, True] Translation: X:175.84, Y:158.38, Z:0.15 [[-7.88020023e-02 -9.96890287e-01 0.00000000e+00 1.75841174e+02] [ 9.96890287e-01 -7.88020023e-02 0.00000000e+00 1.58382978e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48927121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.670371743 meters Centerline goodness : 0.980124 Centerline is valid? [True, True] Translation: X:175.84, Y:158.39, Z:0.15 [[-7.13607505e-02 -9.97450572e-01 0.00000000e+00 1.75842281e+02] [ 9.97450572e-01 -7.13607505e-02 0.00000000e+00 1.58385943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50846974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.700371743 meters Centerline goodness : 0.981492 Centerline is valid? [True, True] Translation: X:175.85, Y:157.68, Z:0.15 [[-2.09983513e-02 -9.99779510e-01 0.00000000e+00 1.75849652e+02] [ 9.99779510e-01 -2.09983513e-02 0.00000000e+00 1.57684740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49553262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.730371743 meters Centerline goodness : 0.981288 Centerline is valid? [True, True] Translation: X:175.85, Y:157.71, Z:0.15 [[-1.82494311e-02 -9.99833465e-01 0.00000000e+00 1.75851085e+02] [ 9.99833465e-01 -1.82494311e-02 0.00000000e+00 1.57710805e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52851212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.760371743 meters Centerline goodness : 0.981366 Centerline is valid? [True, True] Translation: X:175.84, Y:157.72, Z:0.15 [[-2.39580881e-02 -9.99712964e-01 0.00000000e+00 1.75843479e+02] [ 9.99712964e-01 -2.39580881e-02 0.00000000e+00 1.57724279e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50630275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.790371743 meters Centerline goodness : 0.981776 Centerline is valid? [True, True] Translation: X:175.85, Y:157.75, Z:0.15 [[-2.29943775e-02 -9.99735594e-01 0.00000000e+00 1.75846697e+02] [ 9.99735594e-01 -2.29943775e-02 0.00000000e+00 1.57751250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54447785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.820371743 meters Centerline goodness : 0.981915 Centerline is valid? [True, True] Translation: X:175.86, Y:157.79, Z:0.15 [[-1.78328298e-02 -9.99840982e-01 0.00000000e+00 1.75856060e+02] [ 9.99840982e-01 -1.78328298e-02 0.00000000e+00 1.57787535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52996944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.850371743 meters Centerline goodness : 0.982981 Centerline is valid? [True, True] Translation: X:175.86, Y:157.82, Z:0.15 [[-1.94506745e-02 -9.99810818e-01 0.00000000e+00 1.75856437e+02] [ 9.99810818e-01 -1.94506745e-02 0.00000000e+00 1.57816355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53213386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.880371743 meters Centerline goodness : 0.980370 Centerline is valid? [True, True] Translation: X:175.86, Y:157.84, Z:0.16 [[-1.94149023e-02 -9.99811513e-01 0.00000000e+00 1.75859753e+02] [ 9.99811513e-01 -1.94149023e-02 0.00000000e+00 1.57838886e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55234695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.910371743 meters Centerline goodness : 0.981011 Centerline is valid? [True, True] Translation: X:175.86, Y:157.87, Z:0.15 [[-2.36292608e-02 -9.99720790e-01 0.00000000e+00 1.75861828e+02] [ 9.99720790e-01 -2.36292608e-02 0.00000000e+00 1.57872247e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51204641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.940371743 meters Centerline goodness : 0.980653 Centerline is valid? [True, True] Translation: X:175.86, Y:157.89, Z:0.15 [[-3.53217972e-02 -9.99375991e-01 0.00000000e+00 1.75856928e+02] [ 9.99375991e-01 -3.53217972e-02 0.00000000e+00 1.57888299e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53444435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.970371743 meters Centerline goodness : 0.980029 Centerline is valid? [True, True] Translation: X:175.86, Y:157.92, Z:0.15 [[-3.99500999e-02 -9.99201676e-01 0.00000000e+00 1.75858920e+02] [ 9.99201676e-01 -3.99500999e-02 0.00000000e+00 1.57915043e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50970126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.000371743 meters Centerline goodness : 0.981945 Centerline is valid? [True, True] Translation: X:175.87, Y:157.95, Z:0.15 [[-3.77998580e-02 -9.99285330e-01 0.00000000e+00 1.75869497e+02] [ 9.99285330e-01 -3.77998580e-02 0.00000000e+00 1.57951184e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48677172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.030371743 meters Centerline goodness : 0.980363 Centerline is valid? [True, True] Translation: X:175.87, Y:157.97, Z:0.15 [[-5.02186286e-02 -9.98738249e-01 0.00000000e+00 1.75866183e+02] [ 9.98738249e-01 -5.02186286e-02 0.00000000e+00 1.57966662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50606640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.060371743 meters Centerline goodness : 0.980741 Centerline is valid? [True, True] Translation: X:175.87, Y:157.99, Z:0.15 [[-5.26849965e-02 -9.98611181e-01 0.00000000e+00 1.75869315e+02] [ 9.98611181e-01 -5.26849965e-02 0.00000000e+00 1.57994241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51155779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.090371743 meters Centerline goodness : 0.982166 Centerline is valid? [True, True] Translation: X:175.88, Y:158.03, Z:0.15 [[-5.15152708e-02 -9.98672207e-01 0.00000000e+00 1.75881579e+02] [ 9.98672207e-01 -5.15152708e-02 0.00000000e+00 1.58029312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51091632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.120371743 meters Centerline goodness : 0.981412 Centerline is valid? [True, True] Translation: X:175.88, Y:158.06, Z:0.15 [[-5.42092135e-02 -9.98529600e-01 0.00000000e+00 1.75883885e+02] [ 9.98529600e-01 -5.42092135e-02 0.00000000e+00 1.58058198e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51242658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.150371743 meters Centerline goodness : 0.983378 Centerline is valid? [True, True] Translation: X:175.88, Y:158.08, Z:0.15 [[-5.81887414e-02 -9.98305600e-01 0.00000000e+00 1.75883090e+02] [ 9.98305600e-01 -5.81887414e-02 0.00000000e+00 1.58084329e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49199276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.180371743 meters Centerline goodness : 0.984049 Centerline is valid? [True, True] Translation: X:175.89, Y:158.11, Z:0.15 [[-5.82442673e-02 -9.98302362e-01 0.00000000e+00 1.75890063e+02] [ 9.98302362e-01 -5.82442673e-02 0.00000000e+00 1.58112495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49018725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.210371743 meters Centerline goodness : 0.983302 Centerline is valid? [True, True] Translation: X:175.89, Y:158.14, Z:0.15 [[-6.12515021e-02 -9.98122364e-01 0.00000000e+00 1.75889788e+02] [ 9.98122364e-01 -6.12515021e-02 0.00000000e+00 1.58137981e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53113406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.240371743 meters Centerline goodness : 0.982228 Centerline is valid? [True, True] Translation: X:175.90, Y:158.17, Z:0.15 [[-5.81575286e-02 -9.98307419e-01 0.00000000e+00 1.75898239e+02] [ 9.98307419e-01 -5.81575286e-02 0.00000000e+00 1.58167973e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53416444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.270371743 meters Centerline goodness : 0.983736 Centerline is valid? [True, True] Translation: X:175.90, Y:158.19, Z:0.15 [[-5.96791731e-02 -9.98217610e-01 0.00000000e+00 1.75898167e+02] [ 9.98217610e-01 -5.96791731e-02 0.00000000e+00 1.58192228e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50796160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.300371743 meters Centerline goodness : 0.982695 Centerline is valid? [True, True] Translation: X:175.90, Y:158.22, Z:0.15 [[-5.64795441e-02 -9.98403757e-01 0.00000000e+00 1.75901856e+02] [ 9.98403757e-01 -5.64795441e-02 0.00000000e+00 1.58216774e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52324520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.330371743 meters Centerline goodness : 0.983226 Centerline is valid? [True, True] Translation: X:175.90, Y:158.25, Z:0.15 [[-5.49542410e-02 -9.98488874e-01 0.00000000e+00 1.75903693e+02] [ 9.98488874e-01 -5.49542410e-02 0.00000000e+00 1.58247073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52013607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36037174300003 meters Centerline goodness : 0.983834 Centerline is valid? [True, True] Translation: X:175.90, Y:158.27, Z:0.15 [[-5.37738641e-02 -9.98553139e-01 0.00000000e+00 1.75903925e+02] [ 9.98553139e-01 -5.37738641e-02 0.00000000e+00 1.58272665e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51835593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.390371743 meters Centerline goodness : 0.984042 Centerline is valid? [True, True] Translation: X:175.91, Y:158.30, Z:0.15 [[-5.18651560e-02 -9.98654097e-01 0.00000000e+00 1.75905834e+02] [ 9.98654097e-01 -5.18651560e-02 0.00000000e+00 1.58299478e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52629426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.420371743 meters Centerline goodness : 0.983330 Centerline is valid? [True, True] Translation: X:175.91, Y:158.33, Z:0.15 [[-5.02344422e-02 -9.98737453e-01 0.00000000e+00 1.75908076e+02] [ 9.98737453e-01 -5.02344422e-02 0.00000000e+00 1.58327106e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52117576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.450371743 meters Centerline goodness : 0.984062 Centerline is valid? [True, True] Translation: X:175.91, Y:158.35, Z:0.15 [[-5.04702067e-02 -9.98725567e-01 0.00000000e+00 1.75909166e+02] [ 9.98725567e-01 -5.04702067e-02 0.00000000e+00 1.58354969e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51693420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.480371743 meters Centerline goodness : 0.984062 Centerline is valid? [True, True] Translation: X:175.91, Y:158.38, Z:0.15 [[-5.08019473e-02 -9.98708747e-01 0.00000000e+00 1.75909750e+02] [ 9.98708747e-01 -5.08019473e-02 0.00000000e+00 1.58383351e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51693420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.510371743 meters Centerline goodness : 0.981342 Centerline is valid? [True, True] Translation: X:175.91, Y:158.40, Z:0.15 [[-5.37415568e-02 -9.98554878e-01 0.00000000e+00 1.75905615e+02] [ 9.98554878e-01 -5.37415568e-02 0.00000000e+00 1.58400395e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52465162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.540371743 meters Centerline goodness : 0.983569 Centerline is valid? [True, True] Translation: X:175.91, Y:158.44, Z:0.15 [[-4.73711413e-02 -9.98877357e-01 0.00000000e+00 1.75914839e+02] [ 9.98877357e-01 -4.73711413e-02 0.00000000e+00 1.58436151e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52122125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.570371743 meters Centerline goodness : 0.981690 Centerline is valid? [True, True] Translation: X:175.92, Y:158.47, Z:0.15 [[-4.53867882e-02 -9.98969489e-01 0.00000000e+00 1.75918519e+02] [ 9.98969489e-01 -4.53867882e-02 0.00000000e+00 1.58466163e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51913266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.600371743 meters Centerline goodness : 0.981973 Centerline is valid? [True, True] Translation: X:175.92, Y:158.49, Z:0.15 [[-4.47181992e-02 -9.98999641e-01 0.00000000e+00 1.75920726e+02] [ 9.98999641e-01 -4.47181992e-02 0.00000000e+00 1.58492535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51631595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.630371743 meters Centerline goodness : 0.982242 Centerline is valid? [True, True] Translation: X:175.92, Y:158.52, Z:0.15 [[-4.72405318e-02 -9.98883543e-01 0.00000000e+00 1.75921389e+02] [ 9.98883543e-01 -4.72405318e-02 0.00000000e+00 1.58518709e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49797392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.660371743 meters Centerline goodness : 0.980708 Centerline is valid? [True, True] Translation: X:175.92, Y:158.55, Z:0.15 [[-4.63359729e-02 -9.98925912e-01 0.00000000e+00 1.75924791e+02] [ 9.98925912e-01 -4.63359729e-02 0.00000000e+00 1.58550696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49867905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.690371743 meters Centerline goodness : 0.981349 Centerline is valid? [True, True] Translation: X:175.93, Y:158.57, Z:0.15 [[-4.85671888e-02 -9.98819918e-01 0.00000000e+00 1.75925318e+02] [ 9.98819918e-01 -4.85671888e-02 0.00000000e+00 1.58574953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49812535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.720371743 meters Centerline goodness : 0.984284 Centerline is valid? [True, True] Translation: X:175.92, Y:158.60, Z:0.15 [[-5.24156265e-02 -9.98625356e-01 0.00000000e+00 1.75924478e+02] [ 9.98625356e-01 -5.24156265e-02 0.00000000e+00 1.58604031e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48492550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.750371743 meters Centerline goodness : 0.982625 Centerline is valid? [True, True] Translation: X:175.92, Y:158.62, Z:0.15 [[-6.03086520e-02 -9.98179777e-01 0.00000000e+00 1.75918925e+02] [ 9.98179777e-01 -6.03086520e-02 0.00000000e+00 1.58617984e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46894331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.780371743 meters Centerline goodness : 0.983304 Centerline is valid? [True, True] Translation: X:175.92, Y:158.65, Z:0.15 [[-6.16241130e-02 -9.98099428e-01 0.00000000e+00 1.75920240e+02] [ 9.98099428e-01 -6.16241130e-02 0.00000000e+00 1.58645807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47075810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.810371743 meters Centerline goodness : 0.982997 Centerline is valid? [True, True] Translation: X:175.93, Y:158.68, Z:0.15 [[-5.63034664e-02 -9.98413702e-01 0.00000000e+00 1.75931091e+02] [ 9.98413702e-01 -5.63034664e-02 0.00000000e+00 1.58683202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48571391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.840371743 meters Centerline goodness : 0.981277 Centerline is valid? [True, True] Translation: X:175.93, Y:158.70, Z:0.15 [[-6.00883635e-02 -9.98193062e-01 0.00000000e+00 1.75926237e+02] [ 9.98193062e-01 -6.00883635e-02 0.00000000e+00 1.58697653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50898707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.870371743 meters Centerline goodness : 0.982976 Centerline is valid? [True, True] Translation: X:175.93, Y:158.72, Z:0.15 [[-6.03284380e-02 -9.98178581e-01 0.00000000e+00 1.75927713e+02] [ 9.98178581e-01 -6.03284380e-02 0.00000000e+00 1.58724448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47812581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.900371743 meters Centerline goodness : 0.982335 Centerline is valid? [True, True] Translation: X:175.93, Y:158.75, Z:0.15 [[-6.10723156e-02 -9.98133344e-01 0.00000000e+00 1.75929020e+02] [ 9.98133344e-01 -6.10723156e-02 0.00000000e+00 1.58752432e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50808196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.930371743 meters Centerline goodness : 0.983115 Centerline is valid? [True, True] Translation: X:175.93, Y:158.78, Z:0.15 [[-6.00635416e-02 -9.98194556e-01 0.00000000e+00 1.75931288e+02] [ 9.98194556e-01 -6.00635416e-02 0.00000000e+00 1.58778843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47139885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.960371743 meters Centerline goodness : 0.983338 Centerline is valid? [True, True] Translation: X:175.94, Y:158.82, Z:0.15 [[-5.40356101e-02 -9.98539009e-01 0.00000000e+00 1.75942701e+02] [ 9.98539009e-01 -5.40356101e-02 0.00000000e+00 1.58818565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48168820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.990371743 meters Centerline goodness : 0.983519 Centerline is valid? [True, True] Translation: X:175.94, Y:158.84, Z:0.14 [[-5.49777673e-02 -9.98487579e-01 0.00000000e+00 1.75943205e+02] [ 9.98487579e-01 -5.49777673e-02 0.00000000e+00 1.58844995e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44919525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.020371743 meters Centerline goodness : 0.982487 Centerline is valid? [True, True] Translation: X:175.95, Y:158.87, Z:0.15 [[-5.49212643e-02 -9.98490688e-01 0.00000000e+00 1.75946206e+02] [ 9.98490688e-01 -5.49212643e-02 0.00000000e+00 1.58873558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47293829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.050371743 meters Centerline goodness : 0.981333 Centerline is valid? [True, True] Translation: X:175.95, Y:158.90, Z:0.15 [[-5.55296167e-02 -9.98457040e-01 0.00000000e+00 1.75947202e+02] [ 9.98457040e-01 -5.55296167e-02 0.00000000e+00 1.58900902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48538464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.080371743 meters Centerline goodness : 0.980638 Centerline is valid? [True, True] Translation: X:175.95, Y:158.93, Z:0.15 [[-5.58844730e-02 -9.98437242e-01 0.00000000e+00 1.75947594e+02] [ 9.98437242e-01 -5.58844730e-02 0.00000000e+00 1.58926216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50071208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11037174300003 meters Centerline goodness : 0.982147 Centerline is valid? [True, True] Translation: X:175.95, Y:158.95, Z:0.15 [[-5.52564473e-02 -9.98472195e-01 0.00000000e+00 1.75946272e+02] [ 9.98472195e-01 -5.52564473e-02 0.00000000e+00 1.58952233e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51911546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.140371743 meters Centerline goodness : 0.982706 Centerline is valid? [True, True] Translation: X:175.95, Y:158.98, Z:0.15 [[-5.58417322e-02 -9.98439633e-01 0.00000000e+00 1.75946614e+02] [ 9.98439633e-01 -5.58417322e-02 0.00000000e+00 1.58981721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53450522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.170371743 meters Centerline goodness : 0.988083 Centerline is valid? [True, True] Translation: X:175.94, Y:159.01, Z:0.15 [[-6.71079204e-02 -9.97745723e-01 0.00000000e+00 1.75939367e+02] [ 9.97745723e-01 -6.71079204e-02 0.00000000e+00 1.59009840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47337552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.200371743 meters Centerline goodness : 0.982665 Centerline is valid? [True, True] Translation: X:175.95, Y:159.04, Z:0.15 [[-5.76717351e-02 -9.98335600e-01 0.00000000e+00 1.75948135e+02] [ 9.98335600e-01 -5.76717351e-02 0.00000000e+00 1.59035716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51278812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.230371743 meters Centerline goodness : 0.983554 Centerline is valid? [True, True] Translation: X:175.95, Y:159.06, Z:0.15 [[-6.14786435e-02 -9.98108399e-01 0.00000000e+00 1.75948085e+02] [ 9.98108399e-01 -6.14786435e-02 0.00000000e+00 1.59064746e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52040723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.260371743 meters Centerline goodness : 0.982048 Centerline is valid? [True, True] Translation: X:175.95, Y:159.09, Z:0.15 [[-5.88327373e-02 -9.98267854e-01 0.00000000e+00 1.75952002e+02] [ 9.98267854e-01 -5.88327373e-02 0.00000000e+00 1.59091793e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52882274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.290371743 meters Centerline goodness : 0.982845 Centerline is valid? [True, True] Translation: X:175.95, Y:159.12, Z:0.15 [[-6.19725152e-02 -9.98077856e-01 0.00000000e+00 1.75952574e+02] [ 9.98077856e-01 -6.19725152e-02 0.00000000e+00 1.59120369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52578778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.320371743 meters Centerline goodness : 0.982873 Centerline is valid? [True, True] Translation: X:175.96, Y:159.15, Z:0.16 [[-6.31031793e-02 -9.98007008e-01 0.00000000e+00 1.75955619e+02] [ 9.98007008e-01 -6.31031793e-02 0.00000000e+00 1.59149018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55191292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.350371743 meters Centerline goodness : 0.982372 Centerline is valid? [True, True] Translation: X:175.96, Y:159.18, Z:0.15 [[-6.66207164e-02 -9.97778372e-01 0.00000000e+00 1.75956078e+02] [ 9.97778372e-01 -6.66207164e-02 0.00000000e+00 1.59178208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52672102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.380371743 meters Centerline goodness : 0.988306 Centerline is valid? [True, True] Translation: X:175.95, Y:159.21, Z:0.15 [[-7.97775151e-02 -9.96812695e-01 0.00000000e+00 1.75949703e+02] [ 9.96812695e-01 -7.97775151e-02 0.00000000e+00 1.59205281e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47935088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.410371743 meters Centerline goodness : 0.982298 Centerline is valid? [True, True] Translation: X:175.96, Y:159.23, Z:0.15 [[-6.95936433e-02 -9.97575423e-01 0.00000000e+00 1.75961040e+02] [ 9.97575423e-01 -6.95936433e-02 0.00000000e+00 1.59234802e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51045298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.440371743 meters Centerline goodness : 0.980995 Centerline is valid? [True, True] Translation: X:175.95, Y:159.25, Z:0.15 [[-7.77366812e-02 -9.96973926e-01 0.00000000e+00 1.75952684e+02] [ 9.96973926e-01 -7.77366812e-02 0.00000000e+00 1.59249783e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53159346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.470371743 meters Centerline goodness : 0.987063 Centerline is valid? [True, True] Translation: X:175.95, Y:159.29, Z:0.15 [[-8.45526037e-02 -9.96419017e-01 0.00000000e+00 1.75953038e+02] [ 9.96419017e-01 -8.45526037e-02 0.00000000e+00 1.59285788e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.48626696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.500371743 meters Centerline goodness : 0.981033 Centerline is valid? [True, True] Translation: X:175.96, Y:159.31, Z:0.15 [[-7.76632931e-02 -9.96979645e-01 0.00000000e+00 1.75961421e+02] [ 9.96979645e-01 -7.76632931e-02 0.00000000e+00 1.59314039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54480569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.530371743 meters Centerline goodness : 0.980030 Centerline is valid? [True, True] Translation: X:175.96, Y:159.34, Z:0.15 [[-7.65709157e-02 -9.97064138e-01 0.00000000e+00 1.75964762e+02] [ 9.97064138e-01 -7.65709157e-02 0.00000000e+00 1.59341033e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53175879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.560371743 meters Centerline goodness : 0.986518 Centerline is valid? [True, True] Translation: X:175.96, Y:159.37, Z:0.15 [[-8.85599828e-02 -9.96070846e-01 0.00000000e+00 1.75956156e+02] [ 9.96070846e-01 -8.85599828e-02 0.00000000e+00 1.59368622e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47910593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.590371743 meters Centerline goodness : 0.986929 Centerline is valid? [True, True] Translation: X:175.96, Y:159.40, Z:0.14 [[-8.79702720e-02 -9.96123100e-01 0.00000000e+00 1.75958023e+02] [ 9.96123100e-01 -8.79702720e-02 0.00000000e+00 1.59396071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.44807324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.620371743 meters Centerline goodness : 0.978243 Centerline is valid? [True, True] Translation: X:175.97, Y:159.42, Z:0.15 [[-7.49949512e-02 -9.97183913e-01 0.00000000e+00 1.75970201e+02] [ 9.97183913e-01 -7.49949512e-02 0.00000000e+00 1.59423778e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53326708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.650371743 meters Centerline goodness : 0.978633 Centerline is valid? [True, True] Translation: X:175.97, Y:159.46, Z:0.16 [[-7.46978721e-02 -9.97206211e-01 0.00000000e+00 1.75971945e+02] [ 9.97206211e-01 -7.46978721e-02 0.00000000e+00 1.59455603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55720388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.680371743 meters Centerline goodness : 0.987053 Centerline is valid? [True, True] Translation: X:175.96, Y:159.48, Z:0.15 [[-8.84004288e-02 -9.96085019e-01 0.00000000e+00 1.75958973e+02] [ 9.96085019e-01 -8.84004288e-02 0.00000000e+00 1.59478165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.46622550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.710371743 meters Centerline goodness : 0.982705 Centerline is valid? [True, True] Translation: X:175.97, Y:159.51, Z:0.15 [[-8.07204746e-02 -9.96736778e-01 0.00000000e+00 1.75966680e+02] [ 9.96736778e-01 -8.07204746e-02 0.00000000e+00 1.59505020e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50275037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.740371743 meters Centerline goodness : 0.980729 Centerline is valid? [True, True] Translation: X:175.97, Y:159.53, Z:0.15 [[-8.00531055e-02 -9.96790600e-01 0.00000000e+00 1.75969420e+02] [ 9.96790600e-01 -8.00531055e-02 0.00000000e+00 1.59534773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54657529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.770371743 meters Centerline goodness : 0.986569 Centerline is valid? [True, True] Translation: X:175.96, Y:159.56, Z:0.15 [[-8.96337779e-02 -9.95974792e-01 0.00000000e+00 1.75963181e+02] [ 9.95974792e-01 -8.96337779e-02 0.00000000e+00 1.59561662e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49809688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.800371743 meters Centerline goodness : 0.981085 Centerline is valid? [True, True] Translation: X:175.97, Y:159.59, Z:0.15 [[-8.42730314e-02 -9.96442701e-01 0.00000000e+00 1.75970426e+02] [ 9.96442701e-01 -8.42730314e-02 0.00000000e+00 1.59587122e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53163407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.830371743 meters Centerline goodness : 0.980664 Centerline is valid? [True, True] Translation: X:175.97, Y:159.62, Z:0.15 [[-8.55707679e-02 -9.96332095e-01 0.00000000e+00 1.75971533e+02] [ 9.96332095e-01 -8.55707679e-02 0.00000000e+00 1.59615428e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53772202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86037174300003 meters Centerline goodness : 0.986961 Centerline is valid? [True, True] Translation: X:175.97, Y:159.64, Z:0.15 [[-9.38737247e-02 -9.95584112e-01 0.00000000e+00 1.75967537e+02] [ 9.95584112e-01 -9.38737247e-02 0.00000000e+00 1.59644596e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.49374893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.890371743 meters Centerline goodness : 0.981340 Centerline is valid? [True, True] Translation: X:175.97, Y:159.67, Z:0.15 [[-8.63960622e-02 -9.96260870e-01 0.00000000e+00 1.75973185e+02] [ 9.96260870e-01 -8.63960622e-02 0.00000000e+00 1.59670336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51072565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.920371743 meters Centerline goodness : 0.980089 Centerline is valid? [True, True] Translation: X:175.97, Y:159.69, Z:0.15 [[-9.18523509e-02 -9.95772638e-01 0.00000000e+00 1.75966567e+02] [ 9.95772638e-01 -9.18523509e-02 0.00000000e+00 1.59687558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50755092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.950371743 meters Centerline goodness : 0.981527 Centerline is valid? [True, True] Translation: X:175.98, Y:159.72, Z:0.15 [[-8.63809850e-02 -9.96262177e-01 0.00000000e+00 1.75975036e+02] [ 9.96262177e-01 -8.63809850e-02 0.00000000e+00 1.59723598e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.50938940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.980371743 meters Centerline goodness : 0.979667 Centerline is valid? [True, True] Translation: X:175.98, Y:159.75, Z:0.15 [[-8.45335137e-02 -9.96420637e-01 0.00000000e+00 1.75977249e+02] [ 9.96420637e-01 -8.45335137e-02 0.00000000e+00 1.59752503e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53483903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.010371743 meters Centerline goodness : 0.978757 Centerline is valid? [True, True] Translation: X:175.98, Y:159.78, Z:0.15 [[-8.49245977e-02 -9.96387381e-01 0.00000000e+00 1.75976851e+02] [ 9.96387381e-01 -8.49245977e-02 0.00000000e+00 1.59781706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54525007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.040371743 meters Centerline goodness : 0.979438 Centerline is valid? [True, True] Translation: X:175.97, Y:159.80, Z:0.15 [[-9.17118317e-02 -9.95785589e-01 0.00000000e+00 1.75967734e+02] [ 9.95785589e-01 -9.17118317e-02 0.00000000e+00 1.59797865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.51965461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.070371743 meters Centerline goodness : 0.980210 Centerline is valid? [True, True] Translation: X:175.98, Y:159.84, Z:0.16 [[-8.44716553e-02 -9.96425883e-01 0.00000000e+00 1.75975292e+02] [ 9.96425883e-01 -8.44716553e-02 0.00000000e+00 1.59835063e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.55834623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.100371743 meters Centerline goodness : 0.979669 Centerline is valid? [True, True] Translation: X:175.97, Y:159.85, Z:0.15 [[-9.10053623e-02 -9.95850402e-01 0.00000000e+00 1.75965132e+02] [ 9.95850402e-01 -9.10053623e-02 0.00000000e+00 1.59850787e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.52086000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.130371743 meters Centerline goodness : 0.980111 Centerline is valid? [True, True] Translation: X:175.97, Y:159.89, Z:0.15 [[-8.44472286e-02 -9.96427953e-01 0.00000000e+00 1.75971145e+02] [ 9.96427953e-01 -8.44472286e-02 0.00000000e+00 1.59887938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53716093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.160371743 meters Centerline goodness : 0.980529 Centerline is valid? [True, True] Translation: X:175.97, Y:159.92, Z:0.15 [[-8.52066140e-02 -9.96363304e-01 0.00000000e+00 1.75969226e+02] [ 9.96363304e-01 -8.52066140e-02 0.00000000e+00 1.59915296e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.54114631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.190371743 meters Centerline goodness : 0.983165 Centerline is valid? [True, True] Translation: X:175.97, Y:159.94, Z:0.15 [[-8.65953056e-02 -9.96243571e-01 0.00000000e+00 1.75967965e+02] [ 9.96243571e-01 -8.65953056e-02 0.00000000e+00 1.59943362e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.47564493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.220371743 meters Centerline goodness : 0.980870 Centerline is valid? [True, True] Translation: X:175.96, Y:159.96, Z:0.15 [[-9.56421445e-02 -9.95415783e-01 0.00000000e+00 1.75959278e+02] [ 9.95415783e-01 -9.56421445e-02 0.00000000e+00 1.59958820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53626889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.250371743 meters Centerline goodness : 0.981120 Centerline is valid? [True, True] Translation: X:175.96, Y:159.98, Z:0.15 [[-1.00885301e-01 -9.94898063e-01 0.00000000e+00 1.75958501e+02] [ 9.94898063e-01 -1.00885301e-01 0.00000000e+00 1.59984039e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53413080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.280371743 meters Centerline goodness : 0.981873 Centerline is valid? [True, True] Translation: X:175.97, Y:160.02, Z:0.15 [[-9.64085921e-02 -9.95341842e-01 0.00000000e+00 1.75966958e+02] [ 9.95341842e-01 -9.64085921e-02 0.00000000e+00 1.60021098e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.53779195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.310371743 meters Centerline goodness : 0.980022 Centerline is valid? [True, True] Translation: X:175.97, Y:160.05, Z:0.16 [[-9.82468743e-02 -9.95162073e-01 0.00000000e+00 1.75967539e+02] [ 9.95162073e-01 -9.82468743e-02 0.00000000e+00 1.60050028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59225016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.340371743 meters Centerline goodness : 0.979917 Centerline is valid? [True, True] Translation: X:175.97, Y:160.08, Z:0.16 [[-9.68056628e-02 -9.95303302e-01 0.00000000e+00 1.75968384e+02] [ 9.95303302e-01 -9.68056628e-02 0.00000000e+00 1.60077001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58169177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.370371743 meters Centerline goodness : 0.978856 Centerline is valid? [True, True] Translation: X:175.97, Y:160.11, Z:0.16 [[-9.91906406e-02 -9.95068448e-01 0.00000000e+00 1.75966157e+02] [ 9.95068448e-01 -9.91906406e-02 0.00000000e+00 1.60105452e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59998019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.400371743 meters Centerline goodness : 0.978856 Centerline is valid? [True, True] Translation: X:175.97, Y:160.13, Z:0.16 [[-9.95220225e-02 -9.95035360e-01 0.00000000e+00 1.75966374e+02] [ 9.95035360e-01 -9.95220225e-02 0.00000000e+00 1.60133847e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59998019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.430371743 meters Centerline goodness : 0.981212 Centerline is valid? [True, True] Translation: X:175.96, Y:160.16, Z:0.16 [[-1.02173642e-01 -9.94766579e-01 0.00000000e+00 1.75961208e+02] [ 9.94766579e-01 -1.02173642e-01 0.00000000e+00 1.60160831e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.56354992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.460371743 meters Centerline goodness : 0.980715 Centerline is valid? [True, True] Translation: X:175.96, Y:160.19, Z:0.16 [[-1.01314266e-01 -9.94854471e-01 0.00000000e+00 1.75962711e+02] [ 9.94854471e-01 -1.01314266e-01 0.00000000e+00 1.60191009e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.57010998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.490371743 meters Centerline goodness : 0.986147 Centerline is valid? [True, True] Translation: X:175.95, Y:160.22, Z:0.16 [[-1.11636391e-01 -9.93749121e-01 0.00000000e+00 1.75954611e+02] [ 9.93749121e-01 -1.11636391e-01 0.00000000e+00 1.60218238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58947151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.520371743 meters Centerline goodness : 0.979824 Centerline is valid? [True, True] Translation: X:175.97, Y:160.25, Z:0.16 [[-1.02562380e-01 -9.94726575e-01 0.00000000e+00 1.75966269e+02] [ 9.94726575e-01 -1.02562380e-01 0.00000000e+00 1.60250297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64389489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.550371743 meters Centerline goodness : 0.978611 Centerline is valid? [True, True] Translation: X:175.96, Y:160.28, Z:0.16 [[-1.05417202e-01 -9.94428084e-01 0.00000000e+00 1.75963741e+02] [ 9.94428084e-01 -1.05417202e-01 0.00000000e+00 1.60275712e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.64693655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.580371743 meters Centerline goodness : 0.981795 Centerline is valid? [True, True] Translation: X:175.96, Y:160.30, Z:0.16 [[-1.06897306e-01 -9.94270067e-01 0.00000000e+00 1.75961827e+02] [ 9.94270067e-01 -1.06897306e-01 0.00000000e+00 1.60304765e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59114316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61037174300003 meters Centerline goodness : 0.979908 Centerline is valid? [True, True] Translation: X:175.96, Y:160.34, Z:0.16 [[-1.04604262e-01 -9.94513926e-01 0.00000000e+00 1.75964771e+02] [ 9.94513926e-01 -1.04604262e-01 0.00000000e+00 1.60336694e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61934900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.640371743 meters Centerline goodness : 0.981192 Centerline is valid? [True, True] Translation: X:175.96, Y:160.36, Z:0.16 [[-1.07866085e-01 -9.94165433e-01 0.00000000e+00 1.75961451e+02] [ 9.94165433e-01 -1.07866085e-01 0.00000000e+00 1.60360201e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.58893328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.670371743 meters Centerline goodness : 0.982100 Centerline is valid? [True, True] Translation: X:175.96, Y:160.39, Z:0.16 [[-1.08681845e-01 -9.94076585e-01 0.00000000e+00 1.75963366e+02] [ 9.94076585e-01 -1.08681845e-01 0.00000000e+00 1.60389337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.59617415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.700371743 meters Centerline goodness : 0.986043 Centerline is valid? [True, True] Translation: X:175.96, Y:160.41, Z:0.16 [[-1.17323595e-01 -9.93093739e-01 0.00000000e+00 1.75955408e+02] [ 9.93093739e-01 -1.17323595e-01 0.00000000e+00 1.60414100e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.61508579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.730371743 meters Centerline goodness : 0.985834 Centerline is valid? [True, True] Translation: X:175.96, Y:160.44, Z:0.16 [[-1.16262044e-01 -9.93218575e-01 0.00000000e+00 1.75955660e+02] [ 9.93218575e-01 -1.16262044e-01 0.00000000e+00 1.60441887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.63561644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.760371743 meters Centerline goodness : 0.985869 Centerline is valid? [True, True] Translation: X:175.96, Y:160.47, Z:0.17 [[-1.16360275e-01 -9.93207071e-01 0.00000000e+00 1.75955322e+02] [ 9.93207071e-01 -1.16360275e-01 0.00000000e+00 1.60470261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.65555158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.790371743 meters Centerline goodness : 0.979506 Centerline is valid? [True, True] Translation: X:175.97, Y:160.51, Z:0.17 [[-1.02373087e-01 -9.94746074e-01 0.00000000e+00 1.75969197e+02] [ 9.94746074e-01 -1.02373087e-01 0.00000000e+00 1.60505623e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71230688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.820371743 meters Centerline goodness : 0.981150 Centerline is valid? [True, True] Translation: X:175.97, Y:160.53, Z:0.17 [[-1.02204056e-01 -9.94763455e-01 0.00000000e+00 1.75966582e+02] [ 9.94763455e-01 -1.02204056e-01 0.00000000e+00 1.60531061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69720620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.850371743 meters Centerline goodness : 0.981572 Centerline is valid? [True, True] Translation: X:175.97, Y:160.56, Z:0.17 [[-1.02051007e-01 -9.94779167e-01 0.00000000e+00 1.75965892e+02] [ 9.94779167e-01 -1.02051007e-01 0.00000000e+00 1.60555542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70948631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.880371743 meters Centerline goodness : 0.986748 Centerline is valid? [True, True] Translation: X:175.96, Y:160.58, Z:0.17 [[-1.11524843e-01 -9.93761646e-01 0.00000000e+00 1.75956828e+02] [ 9.93761646e-01 -1.11524843e-01 0.00000000e+00 1.60582073e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.68381705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.910371743 meters Centerline goodness : 0.981922 Centerline is valid? [True, True] Translation: X:175.97, Y:160.61, Z:0.17 [[-1.02035307e-01 -9.94780778e-01 0.00000000e+00 1.75966269e+02] [ 9.94780778e-01 -1.02035307e-01 0.00000000e+00 1.60610601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.71303781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.940371743 meters Centerline goodness : 0.986085 Centerline is valid? [True, True] Translation: X:175.96, Y:160.64, Z:0.17 [[-1.09834459e-01 -9.93949894e-01 0.00000000e+00 1.75957138e+02] [ 9.93949894e-01 -1.09834459e-01 0.00000000e+00 1.60637116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69099642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.970371743 meters Centerline goodness : 0.986029 Centerline is valid? [True, True] Translation: X:175.96, Y:160.66, Z:0.17 [[-1.08744278e-01 -9.94069757e-01 0.00000000e+00 1.75956940e+02] [ 9.94069757e-01 -1.08744278e-01 0.00000000e+00 1.60663982e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.69286963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.000371743 meters Centerline goodness : 0.987470 Centerline is valid? [True, True] Translation: X:175.96, Y:160.69, Z:0.17 [[-1.08373626e-01 -9.94110234e-01 0.00000000e+00 1.75956581e+02] [ 9.94110234e-01 -1.08373626e-01 0.00000000e+00 1.60691668e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.70585984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.030371743 meters Centerline goodness : 0.982589 Centerline is valid? [True, True] Translation: X:175.96, Y:160.72, Z:0.18 [[-9.97524653e-02 -9.95012284e-01 0.00000000e+00 1.75961311e+02] [ 9.95012284e-01 -9.97524653e-02 0.00000000e+00 1.60717305e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75792517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.060371743 meters Centerline goodness : 0.979469 Centerline is valid? [True, True] Translation: X:175.97, Y:160.75, Z:0.18 [[-9.05798543e-02 -9.95889196e-01 0.00000000e+00 1.75969024e+02] [ 9.95889196e-01 -9.05798543e-02 0.00000000e+00 1.60750552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80390245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.090371743 meters Centerline goodness : 0.981665 Centerline is valid? [True, True] Translation: X:175.96, Y:160.77, Z:0.18 [[-9.48525051e-02 -9.95491337e-01 0.00000000e+00 1.75963228e+02] [ 9.95491337e-01 -9.48525051e-02 0.00000000e+00 1.60772691e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78043941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.120371743 meters Centerline goodness : 0.979952 Centerline is valid? [True, True] Translation: X:175.97, Y:160.80, Z:0.18 [[-9.08939084e-02 -9.95860581e-01 0.00000000e+00 1.75965549e+02] [ 9.95860581e-01 -9.08939084e-02 0.00000000e+00 1.60800340e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81463075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.150371743 meters Centerline goodness : 0.979724 Centerline is valid? [True, True] Translation: X:175.97, Y:160.83, Z:0.18 [[-8.70761635e-02 -9.96201657e-01 0.00000000e+00 1.75966470e+02] [ 9.96201657e-01 -8.70761635e-02 0.00000000e+00 1.60826090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79312836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.180371743 meters Centerline goodness : 0.981419 Centerline is valid? [True, True] Translation: X:175.97, Y:160.85, Z:0.18 [[-8.54937915e-02 -9.96338703e-01 0.00000000e+00 1.75965734e+02] [ 9.96338703e-01 -8.54937915e-02 0.00000000e+00 1.60854075e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78785032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.210371743 meters Centerline goodness : 0.981469 Centerline is valid? [True, True] Translation: X:175.97, Y:160.88, Z:0.18 [[-8.07211039e-02 -9.96736727e-01 0.00000000e+00 1.75965772e+02] [ 9.96736727e-01 -8.07211039e-02 0.00000000e+00 1.60880549e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.80313748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.240371743 meters Centerline goodness : 0.982422 Centerline is valid? [True, True] Translation: X:175.97, Y:160.91, Z:0.18 [[-7.96955951e-02 -9.96819247e-01 0.00000000e+00 1.75965113e+02] [ 9.96819247e-01 -7.96955951e-02 0.00000000e+00 1.60907174e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76754429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.270371743 meters Centerline goodness : 0.979324 Centerline is valid? [True, True] Translation: X:175.97, Y:160.94, Z:0.18 [[-7.51632661e-02 -9.97171241e-01 0.00000000e+00 1.75968762e+02] [ 9.97171241e-01 -7.51632661e-02 0.00000000e+00 1.60937873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81911783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.300371743 meters Centerline goodness : 0.976525 Centerline is valid? [True, True] Translation: X:175.97, Y:160.97, Z:0.18 [[-7.35794377e-02 -9.97289359e-01 0.00000000e+00 1.75973528e+02] [ 9.97289359e-01 -7.35794377e-02 0.00000000e+00 1.60965448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83182350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.330371743 meters Centerline goodness : 0.977088 Centerline is valid? [True, True] Translation: X:175.98, Y:160.99, Z:0.18 [[-7.62408760e-02 -9.97089429e-01 0.00000000e+00 1.75975624e+02] [ 9.97089429e-01 -7.62408760e-02 0.00000000e+00 1.60993364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82068174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36037174300003 meters Centerline goodness : 0.978823 Centerline is valid? [True, True] Translation: X:175.97, Y:161.01, Z:0.18 [[-8.40330075e-02 -9.96462972e-01 0.00000000e+00 1.75967145e+02] [ 9.96462972e-01 -8.40330075e-02 0.00000000e+00 1.61008188e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84814994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.390371743 meters Centerline goodness : 0.978323 Centerline is valid? [True, True] Translation: X:175.97, Y:161.03, Z:0.19 [[-8.08612961e-02 -9.96725364e-01 0.00000000e+00 1.75970601e+02] [ 9.96725364e-01 -8.08612961e-02 0.00000000e+00 1.61034868e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85568757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.420371743 meters Centerline goodness : 0.984638 Centerline is valid? [True, True] Translation: X:175.97, Y:161.07, Z:0.17 [[-8.60896815e-02 -9.96287392e-01 0.00000000e+00 1.75971183e+02] [ 9.96287392e-01 -8.60896815e-02 0.00000000e+00 1.61072171e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.74550930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.450371743 meters Centerline goodness : 0.973704 Centerline is valid? [True, True] Translation: X:175.99, Y:161.11, Z:0.18 [[-6.76538841e-02 -9.97708851e-01 0.00000000e+00 1.75989002e+02] [ 9.97708851e-01 -6.76538841e-02 0.00000000e+00 1.61108448e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83897195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.480371743 meters Centerline goodness : 0.983925 Centerline is valid? [True, True] Translation: X:175.97, Y:161.13, Z:0.18 [[-8.27461829e-02 -9.96570654e-01 0.00000000e+00 1.75974990e+02] [ 9.96570654e-01 -8.27461829e-02 0.00000000e+00 1.61129165e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76310970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.510371743 meters Centerline goodness : 0.972899 Centerline is valid? [True, True] Translation: X:175.99, Y:161.16, Z:0.18 [[-6.68162461e-02 -9.97765298e-01 0.00000000e+00 1.75988894e+02] [ 9.97765298e-01 -6.68162461e-02 0.00000000e+00 1.61156135e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84236908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.540371743 meters Centerline goodness : 0.974413 Centerline is valid? [True, True] Translation: X:175.99, Y:161.18, Z:0.18 [[-6.30327288e-02 -9.98011460e-01 0.00000000e+00 1.75991262e+02] [ 9.98011460e-01 -6.30327288e-02 0.00000000e+00 1.61183860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83642951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.570371743 meters Centerline goodness : 0.974405 Centerline is valid? [True, True] Translation: X:176.00, Y:161.22, Z:0.18 [[-5.94212011e-02 -9.98232999e-01 0.00000000e+00 1.75995310e+02] [ 9.98232999e-01 -5.94212011e-02 0.00000000e+00 1.61215991e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81236525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.600371743 meters Centerline goodness : 0.976571 Centerline is valid? [True, True] Translation: X:176.00, Y:161.24, Z:0.18 [[-5.93270266e-02 -9.98238601e-01 0.00000000e+00 1.75995912e+02] [ 9.98238601e-01 -5.93270266e-02 0.00000000e+00 1.61244371e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79940189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.630371743 meters Centerline goodness : 0.983477 Centerline is valid? [True, True] Translation: X:175.99, Y:161.27, Z:0.18 [[-6.81123533e-02 -9.97677657e-01 0.00000000e+00 1.75985131e+02] [ 9.97677657e-01 -6.81123533e-02 0.00000000e+00 1.61265620e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76098846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.660371743 meters Centerline goodness : 0.978286 Centerline is valid? [True, True] Translation: X:175.99, Y:161.28, Z:0.18 [[-5.58106167e-02 -9.98441373e-01 0.00000000e+00 1.75989342e+02] [ 9.98441373e-01 -5.58106167e-02 0.00000000e+00 1.61279967e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84918815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.690371743 meters Centerline goodness : 0.982877 Centerline is valid? [True, True] Translation: X:175.99, Y:161.32, Z:0.18 [[-5.55492725e-02 -9.98455947e-01 0.00000000e+00 1.75991398e+02] [ 9.98455947e-01 -5.55492725e-02 0.00000000e+00 1.61317309e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76664602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.720371743 meters Centerline goodness : 0.983189 Centerline is valid? [True, True] Translation: X:175.99, Y:161.34, Z:0.18 [[-5.28592040e-02 -9.98601975e-01 0.00000000e+00 1.75993084e+02] [ 9.98601975e-01 -5.28592040e-02 0.00000000e+00 1.61344050e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75966102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.750371743 meters Centerline goodness : 0.982906 Centerline is valid? [True, True] Translation: X:176.00, Y:161.37, Z:0.18 [[-4.85474957e-02 -9.98820875e-01 0.00000000e+00 1.75996952e+02] [ 9.98820875e-01 -4.85474957e-02 0.00000000e+00 1.61370729e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75822704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.780371743 meters Centerline goodness : 0.981476 Centerline is valid? [True, True] Translation: X:176.01, Y:161.41, Z:0.17 [[-4.27338360e-02 -9.99086492e-01 0.00000000e+00 1.76006181e+02] [ 9.99086492e-01 -4.27338360e-02 0.00000000e+00 1.61407170e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73990578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.810371743 meters Centerline goodness : 0.979694 Centerline is valid? [True, True] Translation: X:176.01, Y:161.42, Z:0.18 [[-3.75238381e-02 -9.99295733e-01 0.00000000e+00 1.76006753e+02] [ 9.99295733e-01 -3.75238381e-02 0.00000000e+00 1.61418705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76267036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.840371743 meters Centerline goodness : 0.982452 Centerline is valid? [True, True] Translation: X:176.01, Y:161.45, Z:0.18 [[-3.80063048e-02 -9.99277499e-01 0.00000000e+00 1.76011727e+02] [ 9.99277499e-01 -3.80063048e-02 0.00000000e+00 1.61454896e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76397711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.870371743 meters Centerline goodness : 0.975753 Centerline is valid? [True, True] Translation: X:176.02, Y:161.49, Z:0.18 [[-2.47644396e-02 -9.99693314e-01 0.00000000e+00 1.76024928e+02] [ 9.99693314e-01 -2.47644396e-02 0.00000000e+00 1.61487133e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82162212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.900371743 meters Centerline goodness : 0.981831 Centerline is valid? [True, True] Translation: X:176.02, Y:161.51, Z:0.18 [[-3.35754099e-02 -9.99436187e-01 0.00000000e+00 1.76020265e+02] [ 9.99436187e-01 -3.35754099e-02 0.00000000e+00 1.61510034e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76359708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.930371743 meters Centerline goodness : 0.979363 Centerline is valid? [True, True] Translation: X:176.02, Y:161.53, Z:0.18 [[-2.96093594e-02 -9.99561547e-01 0.00000000e+00 1.76021309e+02] [ 9.99561547e-01 -2.96093594e-02 0.00000000e+00 1.61530941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.78504493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.960371743 meters Centerline goodness : 0.981112 Centerline is valid? [True, True] Translation: X:176.03, Y:161.56, Z:0.18 [[-2.93881866e-02 -9.99568074e-01 0.00000000e+00 1.76026468e+02] [ 9.99568074e-01 -2.93881866e-02 0.00000000e+00 1.61564917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.75348007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.990371743 meters Centerline goodness : 0.980829 Centerline is valid? [True, True] Translation: X:176.03, Y:161.59, Z:0.18 [[-2.42672247e-02 -9.99705508e-01 0.00000000e+00 1.76031768e+02] [ 9.99705508e-01 -2.42672247e-02 0.00000000e+00 1.61593056e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.76355185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.020371743 meters Centerline goodness : 0.980036 Centerline is valid? [True, True] Translation: X:176.03, Y:161.62, Z:0.18 [[-2.11564561e-02 -9.99776177e-01 0.00000000e+00 1.76034790e+02] [ 9.99776177e-01 -2.11564561e-02 0.00000000e+00 1.61620661e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.79098913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.050371743 meters Centerline goodness : 0.977287 Centerline is valid? [True, True] Translation: X:176.04, Y:161.64, Z:0.19 [[-1.57829999e-02 -9.99875441e-01 0.00000000e+00 1.76037102e+02] [ 9.99875441e-01 -1.57829999e-02 0.00000000e+00 1.61642224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86705651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.080371743 meters Centerline goodness : 0.976827 Centerline is valid? [True, True] Translation: X:176.06, Y:161.69, Z:0.18 [[ 2.09723726e-03 -9.99997801e-01 0.00000000e+00 1.76058062e+02] [ 9.99997801e-01 2.09723726e-03 0.00000000e+00 1.61686899e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84824481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11037174300003 meters Centerline goodness : 0.979803 Centerline is valid? [True, True] Translation: X:176.07, Y:161.72, Z:0.17 [[ 2.78425917e-03 -9.99996124e-01 0.00000000e+00 1.76065288e+02] [ 9.99996124e-01 2.78425917e-03 0.00000000e+00 1.61723968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.73816323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.140371743 meters Centerline goodness : 0.975526 Centerline is valid? [True, True] Translation: X:176.07, Y:161.74, Z:0.18 [[ 8.71098893e-03 -9.99962059e-01 0.00000000e+00 1.76068475e+02] [ 9.99962059e-01 8.71098893e-03 0.00000000e+00 1.61743669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.83702640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.170371743 meters Centerline goodness : 0.981297 Centerline is valid? [True, True] Translation: X:176.06, Y:161.76, Z:0.18 [[-3.57959340e-03 -9.99993593e-01 0.00000000e+00 1.76058318e+02] [ 9.99993593e-01 -3.57959340e-03 0.00000000e+00 1.61761592e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.81827425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.200371743 meters Centerline goodness : 0.981737 Centerline is valid? [True, True] Translation: X:176.07, Y:161.79, Z:0.18 [[ 2.02939323e-03 -9.99997941e-01 0.00000000e+00 1.76066334e+02] [ 9.99997941e-01 2.02939323e-03 0.00000000e+00 1.61790204e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.82371497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.230371743 meters Centerline goodness : 0.982364 Centerline is valid? [True, True] Translation: X:176.08, Y:161.83, Z:0.18 [[ 1.40315892e-02 -9.99901552e-01 0.00000000e+00 1.76081836e+02] [ 9.99901552e-01 1.40315892e-02 0.00000000e+00 1.61830932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.77794136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.260371743 meters Centerline goodness : 0.982946 Centerline is valid? [True, True] Translation: X:176.08, Y:161.85, Z:0.18 [[ 9.44807299e-03 -9.99955366e-01 0.00000000e+00 1.76077830e+02] [ 9.99955366e-01 9.44807299e-03 0.00000000e+00 1.61846959e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84033347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.290371743 meters Centerline goodness : 0.982946 Centerline is valid? [True, True] Translation: X:176.08, Y:161.88, Z:0.18 [[ 9.15579303e-03 -9.99958085e-01 0.00000000e+00 1.76077857e+02] [ 9.99958085e-01 9.15579303e-03 0.00000000e+00 1.61875391e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84033347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.320371743 meters Centerline goodness : 0.981511 Centerline is valid? [True, True] Translation: X:176.09, Y:161.91, Z:0.19 [[ 1.74252531e-02 -9.99848169e-01 0.00000000e+00 1.76090651e+02] [ 9.99848169e-01 1.74252531e-02 0.00000000e+00 1.61912976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.85409907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.350371743 meters Centerline goodness : 0.984077 Centerline is valid? [True, True] Translation: X:176.09, Y:161.93, Z:0.18 [[ 1.20452082e-02 -9.99927454e-01 0.00000000e+00 1.76086183e+02] [ 9.99927454e-01 1.20452082e-02 0.00000000e+00 1.61931687e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.84787208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.380371743 meters Centerline goodness : 0.985213 Centerline is valid? [True, True] Translation: X:176.10, Y:161.97, Z:0.19 [[ 1.61018581e-02 -9.99870357e-01 0.00000000e+00 1.76099506e+02] [ 9.99870357e-01 1.61018581e-02 0.00000000e+00 1.61965611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.88732996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.410371743 meters Centerline goodness : 0.985654 Centerline is valid? [True, True] Translation: X:176.10, Y:161.99, Z:0.19 [[ 1.16255484e-02 -9.99932421e-01 0.00000000e+00 1.76098957e+02] [ 9.99932421e-01 1.16255484e-02 0.00000000e+00 1.61988101e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87901666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.440371743 meters Centerline goodness : 0.987751 Centerline is valid? [True, True] Translation: X:176.11, Y:162.02, Z:0.19 [[ 1.22950745e-02 -9.99924413e-01 0.00000000e+00 1.76113058e+02] [ 9.99924413e-01 1.22950745e-02 0.00000000e+00 1.62020809e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91385043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.470371743 meters Centerline goodness : 0.988793 Centerline is valid? [True, True] Translation: X:176.11, Y:162.04, Z:0.19 [[ 5.75422087e-03 -9.99983444e-01 0.00000000e+00 1.76112688e+02] [ 9.99983444e-01 5.75422087e-03 0.00000000e+00 1.62043736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90816203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.500371743 meters Centerline goodness : 0.991513 Centerline is valid? [True, True] Translation: X:176.12, Y:162.07, Z:0.19 [[ 2.41648895e-04 -9.99999971e-01 0.00000000e+00 1.76121476e+02] [ 9.99999971e-01 2.41648895e-04 0.00000000e+00 1.62070317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90913127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.530371743 meters Centerline goodness : 0.992412 Centerline is valid? [True, True] Translation: X:176.13, Y:162.10, Z:0.19 [[-3.18310168e-03 -9.99994934e-01 0.00000000e+00 1.76125474e+02] [ 9.99994934e-01 -3.18310168e-03 0.00000000e+00 1.62098374e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91707175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.560371743 meters Centerline goodness : 0.992291 Centerline is valid? [True, True] Translation: X:176.13, Y:162.13, Z:0.19 [[-8.22796316e-03 -9.99966150e-01 0.00000000e+00 1.76133147e+02] [ 9.99966150e-01 -8.22796316e-03 0.00000000e+00 1.62125431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93461853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.590371743 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:176.14, Y:162.15, Z:0.19 [[-1.09289534e-02 -9.99940277e-01 0.00000000e+00 1.76136530e+02] [ 9.99940277e-01 -1.09289534e-02 0.00000000e+00 1.62153554e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94417124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.620371743 meters Centerline goodness : 0.994831 Centerline is valid? [True, True] Translation: X:176.14, Y:162.17, Z:0.20 [[-1.24483908e-02 -9.99922516e-01 0.00000000e+00 1.76139778e+02] [ 9.99922516e-01 -1.24483908e-02 0.00000000e+00 1.62173703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95008892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.650371743 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:176.15, Y:162.20, Z:0.20 [[-1.65632024e-02 -9.99862821e-01 0.00000000e+00 1.76145954e+02] [ 9.99862821e-01 -1.65632024e-02 0.00000000e+00 1.62201933e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96222385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.680371743 meters Centerline goodness : 0.995763 Centerline is valid? [True, True] Translation: X:176.15, Y:162.21, Z:0.20 [[-1.78494364e-02 -9.99840686e-01 0.00000000e+00 1.76148640e+02] [ 9.99840686e-01 -1.78494364e-02 0.00000000e+00 1.62207275e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96389951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.710371743 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:176.15, Y:162.23, Z:0.19 [[-2.05242901e-02 -9.99789355e-01 0.00000000e+00 1.76153999e+02] [ 9.99789355e-01 -2.05242901e-02 0.00000000e+00 1.62233953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94947044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.740371743 meters Centerline goodness : 0.996599 Centerline is valid? [True, True] Translation: X:176.16, Y:162.26, Z:0.20 [[-2.17704543e-02 -9.99762996e-01 0.00000000e+00 1.76156143e+02] [ 9.99762996e-01 -2.17704543e-02 0.00000000e+00 1.62261449e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96393562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.770371743 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:176.16, Y:162.27, Z:0.20 [[-2.30386491e-02 -9.99734575e-01 0.00000000e+00 1.76158582e+02] [ 9.99734575e-01 -2.30386491e-02 0.00000000e+00 1.62267927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98301359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.800371743 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:176.16, Y:162.30, Z:0.20 [[-2.35514346e-02 -9.99722626e-01 0.00000000e+00 1.76159621e+02] [ 9.99722626e-01 -2.35514346e-02 0.00000000e+00 1.62295116e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98549408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.830371743 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:176.16, Y:162.28, Z:0.20 [[-2.42872765e-02 -9.99705021e-01 0.00000000e+00 1.76161342e+02] [ 9.99705021e-01 -2.42872765e-02 0.00000000e+00 1.62276204e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99699117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86037174300003 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:176.16, Y:162.30, Z:0.20 [[-2.56955353e-02 -9.99669815e-01 0.00000000e+00 1.76162053e+02] [ 9.99669815e-01 -2.56955353e-02 0.00000000e+00 1.62304048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99936550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.890371743 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:176.16, Y:162.31, Z:0.20 [[-2.70545230e-02 -9.99633959e-01 0.00000000e+00 1.76163197e+02] [ 9.99633959e-01 -2.70545230e-02 0.00000000e+00 1.62308084e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99999566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.920371743 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:176.16, Y:162.34, Z:0.20 [[-2.90295196e-02 -9.99578555e-01 0.00000000e+00 1.76163286e+02] [ 9.99578555e-01 -2.90295196e-02 0.00000000e+00 1.62336090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01080691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.950371743 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:176.16, Y:162.36, Z:0.20 [[-3.01128767e-02 -9.99546504e-01 0.00000000e+00 1.76163467e+02] [ 9.99546504e-01 -3.01128767e-02 0.00000000e+00 1.62363441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00769847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.980371743 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:176.16, Y:162.37, Z:0.20 [[-3.18316341e-02 -9.99493245e-01 0.00000000e+00 1.76162553e+02] [ 9.99493245e-01 -3.18316341e-02 0.00000000e+00 1.62371989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00744378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.010371743 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:176.16, Y:162.40, Z:0.20 [[-3.32745724e-02 -9.99446248e-01 0.00000000e+00 1.76161818e+02] [ 9.99446248e-01 -3.32745724e-02 0.00000000e+00 1.62400219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01279455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.040371743 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:176.16, Y:162.40, Z:0.20 [[-3.56191337e-02 -9.99365437e-01 0.00000000e+00 1.76160037e+02] [ 9.99365437e-01 -3.56191337e-02 0.00000000e+00 1.62399952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99490999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.070371743 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:176.16, Y:162.43, Z:0.20 [[-3.96933567e-02 -9.99211908e-01 0.00000000e+00 1.76157819e+02] [ 9.99211908e-01 -3.96933567e-02 0.00000000e+00 1.62428143e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99300267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.100371743 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:176.16, Y:162.44, Z:0.20 [[-4.23100132e-02 -9.99104530e-01 0.00000000e+00 1.76156499e+02] [ 9.99104530e-01 -4.23100132e-02 0.00000000e+00 1.62435815e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99063583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.130371743 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:176.16, Y:162.46, Z:0.20 [[-4.57704312e-02 -9.98951985e-01 0.00000000e+00 1.76155324e+02] [ 9.98951985e-01 -4.57704312e-02 0.00000000e+00 1.62464148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98684098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.160371743 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:176.15, Y:162.49, Z:0.20 [[-4.92051356e-02 -9.98788694e-01 0.00000000e+00 1.76154269e+02] [ 9.98788694e-01 -4.92051356e-02 0.00000000e+00 1.62492223e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98132751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.190371743 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:176.15, Y:162.50, Z:0.20 [[-5.54851948e-02 -9.98459510e-01 0.00000000e+00 1.76151011e+02] [ 9.98459510e-01 -5.54851948e-02 0.00000000e+00 1.62502036e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98542720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.220371743 meters Centerline goodness : 0.996697 Centerline is valid? [True, True] Translation: X:176.15, Y:162.53, Z:0.20 [[-5.89747940e-02 -9.98259472e-01 0.00000000e+00 1.76149234e+02] [ 9.98259472e-01 -5.89747940e-02 0.00000000e+00 1.62529840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98542529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.250371743 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:176.14, Y:162.54, Z:0.20 [[-6.45690441e-02 -9.97913242e-01 0.00000000e+00 1.76144775e+02] [ 9.97913242e-01 -6.45690441e-02 0.00000000e+00 1.62537661e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97773698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.280371743 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:176.14, Y:162.57, Z:0.20 [[-6.70869818e-02 -9.97747131e-01 0.00000000e+00 1.76142071e+02] [ 9.97747131e-01 -6.70869818e-02 0.00000000e+00 1.62565398e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97010937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.310371743 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:176.14, Y:162.59, Z:0.20 [[-6.93738952e-02 -9.97590729e-01 0.00000000e+00 1.76136109e+02] [ 9.97590729e-01 -6.93738952e-02 0.00000000e+00 1.62593363e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97571448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.340371743 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:176.13, Y:162.59, Z:0.20 [[-6.87624985e-02 -9.97633058e-01 0.00000000e+00 1.76132359e+02] [ 9.97633058e-01 -6.87624985e-02 0.00000000e+00 1.62594700e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98077979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.370371743 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:176.12, Y:162.62, Z:0.20 [[-6.66268906e-02 -9.97777960e-01 0.00000000e+00 1.76123883e+02] [ 9.97777960e-01 -6.66268906e-02 0.00000000e+00 1.62622603e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99343847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.400371743 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:176.12, Y:162.62, Z:0.20 [[-6.47920274e-02 -9.97898789e-01 0.00000000e+00 1.76119093e+02] [ 9.97898789e-01 -6.47920274e-02 0.00000000e+00 1.62622820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99578653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.430371743 meters Centerline goodness : 0.992455 Centerline is valid? [True, True] Translation: X:176.11, Y:162.65, Z:0.20 [[-6.29485521e-02 -9.98016773e-01 0.00000000e+00 1.76114816e+02] [ 9.98016773e-01 -6.29485521e-02 0.00000000e+00 1.62649681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.99128792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.460371743 meters Centerline goodness : 0.990785 Centerline is valid? [True, True] Translation: X:176.11, Y:162.68, Z:0.20 [[-6.01195295e-02 -9.98191185e-01 0.00000000e+00 1.76106021e+02] [ 9.98191185e-01 -6.01195295e-02 0.00000000e+00 1.62677420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98096013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.490371743 meters Centerline goodness : 0.991079 Centerline is valid? [True, True] Translation: X:176.11, Y:162.65, Z:0.20 [[-4.80849481e-02 -9.98843250e-01 0.00000000e+00 1.76107410e+02] [ 9.98843250e-01 -4.80849481e-02 0.00000000e+00 1.62654431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97594912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.520371743 meters Centerline goodness : 0.988506 Centerline is valid? [True, True] Translation: X:176.09, Y:162.67, Z:0.20 [[-5.17405402e-02 -9.98660561e-01 0.00000000e+00 1.76092362e+02] [ 9.98660561e-01 -5.17405402e-02 0.00000000e+00 1.62673294e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95741166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.550371743 meters Centerline goodness : 0.987170 Centerline is valid? [True, True] Translation: X:176.10, Y:162.71, Z:0.20 [[-4.51371559e-02 -9.98980799e-01 0.00000000e+00 1.76097932e+02] [ 9.98980799e-01 -4.51371559e-02 0.00000000e+00 1.62712353e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97199839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.580371743 meters Centerline goodness : 0.986939 Centerline is valid? [True, True] Translation: X:176.08, Y:162.73, Z:0.20 [[-5.21505761e-02 -9.98639233e-01 0.00000000e+00 1.76084110e+02] [ 9.98639233e-01 -5.21505761e-02 0.00000000e+00 1.62729156e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95701470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61037174300003 meters Centerline goodness : 0.985414 Centerline is valid? [True, True] Translation: X:176.08, Y:162.76, Z:0.20 [[-5.09039818e-02 -9.98703552e-01 0.00000000e+00 1.76076417e+02] [ 9.98703552e-01 -5.09039818e-02 0.00000000e+00 1.62757474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95787073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.640371743 meters Centerline goodness : 0.983245 Centerline is valid? [True, True] Translation: X:176.08, Y:162.80, Z:0.19 [[-4.13422686e-02 -9.99145043e-01 0.00000000e+00 1.76083965e+02] [ 9.99145043e-01 -4.13422686e-02 0.00000000e+00 1.62797630e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94275114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.670371743 meters Centerline goodness : 0.982887 Centerline is valid? [True, True] Translation: X:176.08, Y:162.83, Z:0.19 [[-3.44934881e-02 -9.99404923e-01 0.00000000e+00 1.76078599e+02] [ 9.99404923e-01 -3.44934881e-02 0.00000000e+00 1.62826047e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89471740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.700371743 meters Centerline goodness : 0.982040 Centerline is valid? [True, True] Translation: X:176.08, Y:162.86, Z:0.19 [[-3.14495367e-02 -9.99505341e-01 0.00000000e+00 1.76076379e+02] [ 9.99505341e-01 -3.14495367e-02 0.00000000e+00 1.62856387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87790541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.730371743 meters Centerline goodness : 0.979549 Centerline is valid? [True, True] Translation: X:176.07, Y:162.88, Z:0.19 [[-2.49295803e-02 -9.99689210e-01 0.00000000e+00 1.76069723e+02] [ 9.99689210e-01 -2.49295803e-02 0.00000000e+00 1.62882056e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.86949181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.760371743 meters Centerline goodness : 0.981320 Centerline is valid? [True, True] Translation: X:176.05, Y:162.90, Z:0.19 [[-3.17820751e-02 -9.99494822e-01 0.00000000e+00 1.76052127e+02] [ 9.99494822e-01 -3.17820751e-02 0.00000000e+00 1.62895300e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92524360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.790371743 meters Centerline goodness : 0.980746 Centerline is valid? [True, True] Translation: X:176.05, Y:162.92, Z:0.19 [[-2.69057774e-02 -9.99637974e-01 0.00000000e+00 1.76049960e+02] [ 9.99637974e-01 -2.69057774e-02 0.00000000e+00 1.62923588e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93185121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.820371743 meters Centerline goodness : 0.981594 Centerline is valid? [True, True] Translation: X:176.05, Y:162.95, Z:0.19 [[-1.67324582e-02 -9.99860003e-01 0.00000000e+00 1.76045508e+02] [ 9.99860003e-01 -1.67324582e-02 0.00000000e+00 1.62950799e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.92718891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.850371743 meters Centerline goodness : 0.981000 Centerline is valid? [True, True] Translation: X:176.04, Y:162.98, Z:0.19 [[-6.41667027e-03 -9.99979413e-01 0.00000000e+00 1.76042956e+02] [ 9.99979413e-01 -6.41667027e-03 0.00000000e+00 1.62978049e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.93604522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.880371743 meters Centerline goodness : 0.981504 Centerline is valid? [True, True] Translation: X:176.04, Y:163.01, Z:0.19 [[-2.15483032e-03 -9.99997678e-01 0.00000000e+00 1.76042049e+02] [ 9.99997678e-01 -2.15483032e-03 0.00000000e+00 1.63005922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.94417505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.910371743 meters Centerline goodness : 0.981483 Centerline is valid? [True, True] Translation: X:176.04, Y:163.03, Z:0.20 [[ 1.33715347e-03 -9.99999106e-01 0.00000000e+00 1.76041556e+02] [ 9.99999106e-01 1.33715347e-03 0.00000000e+00 1.63033594e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95873728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.940371743 meters Centerline goodness : 0.981091 Centerline is valid? [True, True] Translation: X:176.06, Y:163.08, Z:0.19 [[ 1.89843128e-02 -9.99819782e-01 0.00000000e+00 1.76057727e+02] [ 9.99819782e-01 1.89843128e-02 0.00000000e+00 1.63077292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.90212272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.970371743 meters Centerline goodness : 0.981144 Centerline is valid? [True, True] Translation: X:176.04, Y:163.09, Z:0.20 [[ 8.31646099e-03 -9.99965418e-01 0.00000000e+00 1.76043283e+02] [ 9.99965418e-01 8.31646099e-03 0.00000000e+00 1.63089543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95986369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.000371743 meters Centerline goodness : 0.981072 Centerline is valid? [True, True] Translation: X:176.05, Y:163.12, Z:0.20 [[ 1.09363083e-02 -9.99940197e-01 0.00000000e+00 1.76047370e+02] [ 9.99940197e-01 1.09363083e-02 0.00000000e+00 1.63117461e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.95145607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.030371743 meters Centerline goodness : 0.981456 Centerline is valid? [True, True] Translation: X:176.06, Y:163.16, Z:0.19 [[ 2.29111204e-02 -9.99737506e-01 0.00000000e+00 1.76064479e+02] [ 9.99737506e-01 2.29111204e-02 0.00000000e+00 1.63159624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.87842541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.060371743 meters Centerline goodness : 0.981384 Centerline is valid? [True, True] Translation: X:176.07, Y:163.17, Z:0.19 [[ 2.25043992e-02 -9.99746744e-01 0.00000000e+00 1.76066784e+02] [ 9.99746744e-01 2.25043992e-02 0.00000000e+00 1.63167405e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89243417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.090371743 meters Centerline goodness : 0.983209 Centerline is valid? [True, True] Translation: X:176.07, Y:163.16, Z:0.19 [[ 2.42889132e-02 -9.99704981e-01 0.00000000e+00 1.76073647e+02] [ 9.99704981e-01 2.42889132e-02 0.00000000e+00 1.63164530e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.89780235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.120371743 meters Centerline goodness : 0.984128 Centerline is valid? [True, True] Translation: X:176.08, Y:163.19, Z:0.19 [[ 2.05819819e-02 -9.99788169e-01 0.00000000e+00 1.76078580e+02] [ 9.99788169e-01 2.05819819e-02 0.00000000e+00 1.63186798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.91992420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.150371743 meters Centerline goodness : 0.983724 Centerline is valid? [True, True] Translation: X:176.08, Y:163.21, Z:0.20 [[ 1.72510133e-02 -9.99851190e-01 0.00000000e+00 1.76080866e+02] [ 9.99851190e-01 1.72510133e-02 0.00000000e+00 1.63207083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.96899372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.180371743 meters Centerline goodness : 0.985920 Centerline is valid? [True, True] Translation: X:176.09, Y:163.24, Z:0.20 [[ 1.48439859e-02 -9.99889822e-01 0.00000000e+00 1.76088471e+02] [ 9.99889822e-01 1.48439859e-02 0.00000000e+00 1.63236990e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98767083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.210371743 meters Centerline goodness : 0.985920 Centerline is valid? [True, True] Translation: X:176.09, Y:163.24, Z:0.20 [[ 1.52159797e-02 -9.99884230e-01 0.00000000e+00 1.76088370e+02] [ 9.99884230e-01 1.52159797e-02 0.00000000e+00 1.63239563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.98767083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.240371743 meters Centerline goodness : 0.986966 Centerline is valid? [True, True] Translation: X:176.09, Y:163.21, Z:0.20 [[ 1.52628155e-02 -9.99883516e-01 0.00000000e+00 1.76093324e+02] [ 9.99883516e-01 1.52628155e-02 0.00000000e+00 1.63213545e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00108647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.270371743 meters Centerline goodness : 0.986972 Centerline is valid? [True, True] Translation: X:176.09, Y:163.20, Z:0.20 [[ 9.70506398e-03 -9.99952905e-01 0.00000000e+00 1.76094953e+02] [ 9.99952905e-01 9.70506398e-03 0.00000000e+00 1.63201917e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.01956981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.300371743 meters Centerline goodness : 0.990034 Centerline is valid? [True, True] Translation: X:176.10, Y:163.21, Z:0.20 [[ 9.04607148e-03 -9.99959083e-01 0.00000000e+00 1.76104996e+02] [ 9.99959083e-01 9.04607148e-03 0.00000000e+00 1.63208953e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02595330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.330371743 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:176.12, Y:163.22, Z:0.20 [[ 7.02314859e-03 -9.99975337e-01 0.00000000e+00 1.76115171e+02] [ 9.99975337e-01 7.02314859e-03 0.00000000e+00 1.63215536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02777076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36037174300003 meters Centerline goodness : 0.992246 Centerline is valid? [True, True] Translation: X:176.12, Y:163.22, Z:0.20 [[ 6.10823580e-03 -9.99981345e-01 0.00000000e+00 1.76120548e+02] [ 9.99981345e-01 6.10823580e-03 0.00000000e+00 1.63218512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02516009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.390371743 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:176.13, Y:163.22, Z:0.20 [[ 4.92360482e-03 -9.99987879e-01 0.00000000e+00 1.76125859e+02] [ 9.99987879e-01 4.92360482e-03 0.00000000e+00 1.63216755e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02255364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.420371743 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:176.14, Y:163.22, Z:0.20 [[ 3.23972107e-03 -9.99994752e-01 0.00000000e+00 1.76136115e+02] [ 9.99994752e-01 3.23972107e-03 0.00000000e+00 1.63221840e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02345372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.450371743 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:176.14, Y:163.22, Z:0.20 [[ 2.74300147e-03 -9.99996238e-01 0.00000000e+00 1.76140961e+02] [ 9.99996238e-01 2.74300147e-03 0.00000000e+00 1.63223418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03126496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.480371743 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:176.15, Y:163.23, Z:0.20 [[ 1.47732298e-03 -9.99998909e-01 0.00000000e+00 1.76149747e+02] [ 9.99998909e-01 1.47732298e-03 0.00000000e+00 1.63227720e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03901517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.510371743 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:176.15, Y:163.23, Z:0.20 [[ 1.53436316e-03 -9.99998823e-01 0.00000000e+00 1.76153657e+02] [ 9.99998823e-01 1.53436316e-03 0.00000000e+00 1.63230179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04004998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.540371743 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:176.16, Y:163.23, Z:0.20 [[ 1.61754343e-03 -9.99998692e-01 0.00000000e+00 1.76157442e+02] [ 9.99998692e-01 1.61754343e-03 0.00000000e+00 1.63231647e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03776503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.570371743 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:176.16, Y:163.24, Z:0.20 [[ 1.87129264e-03 -9.99998249e-01 0.00000000e+00 1.76164338e+02] [ 9.99998249e-01 1.87129264e-03 0.00000000e+00 1.63237105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03968852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.600371743 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:176.17, Y:163.25, Z:0.20 [[ 2.34647159e-03 -9.99997247e-01 0.00000000e+00 1.76167246e+02] [ 9.99997247e-01 2.34647159e-03 0.00000000e+00 1.63251878e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03738987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.630371743 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:176.17, Y:164.01, Z:0.20 [[ 2.27108370e-03 -9.99997421e-01 0.00000000e+00 1.76169867e+02] [ 9.99997421e-01 2.27108370e-03 0.00000000e+00 1.64011688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02066245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.660371743 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:176.17, Y:164.02, Z:0.20 [[ 3.33047249e-03 -9.99994454e-01 0.00000000e+00 1.76172535e+02] [ 9.99994454e-01 3.33047249e-03 0.00000000e+00 1.64017341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02717570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.690371743 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:176.18, Y:164.03, Z:0.20 [[ 3.99458051e-03 -9.99992022e-01 0.00000000e+00 1.76177087e+02] [ 9.99992022e-01 3.99458051e-03 0.00000000e+00 1.64025430e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03783845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.720371743 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:176.18, Y:164.03, Z:0.20 [[ 4.80979418e-03 -9.99988433e-01 0.00000000e+00 1.76178857e+02] [ 9.99988433e-01 4.80979418e-03 0.00000000e+00 1.64027377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03994106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.750371743 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:176.18, Y:164.02, Z:0.20 [[ 5.22731356e-03 -9.99986338e-01 0.00000000e+00 1.76181477e+02] [ 9.99986338e-01 5.22731356e-03 0.00000000e+00 1.64016338e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04150066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.780371743 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:176.18, Y:164.03, Z:0.20 [[ 5.82199443e-03 -9.99983052e-01 0.00000000e+00 1.76182654e+02] [ 9.99983052e-01 5.82199443e-03 0.00000000e+00 1.64031072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04586091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.810371743 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:176.18, Y:164.06, Z:0.20 [[ 4.14236766e-03 -9.99991420e-01 0.00000000e+00 1.76184604e+02] [ 9.99991420e-01 4.14236766e-03 0.00000000e+00 1.64058010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03892631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.840371743 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:176.19, Y:164.06, Z:0.20 [[ 3.54165178e-03 -9.99993728e-01 0.00000000e+00 1.76185480e+02] [ 9.99993728e-01 3.54165178e-03 0.00000000e+00 1.64057045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04084767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.870371743 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:176.19, Y:164.08, Z:0.20 [[-2.54709142e-04 -9.99999968e-01 0.00000000e+00 1.76187283e+02] [ 9.99999968e-01 -2.54709142e-04 0.00000000e+00 1.64082678e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03797501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.900371743 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:176.19, Y:164.11, Z:0.20 [[-3.18981097e-03 -9.99994913e-01 0.00000000e+00 1.76187885e+02] [ 9.99994913e-01 -3.18981097e-03 0.00000000e+00 1.64109972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03613947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.930371743 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:176.19, Y:164.10, Z:0.20 [[-5.30864372e-03 -9.99985909e-01 0.00000000e+00 1.76188868e+02] [ 9.99985909e-01 -5.30864372e-03 0.00000000e+00 1.64099202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03808918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.960371743 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:176.19, Y:164.13, Z:0.20 [[-1.23487623e-02 -9.99923751e-01 0.00000000e+00 1.76190727e+02] [ 9.99923751e-01 -1.23487623e-02 0.00000000e+00 1.64126803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04162686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.990371743 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:176.19, Y:164.15, Z:0.20 [[-2.04571462e-02 -9.99790731e-01 0.00000000e+00 1.76193582e+02] [ 9.99790731e-01 -2.04571462e-02 0.00000000e+00 1.64152939e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04637993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.020371743 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:176.20, Y:164.15, Z:0.21 [[-2.38058343e-02 -9.99716601e-01 0.00000000e+00 1.76195522e+02] [ 9.99716601e-01 -2.38058343e-02 0.00000000e+00 1.64153884e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05518028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.050371743 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.20, Y:164.18, Z:0.21 [[-3.14435563e-02 -9.99505529e-01 0.00000000e+00 1.76199140e+02] [ 9.99505529e-01 -3.14435563e-02 0.00000000e+00 1.64181526e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06101436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.080371743 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:176.20, Y:164.21, Z:0.21 [[-3.52431367e-02 -9.99378768e-01 0.00000000e+00 1.76200704e+02] [ 9.99378768e-01 -3.52431367e-02 0.00000000e+00 1.64209282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05858653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11037174300003 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:176.20, Y:164.22, Z:0.21 [[-3.85044221e-02 -9.99258430e-01 0.00000000e+00 1.76202509e+02] [ 9.99258430e-01 -3.85044221e-02 0.00000000e+00 1.64217196e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05525584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.140371743 meters Centerline goodness : 0.999835 Centerline is valid? [True, True] Translation: X:176.21, Y:164.23, Z:0.20 [[-4.45633667e-02 -9.99006560e-01 0.00000000e+00 1.76205171e+02] [ 9.99006560e-01 -4.45633667e-02 0.00000000e+00 1.64232501e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04374917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.170371743 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:176.21, Y:164.23, Z:0.20 [[-4.71282392e-02 -9.98888847e-01 0.00000000e+00 1.76206295e+02] [ 9.98888847e-01 -4.71282392e-02 0.00000000e+00 1.64229117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04557369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.200371743 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:176.22, Y:164.27, Z:0.20 [[-4.57729426e-02 -9.98951870e-01 0.00000000e+00 1.76215541e+02] [ 9.98951870e-01 -4.57729426e-02 0.00000000e+00 1.64266176e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00581810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.230371743 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:176.21, Y:164.27, Z:0.21 [[-5.75091082e-02 -9.98344982e-01 0.00000000e+00 1.76209749e+02] [ 9.98344982e-01 -5.75091082e-02 0.00000000e+00 1.64266481e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05195975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.260371743 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:176.21, Y:164.28, Z:0.21 [[-5.51067094e-02 -9.98480471e-01 0.00000000e+00 1.76209617e+02] [ 9.98480471e-01 -5.51067094e-02 0.00000000e+00 1.64277663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05991071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.290371743 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:176.21, Y:164.27, Z:0.21 [[-5.27959007e-02 -9.98605324e-01 0.00000000e+00 1.76209063e+02] [ 9.98605324e-01 -5.27959007e-02 0.00000000e+00 1.64266421e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06610440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.320371743 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:176.21, Y:164.26, Z:0.21 [[-4.95089547e-02 -9.98773680e-01 0.00000000e+00 1.76208696e+02] [ 9.98773680e-01 -4.95089547e-02 0.00000000e+00 1.64263705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07209331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.350371743 meters Centerline goodness : 0.999752 Centerline is valid? [True, True] Translation: X:176.21, Y:164.26, Z:0.21 [[-4.34404628e-02 -9.99056018e-01 0.00000000e+00 1.76206590e+02] [ 9.99056018e-01 -4.34404628e-02 0.00000000e+00 1.64260345e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07963866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.380371743 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:176.21, Y:164.26, Z:0.21 [[-4.04775620e-02 -9.99180448e-01 0.00000000e+00 1.76205167e+02] [ 9.99180448e-01 -4.04775620e-02 0.00000000e+00 1.64260083e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08350647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.410371743 meters Centerline goodness : 0.999710 Centerline is valid? [True, True] Translation: X:176.20, Y:164.26, Z:0.21 [[-3.45732401e-02 -9.99402167e-01 0.00000000e+00 1.76202610e+02] [ 9.99402167e-01 -3.45732401e-02 0.00000000e+00 1.64259823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07879106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.440371743 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:176.20, Y:164.25, Z:0.21 [[-3.21526020e-02 -9.99482971e-01 0.00000000e+00 1.76201148e+02] [ 9.99482971e-01 -3.21526020e-02 0.00000000e+00 1.64254118e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07549085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.470371743 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:176.20, Y:164.26, Z:0.21 [[-3.06200358e-02 -9.99531097e-01 0.00000000e+00 1.76199423e+02] [ 9.99531097e-01 -3.06200358e-02 0.00000000e+00 1.64258349e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07440744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.500371743 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:176.20, Y:164.26, Z:0.21 [[-2.91229640e-02 -9.99575837e-01 0.00000000e+00 1.76196815e+02] [ 9.99575837e-01 -2.91229640e-02 0.00000000e+00 1.64256250e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07982512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.530371743 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:176.19, Y:164.26, Z:0.21 [[-2.97083824e-02 -9.99558609e-01 0.00000000e+00 1.76193956e+02] [ 9.99558609e-01 -2.97083824e-02 0.00000000e+00 1.64257023e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07390443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.560371743 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:176.19, Y:164.28, Z:0.21 [[-3.11826843e-02 -9.99513702e-01 0.00000000e+00 1.76192207e+02] [ 9.99513702e-01 -3.11826843e-02 0.00000000e+00 1.64279158e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06987369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.590371743 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:176.19, Y:164.27, Z:0.21 [[-3.24559645e-02 -9.99473166e-01 0.00000000e+00 1.76190722e+02] [ 9.99473166e-01 -3.24559645e-02 0.00000000e+00 1.64270624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06753349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.620371743 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:176.19, Y:164.27, Z:0.21 [[-3.63351407e-02 -9.99339661e-01 0.00000000e+00 1.76188477e+02] [ 9.99339661e-01 -3.63351407e-02 0.00000000e+00 1.64274559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06412171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.650371743 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:176.19, Y:164.28, Z:0.21 [[-3.95374434e-02 -9.99218090e-01 0.00000000e+00 1.76186257e+02] [ 9.99218090e-01 -3.95374434e-02 0.00000000e+00 1.64279431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05200204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.680371743 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:176.19, Y:164.29, Z:0.21 [[-4.06236441e-02 -9.99174519e-01 0.00000000e+00 1.76185041e+02] [ 9.99174519e-01 -4.06236441e-02 0.00000000e+00 1.64287737e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06747112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.710371743 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:176.18, Y:164.29, Z:0.21 [[-4.13968694e-02 -9.99142782e-01 0.00000000e+00 1.76183670e+02] [ 9.99142782e-01 -4.13968694e-02 0.00000000e+00 1.64288071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07760937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.740371743 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:176.18, Y:164.30, Z:0.21 [[-4.16661807e-02 -9.99131588e-01 0.00000000e+00 1.76180884e+02] [ 9.99131588e-01 -4.16661807e-02 0.00000000e+00 1.64295911e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07910919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.770371743 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:176.18, Y:164.29, Z:0.21 [[-4.12039598e-02 -9.99150756e-01 0.00000000e+00 1.76179142e+02] [ 9.99150756e-01 -4.12039598e-02 0.00000000e+00 1.64293560e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07487305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.800371743 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:176.18, Y:164.30, Z:0.21 [[-3.88988459e-02 -9.99243153e-01 0.00000000e+00 1.76176293e+02] [ 9.99243153e-01 -3.88988459e-02 0.00000000e+00 1.64300696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06915634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.830371743 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:176.18, Y:164.29, Z:0.21 [[-3.71030404e-02 -9.99311445e-01 0.00000000e+00 1.76175069e+02] [ 9.99311445e-01 -3.71030404e-02 0.00000000e+00 1.64290215e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07363878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86037174300003 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:176.17, Y:164.30, Z:0.21 [[-3.43842882e-02 -9.99408686e-01 0.00000000e+00 1.76172279e+02] [ 9.99408686e-01 -3.43842882e-02 0.00000000e+00 1.64304388e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06474627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.890371743 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:176.17, Y:164.29, Z:0.21 [[-3.31872297e-02 -9.99449152e-01 0.00000000e+00 1.76171443e+02] [ 9.99449152e-01 -3.31872297e-02 0.00000000e+00 1.64293089e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06509852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.920371743 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:176.17, Y:164.32, Z:0.21 [[-3.29869426e-02 -9.99455783e-01 0.00000000e+00 1.76170298e+02] [ 9.99455783e-01 -3.29869426e-02 0.00000000e+00 1.64320584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06607054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.950371743 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:176.17, Y:164.31, Z:0.21 [[-3.21653653e-02 -9.99482561e-01 0.00000000e+00 1.76168194e+02] [ 9.99482561e-01 -3.21653653e-02 0.00000000e+00 1.64308548e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05732479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.980371743 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:176.17, Y:164.34, Z:0.21 [[-3.30940108e-02 -9.99452243e-01 0.00000000e+00 1.76166553e+02] [ 9.99452243e-01 -3.30940108e-02 0.00000000e+00 1.64337257e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05229358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.010371743 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:176.17, Y:165.05, Z:0.20 [[-3.48374952e-02 -9.99392990e-01 0.00000000e+00 1.76166402e+02] [ 9.99392990e-01 -3.48374952e-02 0.00000000e+00 1.65051841e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 1.97936689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.040371743 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:176.17, Y:164.35, Z:0.21 [[-3.55862493e-02 -9.99366609e-01 0.00000000e+00 1.76165912e+02] [ 9.99366609e-01 -3.55862493e-02 0.00000000e+00 1.64347071e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05757065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.070371743 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:176.17, Y:164.37, Z:0.21 [[-3.68696075e-02 -9.99320085e-01 0.00000000e+00 1.76166012e+02] [ 9.99320085e-01 -3.68696075e-02 0.00000000e+00 1.64374468e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05141767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.100371743 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:176.17, Y:164.40, Z:0.21 [[-3.71599706e-02 -9.99309330e-01 0.00000000e+00 1.76165963e+02] [ 9.99309330e-01 -3.71599706e-02 0.00000000e+00 1.64402928e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05141767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.130371743 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:176.17, Y:164.43, Z:0.21 [[-4.03238109e-02 -9.99186664e-01 0.00000000e+00 1.76165452e+02] [ 9.99186664e-01 -4.03238109e-02 0.00000000e+00 1.64431292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05446367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.160371743 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:176.17, Y:164.46, Z:0.21 [[-4.23688952e-02 -9.99102035e-01 0.00000000e+00 1.76165425e+02] [ 9.99102035e-01 -4.23688952e-02 0.00000000e+00 1.64459492e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05581580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.190371743 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:176.17, Y:164.46, Z:0.21 [[-4.55551435e-02 -9.98961826e-01 0.00000000e+00 1.76165910e+02] [ 9.98961826e-01 -4.55551435e-02 0.00000000e+00 1.64462930e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06324580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.220371743 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:176.17, Y:164.49, Z:0.21 [[-4.76918511e-02 -9.98862096e-01 0.00000000e+00 1.76166299e+02] [ 9.98862096e-01 -4.76918511e-02 0.00000000e+00 1.64491214e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06542245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.250371743 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:176.17, Y:164.50, Z:0.21 [[-5.07737163e-02 -9.98710183e-01 0.00000000e+00 1.76166900e+02] [ 9.98710183e-01 -5.07737163e-02 0.00000000e+00 1.64502957e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06546050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.280371743 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:176.17, Y:164.53, Z:0.21 [[-5.27005622e-02 -9.98610360e-01 0.00000000e+00 1.76166589e+02] [ 9.98610360e-01 -5.27005622e-02 0.00000000e+00 1.64530834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06685247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.310371743 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:176.17, Y:164.53, Z:0.21 [[-5.47541736e-02 -9.98499865e-01 0.00000000e+00 1.76165360e+02] [ 9.98499865e-01 -5.47541736e-02 0.00000000e+00 1.64525914e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07025478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.340371743 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:176.16, Y:164.55, Z:0.21 [[-5.57345647e-02 -9.98445621e-01 0.00000000e+00 1.76164952e+02] [ 9.98445621e-01 -5.57345647e-02 0.00000000e+00 1.64554162e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07853201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.370371743 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:176.16, Y:164.58, Z:0.21 [[-5.69570079e-02 -9.98376632e-01 0.00000000e+00 1.76164191e+02] [ 9.98376632e-01 -5.69570079e-02 0.00000000e+00 1.64581923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08544040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.400371743 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:176.16, Y:164.59, Z:0.21 [[-5.76867599e-02 -9.98334732e-01 0.00000000e+00 1.76163358e+02] [ 9.98334732e-01 -5.76867599e-02 0.00000000e+00 1.64587750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09508834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.430371743 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:176.16, Y:164.61, Z:0.21 [[-5.80561416e-02 -9.98313320e-01 0.00000000e+00 1.76160501e+02] [ 9.98313320e-01 -5.80561416e-02 0.00000000e+00 1.64612186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10516864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.460371743 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:176.16, Y:164.48, Z:0.21 [[-5.56521131e-02 -9.98450220e-01 0.00000000e+00 1.76159135e+02] [ 9.98450220e-01 -5.56521131e-02 0.00000000e+00 1.64478964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07808344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.490371743 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:176.16, Y:164.51, Z:0.21 [[-5.63370347e-02 -9.98411808e-01 0.00000000e+00 1.76158254e+02] [ 9.98411808e-01 -5.63370347e-02 0.00000000e+00 1.64507013e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09258896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.520371743 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:176.16, Y:164.53, Z:0.21 [[-5.76493725e-02 -9.98336892e-01 0.00000000e+00 1.76156289e+02] [ 9.98336892e-01 -5.76493725e-02 0.00000000e+00 1.64534830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08500307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.550371743 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:176.16, Y:164.56, Z:0.21 [[-5.82726733e-02 -9.98300704e-01 0.00000000e+00 1.76155360e+02] [ 9.98300704e-01 -5.82726733e-02 0.00000000e+00 1.64561564e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07253616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.580371743 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:176.15, Y:164.59, Z:0.21 [[-5.95326395e-02 -9.98226360e-01 0.00000000e+00 1.76153284e+02] [ 9.98226360e-01 -5.95326395e-02 0.00000000e+00 1.64589056e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09226332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61037174300003 meters Centerline goodness : 0.997771 Centerline is valid? [True, True] Translation: X:176.15, Y:164.62, Z:0.21 [[-6.01418469e-02 -9.98189841e-01 0.00000000e+00 1.76151968e+02] [ 9.98189841e-01 -6.01418469e-02 0.00000000e+00 1.64615757e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07982908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.640371743 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:176.15, Y:164.64, Z:0.21 [[-6.01694178e-02 -9.98188179e-01 0.00000000e+00 1.76149445e+02] [ 9.98188179e-01 -6.01694178e-02 0.00000000e+00 1.64642714e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09905976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.670371743 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:176.15, Y:164.67, Z:0.21 [[-6.21620778e-02 -9.98066068e-01 0.00000000e+00 1.76148546e+02] [ 9.98066068e-01 -6.21620778e-02 0.00000000e+00 1.64672125e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09372253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.700371743 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:176.15, Y:164.70, Z:0.21 [[-6.47749969e-02 -9.97899895e-01 0.00000000e+00 1.76146660e+02] [ 9.97899895e-01 -6.47749969e-02 0.00000000e+00 1.64700419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09455014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.730371743 meters Centerline goodness : 0.996893 Centerline is valid? [True, True] Translation: X:176.15, Y:164.73, Z:0.21 [[-6.66021768e-02 -9.97779610e-01 0.00000000e+00 1.76145986e+02] [ 9.97779610e-01 -6.66021768e-02 0.00000000e+00 1.64728035e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08294723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.760371743 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:176.14, Y:164.75, Z:0.21 [[-6.99035933e-02 -9.97553752e-01 0.00000000e+00 1.76144527e+02] [ 9.97553752e-01 -6.99035933e-02 0.00000000e+00 1.64754577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06775889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.790371743 meters Centerline goodness : 0.997325 Centerline is valid? [True, True] Translation: X:176.14, Y:164.78, Z:0.21 [[-7.14246650e-02 -9.97445997e-01 0.00000000e+00 1.76143578e+02] [ 9.97445997e-01 -7.14246650e-02 0.00000000e+00 1.64782648e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08228015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.820371743 meters Centerline goodness : 0.996899 Centerline is valid? [True, True] Translation: X:176.14, Y:164.81, Z:0.21 [[-7.32969344e-02 -9.97310162e-01 0.00000000e+00 1.76142183e+02] [ 9.97310162e-01 -7.32969344e-02 0.00000000e+00 1.64810622e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07904256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.850371743 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:176.14, Y:164.84, Z:0.21 [[-7.42669573e-02 -9.97238396e-01 0.00000000e+00 1.76139005e+02] [ 9.97238396e-01 -7.42669573e-02 0.00000000e+00 1.64837688e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08466632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.880371743 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:176.14, Y:164.84, Z:0.21 [[-7.39359762e-02 -9.97262990e-01 0.00000000e+00 1.76135352e+02] [ 9.97262990e-01 -7.39359762e-02 0.00000000e+00 1.64841647e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10078572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.910371743 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:176.13, Y:164.87, Z:0.21 [[-7.44049833e-02 -9.97228108e-01 0.00000000e+00 1.76133454e+02] [ 9.97228108e-01 -7.44049833e-02 0.00000000e+00 1.64868364e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08160089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.940371743 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:176.14, Y:164.85, Z:0.21 [[-6.14375661e-02 -9.98110928e-01 0.00000000e+00 1.76137382e+02] [ 9.98110928e-01 -6.14375661e-02 0.00000000e+00 1.64845386e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08622498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.970371743 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:176.13, Y:164.86, Z:0.21 [[-6.30758806e-02 -9.98008734e-01 0.00000000e+00 1.76125492e+02] [ 9.98008734e-01 -6.30758806e-02 0.00000000e+00 1.64863823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10486577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.000371743 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:176.12, Y:164.89, Z:0.21 [[-6.11507779e-02 -9.98128540e-01 0.00000000e+00 1.76123010e+02] [ 9.98128540e-01 -6.11507779e-02 0.00000000e+00 1.64892052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09669416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.030371743 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:176.13, Y:164.93, Z:0.21 [[-5.15447859e-02 -9.98670684e-01 0.00000000e+00 1.76126718e+02] [ 9.98670684e-01 -5.15447859e-02 0.00000000e+00 1.64929921e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05740648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.060371743 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:176.12, Y:164.95, Z:0.21 [[-5.57703969e-02 -9.98443620e-01 0.00000000e+00 1.76116010e+02] [ 9.98443620e-01 -5.57703969e-02 0.00000000e+00 1.64947913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08416147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.090371743 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:176.12, Y:164.99, Z:0.20 [[-4.34209952e-02 -9.99056864e-01 0.00000000e+00 1.76122714e+02] [ 9.99056864e-01 -4.34209952e-02 0.00000000e+00 1.64987422e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00595394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.120371743 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:176.12, Y:165.01, Z:0.20 [[-4.34661612e-02 -9.99054900e-01 0.00000000e+00 1.76118415e+02] [ 9.99054900e-01 -4.34661612e-02 0.00000000e+00 1.65012864e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03839744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.150371743 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:176.11, Y:165.04, Z:0.21 [[-3.96226891e-02 -9.99214713e-01 0.00000000e+00 1.76112351e+02] [ 9.99214713e-01 -3.96226891e-02 0.00000000e+00 1.65039302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05359390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.180371743 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:176.11, Y:165.07, Z:0.21 [[-3.70910414e-02 -9.99311891e-01 0.00000000e+00 1.76110143e+02] [ 9.99311891e-01 -3.70910414e-02 0.00000000e+00 1.65068095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05309618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.210371743 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:176.10, Y:165.10, Z:0.21 [[-3.29854143e-02 -9.99455833e-01 0.00000000e+00 1.76104162e+02] [ 9.99455833e-01 -3.29854143e-02 0.00000000e+00 1.65097331e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06234522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.240371743 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:176.10, Y:165.12, Z:0.21 [[-3.13929708e-02 -9.99507119e-01 0.00000000e+00 1.76100848e+02] [ 9.99507119e-01 -3.13929708e-02 0.00000000e+00 1.65123760e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06851397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.270371743 meters Centerline goodness : 0.991073 Centerline is valid? [True, True] Translation: X:176.09, Y:165.15, Z:0.21 [[-3.45107855e-02 -9.99404325e-01 0.00000000e+00 1.76088411e+02] [ 9.99404325e-01 -3.45107855e-02 0.00000000e+00 1.65145595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09430800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.300371743 meters Centerline goodness : 0.991728 Centerline is valid? [True, True] Translation: X:176.09, Y:165.18, Z:0.20 [[-2.71136332e-02 -9.99632358e-01 0.00000000e+00 1.76094606e+02] [ 9.99632358e-01 -2.71136332e-02 0.00000000e+00 1.65182823e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04378919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.330371743 meters Centerline goodness : 0.989165 Centerline is valid? [True, True] Translation: X:176.09, Y:165.17, Z:0.21 [[-2.23905116e-02 -9.99749301e-01 0.00000000e+00 1.76092818e+02] [ 9.99749301e-01 -2.23905116e-02 0.00000000e+00 1.65168312e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11440649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36037174300003 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:176.09, Y:165.17, Z:0.20 [[-1.91182574e-02 -9.99817229e-01 0.00000000e+00 1.76091993e+02] [ 9.99817229e-01 -1.91182574e-02 0.00000000e+00 1.65168510e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02747087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.390371743 meters Centerline goodness : 0.988661 Centerline is valid? [True, True] Translation: X:176.09, Y:165.20, Z:0.20 [[-2.13655345e-02 -9.99771731e-01 0.00000000e+00 1.76088277e+02] [ 9.99771731e-01 -2.13655345e-02 0.00000000e+00 1.65196654e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03496914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.420371743 meters Centerline goodness : 0.988433 Centerline is valid? [True, True] Translation: X:176.08, Y:165.22, Z:0.21 [[-2.49285939e-02 -9.99689234e-01 0.00000000e+00 1.76084873e+02] [ 9.99689234e-01 -2.49285939e-02 0.00000000e+00 1.65223871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06057199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.450371743 meters Centerline goodness : 0.987760 Centerline is valid? [True, True] Translation: X:176.08, Y:165.25, Z:0.21 [[-2.71882642e-02 -9.99630331e-01 0.00000000e+00 1.76081693e+02] [ 9.99630331e-01 -2.71882642e-02 0.00000000e+00 1.65252753e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05486146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.480371743 meters Centerline goodness : 0.988341 Centerline is valid? [True, True] Translation: X:176.07, Y:165.27, Z:0.21 [[-3.76950992e-02 -9.99289287e-01 0.00000000e+00 1.76068569e+02] [ 9.99289287e-01 -3.76950992e-02 0.00000000e+00 1.65268228e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09155212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.510371743 meters Centerline goodness : 0.985482 Centerline is valid? [True, True] Translation: X:176.08, Y:165.31, Z:0.21 [[-3.16343098e-02 -9.99499510e-01 0.00000000e+00 1.76077959e+02] [ 9.99499510e-01 -3.16343098e-02 0.00000000e+00 1.65308011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07302845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.540371743 meters Centerline goodness : 0.987531 Centerline is valid? [True, True] Translation: X:176.07, Y:165.34, Z:0.21 [[-5.00574573e-02 -9.98746340e-01 0.00000000e+00 1.76067402e+02] [ 9.98746340e-01 -5.00574573e-02 0.00000000e+00 1.65337696e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08013835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.570371743 meters Centerline goodness : 0.984868 Centerline is valid? [True, True] Translation: X:176.08, Y:165.31, Z:0.21 [[-3.66305112e-02 -9.99328878e-01 0.00000000e+00 1.76075151e+02] [ 9.99328878e-01 -3.66305112e-02 0.00000000e+00 1.65312552e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07974077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.600371743 meters Centerline goodness : 0.985089 Centerline is valid? [True, True] Translation: X:176.06, Y:165.34, Z:0.21 [[-5.38347281e-02 -9.98549860e-01 0.00000000e+00 1.76064752e+02] [ 9.98549860e-01 -5.38347281e-02 0.00000000e+00 1.65344278e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10237124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.630371743 meters Centerline goodness : 0.984686 Centerline is valid? [True, True] Translation: X:176.07, Y:165.32, Z:0.21 [[-3.68865426e-02 -9.99319460e-01 0.00000000e+00 1.76074202e+02] [ 9.99319460e-01 -3.68865426e-02 0.00000000e+00 1.65317408e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09723027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.660371743 meters Centerline goodness : 0.985855 Centerline is valid? [True, True] Translation: X:176.06, Y:165.33, Z:0.21 [[-4.58402696e-02 -9.98948782e-01 0.00000000e+00 1.76060937e+02] [ 9.98948782e-01 -4.58402696e-02 0.00000000e+00 1.65332045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09217810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.690371743 meters Centerline goodness : 0.986291 Centerline is valid? [True, True] Translation: X:176.06, Y:165.36, Z:0.21 [[-4.48660588e-02 -9.98993011e-01 0.00000000e+00 1.76060061e+02] [ 9.98993011e-01 -4.48660588e-02 0.00000000e+00 1.65358727e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08232426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.720371743 meters Centerline goodness : 0.985800 Centerline is valid? [True, True] Translation: X:176.07, Y:165.40, Z:0.20 [[-3.02943946e-02 -9.99541019e-01 0.00000000e+00 1.76072426e+02] [ 9.99541019e-01 -3.02943946e-02 0.00000000e+00 1.65404201e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00485957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.750371743 meters Centerline goodness : 0.984052 Centerline is valid? [True, True] Translation: X:176.07, Y:165.41, Z:0.20 [[-3.13106529e-02 -9.99509701e-01 0.00000000e+00 1.76070052e+02] [ 9.99509701e-01 -3.13106529e-02 0.00000000e+00 1.65411438e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.02364309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.780371743 meters Centerline goodness : 0.981860 Centerline is valid? [True, True] Translation: X:176.07, Y:165.41, Z:0.21 [[-3.11832913e-02 -9.99513683e-01 0.00000000e+00 1.76067671e+02] [ 9.99513683e-01 -3.11832913e-02 0.00000000e+00 1.65407618e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10038097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.810371743 meters Centerline goodness : 0.984583 Centerline is valid? [True, True] Translation: X:176.05, Y:165.45, Z:0.21 [[-4.72661579e-02 -9.98882331e-01 0.00000000e+00 1.76053239e+02] [ 9.98882331e-01 -4.72661579e-02 0.00000000e+00 1.65446441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09265175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.840371743 meters Centerline goodness : 0.982080 Centerline is valid? [True, True] Translation: X:176.06, Y:165.41, Z:0.21 [[-2.61097549e-02 -9.99659082e-01 0.00000000e+00 1.76062933e+02] [ 9.99659082e-01 -2.61097549e-02 0.00000000e+00 1.65411111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07657569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.870371743 meters Centerline goodness : 0.982648 Centerline is valid? [True, True] Translation: X:176.06, Y:165.42, Z:0.21 [[-2.92183596e-02 -9.99573053e-01 0.00000000e+00 1.76058448e+02] [ 9.99573053e-01 -2.92183596e-02 0.00000000e+00 1.65422226e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09558080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.900371743 meters Centerline goodness : 0.981657 Centerline is valid? [True, True] Translation: X:176.06, Y:165.42, Z:0.21 [[-2.79571577e-02 -9.99609122e-01 0.00000000e+00 1.76057909e+02] [ 9.99609122e-01 -2.79571577e-02 0.00000000e+00 1.65418931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10246278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.930371743 meters Centerline goodness : 0.982325 Centerline is valid? [True, True] Translation: X:176.06, Y:165.43, Z:0.21 [[-3.09864304e-02 -9.99519805e-01 0.00000000e+00 1.76055076e+02] [ 9.99519805e-01 -3.09864304e-02 0.00000000e+00 1.65425061e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10144663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.960371743 meters Centerline goodness : 0.981435 Centerline is valid? [True, True] Translation: X:176.05, Y:165.43, Z:0.21 [[-3.31307438e-02 -9.99451026e-01 0.00000000e+00 1.76054027e+02] [ 9.99451026e-01 -3.31307438e-02 0.00000000e+00 1.65427820e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10388850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.990371743 meters Centerline goodness : 0.981596 Centerline is valid? [True, True] Translation: X:176.05, Y:165.43, Z:0.21 [[-3.34000229e-02 -9.99442064e-01 0.00000000e+00 1.76054294e+02] [ 9.99442064e-01 -3.34000229e-02 0.00000000e+00 1.65426068e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10336865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.020371743 meters Centerline goodness : 0.981596 Centerline is valid? [True, True] Translation: X:176.05, Y:165.45, Z:0.21 [[-3.42224202e-02 -9.99414241e-01 0.00000000e+00 1.76053912e+02] [ 9.99414241e-01 -3.42224202e-02 0.00000000e+00 1.65454414e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10336865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.050371743 meters Centerline goodness : 0.984175 Centerline is valid? [True, True] Translation: X:176.04, Y:165.50, Z:0.21 [[-6.02115964e-02 -9.98185636e-01 0.00000000e+00 1.76039861e+02] [ 9.98185636e-01 -6.02115964e-02 0.00000000e+00 1.65502156e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10023296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.080371743 meters Centerline goodness : 0.982355 Centerline is valid? [True, True] Translation: X:176.04, Y:165.51, Z:0.21 [[-6.58798602e-02 -9.97827562e-01 0.00000000e+00 1.76037146e+02] [ 9.97827562e-01 -6.58798602e-02 0.00000000e+00 1.65508829e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09389592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11037174300003 meters Centerline goodness : 0.983819 Centerline is valid? [True, True] Translation: X:176.04, Y:165.51, Z:0.21 [[-6.84118808e-02 -9.97657163e-01 0.00000000e+00 1.76036096e+02] [ 9.97657163e-01 -6.84118808e-02 0.00000000e+00 1.65510759e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09148024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.140371743 meters Centerline goodness : 0.983173 Centerline is valid? [True, True] Translation: X:176.05, Y:165.48, Z:0.20 [[-4.50914390e-02 -9.98982864e-01 0.00000000e+00 1.76049550e+02] [ 9.98982864e-01 -4.50914390e-02 0.00000000e+00 1.65480347e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.00889538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.170371743 meters Centerline goodness : 0.975060 Centerline is valid? [True, True] Translation: X:176.05, Y:165.49, Z:0.21 [[-4.34680722e-02 -9.99054817e-01 0.00000000e+00 1.76045990e+02] [ 9.99054817e-01 -4.34680722e-02 0.00000000e+00 1.65487925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10197835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.200371743 meters Centerline goodness : 0.981495 Centerline is valid? [True, True] Translation: X:176.03, Y:165.51, Z:0.21 [[-6.81004965e-02 -9.97678466e-01 0.00000000e+00 1.76027352e+02] [ 9.97678466e-01 -6.81004965e-02 0.00000000e+00 1.65513327e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08594466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.230371743 meters Centerline goodness : 0.981844 Centerline is valid? [True, True] Translation: X:176.03, Y:165.54, Z:0.21 [[-7.16285080e-02 -9.97431380e-01 0.00000000e+00 1.76025944e+02] [ 9.97431380e-01 -7.16285080e-02 0.00000000e+00 1.65541285e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08697094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.260371743 meters Centerline goodness : 0.975932 Centerline is valid? [True, True] Translation: X:176.03, Y:165.57, Z:0.21 [[-6.43490972e-02 -9.97927449e-01 0.00000000e+00 1.76034781e+02] [ 9.97927449e-01 -6.43490972e-02 0.00000000e+00 1.65569477e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13159020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.290371743 meters Centerline goodness : 0.980757 Centerline is valid? [True, True] Translation: X:176.02, Y:165.60, Z:0.21 [[-8.04552321e-02 -9.96758223e-01 0.00000000e+00 1.76023039e+02] [ 9.96758223e-01 -8.04552321e-02 0.00000000e+00 1.65597045e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08787121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.320371743 meters Centerline goodness : 0.980886 Centerline is valid? [True, True] Translation: X:176.02, Y:165.62, Z:0.21 [[-8.45600067e-02 -9.96418389e-01 0.00000000e+00 1.76020090e+02] [ 9.96418389e-01 -8.45600067e-02 0.00000000e+00 1.65623964e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06595518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.350371743 meters Centerline goodness : 0.980780 Centerline is valid? [True, True] Translation: X:176.02, Y:165.65, Z:0.21 [[-8.60501082e-02 -9.96290810e-01 0.00000000e+00 1.76018253e+02] [ 9.96290810e-01 -8.60501082e-02 0.00000000e+00 1.65652331e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05936283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.380371743 meters Centerline goodness : 0.974972 Centerline is valid? [True, True] Translation: X:176.03, Y:165.68, Z:0.21 [[-7.35492013e-02 -9.97291590e-01 0.00000000e+00 1.76025571e+02] [ 9.97291590e-01 -7.35492013e-02 0.00000000e+00 1.65679437e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07746866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.410371743 meters Centerline goodness : 0.980079 Centerline is valid? [True, True] Translation: X:176.01, Y:165.71, Z:0.21 [[-8.70287410e-02 -9.96205801e-01 0.00000000e+00 1.76012505e+02] [ 9.96205801e-01 -8.70287410e-02 0.00000000e+00 1.65706897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05002121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.440371743 meters Centerline goodness : 0.974028 Centerline is valid? [True, True] Translation: X:176.02, Y:165.73, Z:0.21 [[-7.39734250e-02 -9.97260213e-01 0.00000000e+00 1.76021240e+02] [ 9.97260213e-01 -7.39734250e-02 0.00000000e+00 1.65734001e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10429693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.470371743 meters Centerline goodness : 0.980934 Centerline is valid? [True, True] Translation: X:176.01, Y:165.76, Z:0.21 [[-8.49344550e-02 -9.96386541e-01 0.00000000e+00 1.76006897e+02] [ 9.96386541e-01 -8.49344550e-02 0.00000000e+00 1.65762333e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06124269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.500371743 meters Centerline goodness : 0.977403 Centerline is valid? [True, True] Translation: X:176.01, Y:165.78, Z:0.21 [[-7.73263597e-02 -9.97005835e-01 0.00000000e+00 1.76006074e+02] [ 9.97005835e-01 -7.73263597e-02 0.00000000e+00 1.65777062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14704035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.530371743 meters Centerline goodness : 0.981328 Centerline is valid? [True, True] Translation: X:176.00, Y:165.81, Z:0.21 [[-8.17912896e-02 -9.96649479e-01 0.00000000e+00 1.76000564e+02] [ 9.96649479e-01 -8.17912896e-02 0.00000000e+00 1.65814241e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06152235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.560371743 meters Centerline goodness : 0.972401 Centerline is valid? [True, True] Translation: X:176.01, Y:165.85, Z:0.21 [[-6.43266296e-02 -9.97928898e-01 0.00000000e+00 1.76014534e+02] [ 9.97928898e-01 -6.43266296e-02 0.00000000e+00 1.65849617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14880957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.590371743 meters Centerline goodness : 0.982163 Centerline is valid? [True, True] Translation: X:176.00, Y:165.87, Z:0.21 [[-7.85581104e-02 -9.96909536e-01 0.00000000e+00 1.75996927e+02] [ 9.96909536e-01 -7.85581104e-02 0.00000000e+00 1.65869389e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05680058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.620371743 meters Centerline goodness : 0.981204 Centerline is valid? [True, True] Translation: X:176.00, Y:165.90, Z:0.21 [[-7.75661622e-02 -9.96987207e-01 0.00000000e+00 1.75996183e+02] [ 9.96987207e-01 -7.75661622e-02 0.00000000e+00 1.65897259e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05473813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.650371743 meters Centerline goodness : 0.971311 Centerline is valid? [True, True] Translation: X:176.01, Y:166.19, Z:0.22 [[-5.30292044e-02 -9.98592962e-01 0.00000000e+00 1.76009741e+02] [ 9.98592962e-01 -5.30292044e-02 0.00000000e+00 1.66187291e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15145213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.680371743 meters Centerline goodness : 0.981695 Centerline is valid? [True, True] Translation: X:175.99, Y:166.21, Z:0.21 [[-6.93329510e-02 -9.97593576e-01 0.00000000e+00 1.75992818e+02] [ 9.97593576e-01 -6.93329510e-02 0.00000000e+00 1.66206622e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06197121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.710371743 meters Centerline goodness : 0.974024 Centerline is valid? [True, True] Translation: X:176.01, Y:166.24, Z:0.21 [[-5.41451781e-02 -9.98533074e-01 0.00000000e+00 1.76006340e+02] [ 9.98533074e-01 -5.41451781e-02 0.00000000e+00 1.66243269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12081267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.740371743 meters Centerline goodness : 0.973414 Centerline is valid? [True, True] Translation: X:176.01, Y:166.27, Z:0.21 [[-5.39809745e-02 -9.98541964e-01 0.00000000e+00 1.76005196e+02] [ 9.98541964e-01 -5.39809745e-02 0.00000000e+00 1.66268595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11644816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.770371743 meters Centerline goodness : 0.981218 Centerline is valid? [True, True] Translation: X:175.99, Y:166.29, Z:0.21 [[-7.11972871e-02 -9.97462253e-01 0.00000000e+00 1.75988795e+02] [ 9.97462253e-01 -7.11972871e-02 0.00000000e+00 1.66288874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05226131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.800371743 meters Centerline goodness : 0.976148 Centerline is valid? [True, True] Translation: X:176.00, Y:166.32, Z:0.21 [[-6.03425248e-02 -9.98177730e-01 0.00000000e+00 1.75998603e+02] [ 9.98177730e-01 -6.03425248e-02 0.00000000e+00 1.66318848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09358176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.830371743 meters Centerline goodness : 0.982578 Centerline is valid? [True, True] Translation: X:175.99, Y:166.34, Z:0.21 [[-7.30838060e-02 -9.97325803e-01 0.00000000e+00 1.75987818e+02] [ 9.97325803e-01 -7.30838060e-02 0.00000000e+00 1.66343619e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05584853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86037174300003 meters Centerline goodness : 0.980663 Centerline is valid? [True, True] Translation: X:175.99, Y:166.37, Z:0.21 [[-7.46207432e-02 -9.97211986e-01 0.00000000e+00 1.75986471e+02] [ 9.97211986e-01 -7.46207432e-02 0.00000000e+00 1.66371543e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05942568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.890371743 meters Centerline goodness : 0.981715 Centerline is valid? [True, True] Translation: X:175.99, Y:166.40, Z:0.21 [[-7.65410930e-02 -9.97066428e-01 0.00000000e+00 1.75985130e+02] [ 9.97066428e-01 -7.65410930e-02 0.00000000e+00 1.66399819e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07013171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.920371743 meters Centerline goodness : 0.981985 Centerline is valid? [True, True] Translation: X:175.99, Y:166.43, Z:0.21 [[-7.69058968e-02 -9.97038356e-01 0.00000000e+00 1.75985533e+02] [ 9.97038356e-01 -7.69058968e-02 0.00000000e+00 1.66426730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05516586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.950371743 meters Centerline goodness : 0.982368 Centerline is valid? [True, True] Translation: X:175.99, Y:166.46, Z:0.21 [[-7.84291150e-02 -9.96919693e-01 0.00000000e+00 1.75985285e+02] [ 9.96919693e-01 -7.84291150e-02 0.00000000e+00 1.66455502e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05290982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.980371743 meters Centerline goodness : 0.982706 Centerline is valid? [True, True] Translation: X:175.99, Y:166.48, Z:0.20 [[-7.90916310e-02 -9.96867350e-01 0.00000000e+00 1.75985141e+02] [ 9.96867350e-01 -7.90916310e-02 0.00000000e+00 1.66483038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04459752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.010371743 meters Centerline goodness : 0.981787 Centerline is valid? [True, True] Translation: X:175.98, Y:166.51, Z:0.20 [[-8.01194342e-02 -9.96785271e-01 0.00000000e+00 1.75984499e+02] [ 9.96785271e-01 -8.01194342e-02 0.00000000e+00 1.66511925e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04182735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.040371743 meters Centerline goodness : 0.983125 Centerline is valid? [True, True] Translation: X:175.98, Y:166.54, Z:0.20 [[-8.00822134e-02 -9.96788262e-01 0.00000000e+00 1.75983661e+02] [ 9.96788262e-01 -8.00822134e-02 0.00000000e+00 1.66539290e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03439095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.070371743 meters Centerline goodness : 0.982215 Centerline is valid? [True, True] Translation: X:175.98, Y:166.57, Z:0.20 [[-7.96312917e-02 -9.96824386e-01 0.00000000e+00 1.75983523e+02] [ 9.96824386e-01 -7.96312917e-02 0.00000000e+00 1.66567395e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04134134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.100371743 meters Centerline goodness : 0.981606 Centerline is valid? [True, True] Translation: X:175.98, Y:166.59, Z:0.20 [[-7.87060464e-02 -9.96897868e-01 0.00000000e+00 1.75982931e+02] [ 9.96897868e-01 -7.87060464e-02 0.00000000e+00 1.66594744e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04251901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.130371743 meters Centerline goodness : 0.983474 Centerline is valid? [True, True] Translation: X:175.98, Y:166.62, Z:0.21 [[-7.72802864e-02 -9.97009407e-01 0.00000000e+00 1.75982793e+02] [ 9.97009407e-01 -7.72802864e-02 0.00000000e+00 1.66623854e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.06418350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.160371743 meters Centerline goodness : 0.983205 Centerline is valid? [True, True] Translation: X:175.98, Y:166.65, Z:0.20 [[-7.66213211e-02 -9.97060266e-01 0.00000000e+00 1.75981977e+02] [ 9.97060266e-01 -7.66213211e-02 0.00000000e+00 1.66650686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.04647843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.190371743 meters Centerline goodness : 0.975507 Centerline is valid? [True, True] Translation: X:175.99, Y:166.68, Z:0.21 [[-6.22453513e-02 -9.98060878e-01 0.00000000e+00 1.75993617e+02] [ 9.98060878e-01 -6.22453513e-02 0.00000000e+00 1.66683649e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12384900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.220371743 meters Centerline goodness : 0.982078 Centerline is valid? [True, True] Translation: X:175.98, Y:166.71, Z:0.21 [[-7.32938174e-02 -9.97310391e-01 0.00000000e+00 1.75979997e+02] [ 9.97310391e-01 -7.32938174e-02 0.00000000e+00 1.66705952e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07111471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.250371743 meters Centerline goodness : 0.982987 Centerline is valid? [True, True] Translation: X:175.98, Y:166.73, Z:0.21 [[-7.22592112e-02 -9.97385886e-01 0.00000000e+00 1.75979962e+02] [ 9.97385886e-01 -7.22592112e-02 0.00000000e+00 1.66733441e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07935050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.280371743 meters Centerline goodness : 0.979413 Centerline is valid? [True, True] Translation: X:175.98, Y:166.75, Z:0.21 [[-6.66059977e-02 -9.97779355e-01 0.00000000e+00 1.75979166e+02] [ 9.97779355e-01 -6.66059977e-02 0.00000000e+00 1.66748977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08931022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.310371743 meters Centerline goodness : 0.978592 Centerline is valid? [True, True] Translation: X:175.98, Y:166.78, Z:0.21 [[-6.38138726e-02 -9.97961818e-01 0.00000000e+00 1.75981036e+02] [ 9.97961818e-01 -6.38138726e-02 0.00000000e+00 1.66777265e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08904580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.340371743 meters Centerline goodness : 0.983094 Centerline is valid? [True, True] Translation: X:175.98, Y:166.81, Z:0.21 [[-6.39608712e-02 -9.97952407e-01 0.00000000e+00 1.75983702e+02] [ 9.97952407e-01 -6.39608712e-02 0.00000000e+00 1.66814050e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07945588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.370371743 meters Centerline goodness : 0.983237 Centerline is valid? [True, True] Translation: X:175.98, Y:166.84, Z:0.21 [[-6.37226286e-02 -9.97967648e-01 0.00000000e+00 1.75983876e+02] [ 9.97967648e-01 -6.37226286e-02 0.00000000e+00 1.66841938e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07476097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.400371743 meters Centerline goodness : 0.983729 Centerline is valid? [True, True] Translation: X:175.98, Y:166.87, Z:0.21 [[-6.29706505e-02 -9.98015379e-01 0.00000000e+00 1.75984570e+02] [ 9.98015379e-01 -6.29706505e-02 0.00000000e+00 1.66869698e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07855612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.430371743 meters Centerline goodness : 0.983549 Centerline is valid? [True, True] Translation: X:175.99, Y:166.90, Z:0.21 [[-6.16661255e-02 -9.98096833e-01 0.00000000e+00 1.75985912e+02] [ 9.98096833e-01 -6.16661255e-02 0.00000000e+00 1.66898638e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08831529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.460371743 meters Centerline goodness : 0.982275 Centerline is valid? [True, True] Translation: X:175.99, Y:166.93, Z:0.21 [[-5.95330291e-02 -9.98226336e-01 0.00000000e+00 1.75987636e+02] [ 9.98226336e-01 -5.95330291e-02 0.00000000e+00 1.66926915e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09816384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.490371743 meters Centerline goodness : 0.983718 Centerline is valid? [True, True] Translation: X:175.99, Y:166.95, Z:0.21 [[-5.85171976e-02 -9.98286401e-01 0.00000000e+00 1.75988149e+02] [ 9.98286401e-01 -5.85171976e-02 0.00000000e+00 1.66953544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09267980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.520371743 meters Centerline goodness : 0.983464 Centerline is valid? [True, True] Translation: X:175.99, Y:166.98, Z:0.21 [[-5.75696254e-02 -9.98341494e-01 0.00000000e+00 1.75988140e+02] [ 9.98341494e-01 -5.75696254e-02 0.00000000e+00 1.66981756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09456898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.550371743 meters Centerline goodness : 0.982743 Centerline is valid? [True, True] Translation: X:175.99, Y:167.01, Z:0.21 [[-5.38470819e-02 -9.98549193e-01 0.00000000e+00 1.75989071e+02] [ 9.98549193e-01 -5.38470819e-02 0.00000000e+00 1.67010515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09013004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.580371743 meters Centerline goodness : 0.982082 Centerline is valid? [True, True] Translation: X:175.99, Y:167.04, Z:0.21 [[-4.92466612e-02 -9.98786647e-01 0.00000000e+00 1.75990615e+02] [ 9.98786647e-01 -4.92466612e-02 0.00000000e+00 1.67037730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08241156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61037174300003 meters Centerline goodness : 0.982649 Centerline is valid? [True, True] Translation: X:175.99, Y:167.07, Z:0.21 [[-4.75753424e-02 -9.98867652e-01 0.00000000e+00 1.75991637e+02] [ 9.98867652e-01 -4.75753424e-02 0.00000000e+00 1.67066048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08657694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.640371743 meters Centerline goodness : 0.981538 Centerline is valid? [True, True] Translation: X:175.99, Y:167.09, Z:0.21 [[-4.57490978e-02 -9.98952962e-01 0.00000000e+00 1.75993134e+02] [ 9.98952962e-01 -4.57490978e-02 0.00000000e+00 1.67094103e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.07811791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.670371743 meters Centerline goodness : 0.982213 Centerline is valid? [True, True] Translation: X:176.00, Y:167.12, Z:0.21 [[-4.21134166e-02 -9.99112837e-01 0.00000000e+00 1.75996624e+02] [ 9.99112837e-01 -4.21134166e-02 0.00000000e+00 1.67123031e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08628482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.700371743 meters Centerline goodness : 0.980685 Centerline is valid? [True, True] Translation: X:176.00, Y:167.12, Z:0.21 [[-3.97096232e-02 -9.99211262e-01 0.00000000e+00 1.75997955e+02] [ 9.99211262e-01 -3.97096232e-02 0.00000000e+00 1.67122663e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09398918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.730371743 meters Centerline goodness : 0.981983 Centerline is valid? [True, True] Translation: X:176.00, Y:167.15, Z:0.21 [[-3.60186661e-02 -9.99351117e-01 0.00000000e+00 1.76001260e+02] [ 9.99351117e-01 -3.60186661e-02 0.00000000e+00 1.67150062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09307365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.760371743 meters Centerline goodness : 0.980843 Centerline is valid? [True, True] Translation: X:176.00, Y:167.18, Z:0.21 [[-3.46568937e-02 -9.99399269e-01 0.00000000e+00 1.76002912e+02] [ 9.99399269e-01 -3.46568937e-02 0.00000000e+00 1.67178192e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09053189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.790371743 meters Centerline goodness : 0.980832 Centerline is valid? [True, True] Translation: X:176.01, Y:167.18, Z:0.21 [[-3.10548372e-02 -9.99517682e-01 0.00000000e+00 1.76007139e+02] [ 9.99517682e-01 -3.10548372e-02 0.00000000e+00 1.67175677e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09723905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.820371743 meters Centerline goodness : 0.980320 Centerline is valid? [True, True] Translation: X:176.01, Y:167.20, Z:0.21 [[-3.01539707e-02 -9.99545266e-01 0.00000000e+00 1.76009218e+02] [ 9.99545266e-01 -3.01539707e-02 0.00000000e+00 1.67202779e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.08978632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.850371743 meters Centerline goodness : 0.981240 Centerline is valid? [True, True] Translation: X:176.01, Y:167.23, Z:0.21 [[-2.88021993e-02 -9.99585131e-01 0.00000000e+00 1.76013650e+02] [ 9.99585131e-01 -2.88021993e-02 0.00000000e+00 1.67231655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10234230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.880371743 meters Centerline goodness : 0.979977 Centerline is valid? [True, True] Translation: X:176.02, Y:167.23, Z:0.21 [[-2.78885116e-02 -9.99611040e-01 0.00000000e+00 1.76015780e+02] [ 9.99611040e-01 -2.78885116e-02 0.00000000e+00 1.67232948e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11023580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.910371743 meters Centerline goodness : 0.979977 Centerline is valid? [True, True] Translation: X:176.02, Y:167.26, Z:0.21 [[-2.81796194e-02 -9.99602876e-01 0.00000000e+00 1.76015721e+02] [ 9.99602876e-01 -2.81796194e-02 0.00000000e+00 1.67261369e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11023580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.940371743 meters Centerline goodness : 0.975059 Centerline is valid? [True, True] Translation: X:176.03, Y:167.24, Z:0.22 [[-3.20658096e-04 -9.99999949e-01 0.00000000e+00 1.76032329e+02] [ 9.99999949e-01 -3.20658096e-04 0.00000000e+00 1.67237834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15317468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.970371743 meters Centerline goodness : 0.978540 Centerline is valid? [True, True] Translation: X:176.02, Y:167.25, Z:0.22 [[-1.90770302e-02 -9.99818017e-01 0.00000000e+00 1.76016059e+02] [ 9.99818017e-01 -1.90770302e-02 0.00000000e+00 1.67245563e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15315547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.000371743 meters Centerline goodness : 0.977815 Centerline is valid? [True, True] Translation: X:176.04, Y:167.29, Z:0.21 [[-4.15467956e-03 -9.99991369e-01 0.00000000e+00 1.76040466e+02] [ 9.99991369e-01 -4.15467956e-03 0.00000000e+00 1.67292081e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11141309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.030371743 meters Centerline goodness : 0.977258 Centerline is valid? [True, True] Translation: X:176.04, Y:167.32, Z:0.21 [[-7.32180922e-03 -9.99973195e-01 0.00000000e+00 1.76040812e+02] [ 9.99973195e-01 -7.32180922e-03 0.00000000e+00 1.67319376e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11168330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.060371743 meters Centerline goodness : 0.977548 Centerline is valid? [True, True] Translation: X:176.04, Y:167.35, Z:0.21 [[-1.07939712e-02 -9.99941743e-01 0.00000000e+00 1.76044663e+02] [ 9.99941743e-01 -1.07939712e-02 0.00000000e+00 1.67346982e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10833012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.090371743 meters Centerline goodness : 0.976784 Centerline is valid? [True, True] Translation: X:176.05, Y:167.37, Z:0.21 [[-1.52228367e-02 -9.99884126e-01 0.00000000e+00 1.76045741e+02] [ 9.99884126e-01 -1.52228367e-02 0.00000000e+00 1.67374891e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11384259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.120371743 meters Centerline goodness : 0.978150 Centerline is valid? [True, True] Translation: X:176.05, Y:167.41, Z:0.21 [[-1.73943815e-02 -9.99848706e-01 0.00000000e+00 1.76047373e+02] [ 9.99848706e-01 -1.73943815e-02 0.00000000e+00 1.67406721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.11365865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.150371743 meters Centerline goodness : 0.981994 Centerline is valid? [True, True] Translation: X:176.03, Y:167.42, Z:0.21 [[-3.93011080e-02 -9.99227413e-01 0.00000000e+00 1.76034655e+02] [ 9.99227413e-01 -3.93011080e-02 0.00000000e+00 1.67420219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12540952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.180371743 meters Centerline goodness : 0.981286 Centerline is valid? [True, True] Translation: X:176.05, Y:167.47, Z:0.21 [[-3.34191149e-02 -9.99441425e-01 0.00000000e+00 1.76052878e+02] [ 9.99441425e-01 -3.34191149e-02 0.00000000e+00 1.67465965e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.05903468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.210371743 meters Centerline goodness : 0.979206 Centerline is valid? [True, True] Translation: X:176.05, Y:167.49, Z:0.21 [[-3.55365846e-02 -9.99368376e-01 0.00000000e+00 1.76052033e+02] [ 9.99368376e-01 -3.55365846e-02 0.00000000e+00 1.67489731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12885758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.240371743 meters Centerline goodness : 0.982265 Centerline is valid? [True, True] Translation: X:176.04, Y:167.50, Z:0.21 [[-5.73485949e-02 -9.98354215e-01 0.00000000e+00 1.76037345e+02] [ 9.98354215e-01 -5.73485949e-02 0.00000000e+00 1.67504615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13413574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.270371743 meters Centerline goodness : 0.982731 Centerline is valid? [True, True] Translation: X:176.06, Y:167.55, Z:0.20 [[-4.63731322e-02 -9.98924188e-01 0.00000000e+00 1.76055350e+02] [ 9.98924188e-01 -4.63731322e-02 0.00000000e+00 1.67552403e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.03983546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.300371743 meters Centerline goodness : 0.982549 Centerline is valid? [True, True] Translation: X:176.04, Y:167.56, Z:0.22 [[-6.47199332e-02 -9.97903467e-01 0.00000000e+00 1.76036554e+02] [ 9.97903467e-01 -6.47199332e-02 0.00000000e+00 1.67558282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15855361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.330371743 meters Centerline goodness : 0.982868 Centerline is valid? [True, True] Translation: X:176.04, Y:167.59, Z:0.21 [[-7.14402084e-02 -9.97444884e-01 0.00000000e+00 1.76035952e+02] [ 9.97444884e-01 -7.14402084e-02 0.00000000e+00 1.67585577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14539336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36037174300003 meters Centerline goodness : 0.982632 Centerline is valid? [True, True] Translation: X:176.04, Y:167.61, Z:0.22 [[-7.86949305e-02 -9.96898745e-01 0.00000000e+00 1.76035104e+02] [ 9.96898745e-01 -7.86949305e-02 0.00000000e+00 1.67614120e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18181920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.390371743 meters Centerline goodness : 0.983040 Centerline is valid? [True, True] Translation: X:176.03, Y:167.64, Z:0.22 [[-8.19887981e-02 -9.96633251e-01 0.00000000e+00 1.76034476e+02] [ 9.96633251e-01 -8.19887981e-02 0.00000000e+00 1.67641225e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18104045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.420371743 meters Centerline goodness : 0.982752 Centerline is valid? [True, True] Translation: X:176.03, Y:167.67, Z:0.22 [[-8.84950133e-02 -9.96076620e-01 0.00000000e+00 1.76032232e+02] [ 9.96076620e-01 -8.84950133e-02 0.00000000e+00 1.67669288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17678898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.450371743 meters Centerline goodness : 0.982841 Centerline is valid? [True, True] Translation: X:176.03, Y:167.70, Z:0.22 [[-9.11604131e-02 -9.95836221e-01 0.00000000e+00 1.76031434e+02] [ 9.95836221e-01 -9.11604131e-02 0.00000000e+00 1.67697224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17426186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.480371743 meters Centerline goodness : 0.983634 Centerline is valid? [True, True] Translation: X:176.03, Y:167.73, Z:0.22 [[-9.41007143e-02 -9.95562683e-01 0.00000000e+00 1.76030519e+02] [ 9.95562683e-01 -9.41007143e-02 0.00000000e+00 1.67725216e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17178406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.510371743 meters Centerline goodness : 0.981530 Centerline is valid? [True, True] Translation: X:176.04, Y:167.77, Z:0.21 [[-9.25582732e-02 -9.95707269e-01 0.00000000e+00 1.76038112e+02] [ 9.95707269e-01 -9.25582732e-02 0.00000000e+00 1.67766427e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13593956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.540371743 meters Centerline goodness : 0.982216 Centerline is valid? [True, True] Translation: X:176.03, Y:167.78, Z:0.22 [[-1.00750656e-01 -9.94911707e-01 0.00000000e+00 1.76027179e+02] [ 9.94911707e-01 -1.00750656e-01 0.00000000e+00 1.67780672e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17534973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.570371743 meters Centerline goodness : 0.981820 Centerline is valid? [True, True] Translation: X:176.02, Y:167.81, Z:0.22 [[-1.03634948e-01 -9.94615402e-01 0.00000000e+00 1.76024025e+02] [ 9.94615402e-01 -1.03634948e-01 0.00000000e+00 1.67807927e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17707927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.600371743 meters Centerline goodness : 0.979427 Centerline is valid? [True, True] Translation: X:176.03, Y:167.84, Z:0.22 [[-9.53929243e-02 -9.95439697e-01 0.00000000e+00 1.76031256e+02] [ 9.95439697e-01 -9.53929243e-02 0.00000000e+00 1.67841471e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16369262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.630371743 meters Centerline goodness : 0.980508 Centerline is valid? [True, True] Translation: X:176.02, Y:167.86, Z:0.22 [[-1.06178897e-01 -9.94347043e-01 0.00000000e+00 1.76018670e+02] [ 9.94347043e-01 -1.06178897e-01 0.00000000e+00 1.67863210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17424706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.660371743 meters Centerline goodness : 0.980654 Centerline is valid? [True, True] Translation: X:176.02, Y:167.89, Z:0.22 [[-1.06766319e-01 -9.94284141e-01 0.00000000e+00 1.76016643e+02] [ 9.94284141e-01 -1.06766319e-01 0.00000000e+00 1.67891584e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16880935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.690371743 meters Centerline goodness : 0.975324 Centerline is valid? [True, True] Translation: X:176.02, Y:168.20, Z:0.22 [[-9.33166353e-02 -9.95636483e-01 0.00000000e+00 1.76023239e+02] [ 9.95636483e-01 -9.33166353e-02 0.00000000e+00 1.68197936e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21358692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.720371743 meters Centerline goodness : 0.976493 Centerline is valid? [True, True] Translation: X:176.02, Y:168.23, Z:0.22 [[-9.22421196e-02 -9.95736607e-01 0.00000000e+00 1.76023283e+02] [ 9.95736607e-01 -9.22421196e-02 0.00000000e+00 1.68225845e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18364619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.750371743 meters Centerline goodness : 0.974202 Centerline is valid? [True, True] Translation: X:176.02, Y:168.25, Z:0.22 [[-9.53133746e-02 -9.95447317e-01 0.00000000e+00 1.76017297e+02] [ 9.95447317e-01 -9.53133746e-02 0.00000000e+00 1.68247642e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21122812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.780371743 meters Centerline goodness : 0.980060 Centerline is valid? [True, True] Translation: X:176.01, Y:168.28, Z:0.22 [[-1.06359135e-01 -9.94327780e-01 0.00000000e+00 1.76005749e+02] [ 9.94327780e-01 -1.06359135e-01 0.00000000e+00 1.68275064e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17090890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.810371743 meters Centerline goodness : 0.973112 Centerline is valid? [True, True] Translation: X:176.01, Y:168.30, Z:0.22 [[-9.48539583e-02 -9.95491199e-01 0.00000000e+00 1.76012802e+02] [ 9.95491199e-01 -9.48539583e-02 0.00000000e+00 1.68303202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22805145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.840371743 meters Centerline goodness : 0.976077 Centerline is valid? [True, True] Translation: X:176.00, Y:168.32, Z:0.22 [[-1.06624128e-01 -9.94299399e-01 0.00000000e+00 1.75998476e+02] [ 9.94299399e-01 -1.06624128e-01 0.00000000e+00 1.68320679e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24785416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.870371743 meters Centerline goodness : 0.972532 Centerline is valid? [True, True] Translation: X:176.00, Y:167.60, Z:0.22 [[-6.76738322e-02 -9.97707498e-01 0.00000000e+00 1.75999217e+02] [ 9.97707498e-01 -6.76738322e-02 0.00000000e+00 1.67597629e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22090740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.900371743 meters Centerline goodness : 0.976031 Centerline is valid? [True, True] Translation: X:175.99, Y:167.61, Z:0.22 [[-7.52739622e-02 -9.97162891e-01 0.00000000e+00 1.75988607e+02] [ 9.97162891e-01 -7.52739622e-02 0.00000000e+00 1.67611472e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24640333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.930371743 meters Centerline goodness : 0.980997 Centerline is valid? [True, True] Translation: X:175.99, Y:167.65, Z:0.22 [[-7.90158451e-02 -9.96873360e-01 0.00000000e+00 1.75987991e+02] [ 9.96873360e-01 -7.90158451e-02 0.00000000e+00 1.67648254e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15913776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.960371743 meters Centerline goodness : 0.972274 Centerline is valid? [True, True] Translation: X:176.00, Y:167.68, Z:0.22 [[-6.59046923e-02 -9.97825922e-01 0.00000000e+00 1.76000338e+02] [ 9.97825922e-01 -6.59046923e-02 0.00000000e+00 1.67675956e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22240578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.990371743 meters Centerline goodness : 0.972961 Centerline is valid? [True, True] Translation: X:176.00, Y:167.70, Z:0.22 [[-6.69927614e-02 -9.97753461e-01 0.00000000e+00 1.75999224e+02] [ 9.97753461e-01 -6.69927614e-02 0.00000000e+00 1.67703702e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.20800494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.020371743 meters Centerline goodness : 0.972040 Centerline is valid? [True, True] Translation: X:176.00, Y:167.73, Z:0.22 [[-6.69959496e-02 -9.97753247e-01 0.00000000e+00 1.75997315e+02] [ 9.97753247e-01 -6.69959496e-02 0.00000000e+00 1.67730323e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23068357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.050371743 meters Centerline goodness : 0.970414 Centerline is valid? [True, True] Translation: X:176.00, Y:167.76, Z:0.22 [[-6.47377469e-02 -9.97902312e-01 0.00000000e+00 1.75995736e+02] [ 9.97902312e-01 -6.47377469e-02 0.00000000e+00 1.67758457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21953947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.080371743 meters Centerline goodness : 0.980906 Centerline is valid? [True, True] Translation: X:175.98, Y:167.79, Z:0.22 [[-7.86230496e-02 -9.96904417e-01 0.00000000e+00 1.75979874e+02] [ 9.96904417e-01 -7.86230496e-02 0.00000000e+00 1.67785863e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17165994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11037174300003 meters Centerline goodness : 0.981127 Centerline is valid? [True, True] Translation: X:175.98, Y:167.81, Z:0.22 [[-7.55224252e-02 -9.97144104e-01 0.00000000e+00 1.75975613e+02] [ 9.97144104e-01 -7.55224252e-02 0.00000000e+00 1.67813302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17959908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.140371743 meters Centerline goodness : 0.971151 Centerline is valid? [True, True] Translation: X:175.99, Y:167.84, Z:0.23 [[-5.86543465e-02 -9.98278352e-01 0.00000000e+00 1.75987561e+02] [ 9.98278352e-01 -5.86543465e-02 0.00000000e+00 1.67839867e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25595055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.170371743 meters Centerline goodness : 0.971401 Centerline is valid? [True, True] Translation: X:175.98, Y:167.87, Z:0.23 [[-5.19794546e-02 -9.98648154e-01 0.00000000e+00 1.75984370e+02] [ 9.98648154e-01 -5.19794546e-02 0.00000000e+00 1.67873848e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25942893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.200371743 meters Centerline goodness : 0.972298 Centerline is valid? [True, True] Translation: X:175.98, Y:167.90, Z:0.23 [[-5.07631596e-02 -9.98710720e-01 0.00000000e+00 1.75982621e+02] [ 9.98710720e-01 -5.07631596e-02 0.00000000e+00 1.67902516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26489620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.230371743 meters Centerline goodness : 0.973777 Centerline is valid? [True, True] Translation: X:175.98, Y:167.94, Z:0.23 [[-4.60250568e-02 -9.98940286e-01 0.00000000e+00 1.75979145e+02] [ 9.98940286e-01 -4.60250568e-02 0.00000000e+00 1.67936154e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25329244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.260371743 meters Centerline goodness : 0.973104 Centerline is valid? [True, True] Translation: X:175.98, Y:167.96, Z:0.23 [[-4.41952080e-02 -9.99022914e-01 0.00000000e+00 1.75976295e+02] [ 9.99022914e-01 -4.41952080e-02 0.00000000e+00 1.67961046e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27288386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.290371743 meters Centerline goodness : 0.975530 Centerline is valid? [True, True] Translation: X:175.97, Y:167.99, Z:0.23 [[-4.04085962e-02 -9.99183239e-01 0.00000000e+00 1.75970982e+02] [ 9.99183239e-01 -4.04085962e-02 0.00000000e+00 1.67988686e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25753646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.320371743 meters Centerline goodness : 0.973229 Centerline is valid? [True, True] Translation: X:175.97, Y:168.01, Z:0.23 [[-3.76584583e-02 -9.99290669e-01 0.00000000e+00 1.75969299e+02] [ 9.99290669e-01 -3.76584583e-02 0.00000000e+00 1.68011669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25499868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.350371743 meters Centerline goodness : 0.975859 Centerline is valid? [True, True] Translation: X:175.96, Y:168.04, Z:0.22 [[-3.70635397e-02 -9.99312911e-01 0.00000000e+00 1.75963705e+02] [ 9.99312911e-01 -3.70635397e-02 0.00000000e+00 1.68042149e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24584760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.380371743 meters Centerline goodness : 0.974840 Centerline is valid? [True, True] Translation: X:175.96, Y:168.06, Z:0.22 [[-3.68321776e-02 -9.99321465e-01 0.00000000e+00 1.75960992e+02] [ 9.99321465e-01 -3.68321776e-02 0.00000000e+00 1.68063640e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24261459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.410371743 meters Centerline goodness : 0.975069 Centerline is valid? [True, True] Translation: X:175.96, Y:168.09, Z:0.23 [[-3.64895143e-02 -9.99334036e-01 0.00000000e+00 1.75958495e+02] [ 9.99334036e-01 -3.64895143e-02 0.00000000e+00 1.68091653e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25130439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.440371743 meters Centerline goodness : 0.977727 Centerline is valid? [True, True] Translation: X:175.94, Y:168.11, Z:0.23 [[-4.47322019e-02 -9.98999014e-01 0.00000000e+00 1.75943696e+02] [ 9.98999014e-01 -4.47322019e-02 0.00000000e+00 1.68111877e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30180426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.470371743 meters Centerline goodness : 0.979010 Centerline is valid? [True, True] Translation: X:175.94, Y:168.14, Z:0.23 [[-4.04106167e-02 -9.99183157e-01 0.00000000e+00 1.75944641e+02] [ 9.99183157e-01 -4.04106167e-02 0.00000000e+00 1.68136104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30320901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.500371743 meters Centerline goodness : 0.977873 Centerline is valid? [True, True] Translation: X:175.94, Y:168.16, Z:0.23 [[-3.70207764e-02 -9.99314496e-01 0.00000000e+00 1.75943219e+02] [ 9.99314496e-01 -3.70207764e-02 0.00000000e+00 1.68164560e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31546113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.530371743 meters Centerline goodness : 0.977520 Centerline is valid? [True, True] Translation: X:175.94, Y:168.19, Z:0.23 [[-3.69033106e-02 -9.99318841e-01 0.00000000e+00 1.75942037e+02] [ 9.99318841e-01 -3.69033106e-02 0.00000000e+00 1.68193322e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32066452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.560371743 meters Centerline goodness : 0.977523 Centerline is valid? [True, True] Translation: X:175.94, Y:168.22, Z:0.23 [[-3.31293634e-02 -9.99451072e-01 0.00000000e+00 1.75939762e+02] [ 9.99451072e-01 -3.31293634e-02 0.00000000e+00 1.68220242e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31177814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.590371743 meters Centerline goodness : 0.978773 Centerline is valid? [True, True] Translation: X:175.94, Y:168.25, Z:0.23 [[-2.88368812e-02 -9.99584131e-01 0.00000000e+00 1.75937893e+02] [ 9.99584131e-01 -2.88368812e-02 0.00000000e+00 1.68246342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31080221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.620371743 meters Centerline goodness : 0.977852 Centerline is valid? [True, True] Translation: X:175.94, Y:168.29, Z:0.23 [[-2.18136152e-02 -9.99762055e-01 0.00000000e+00 1.75944387e+02] [ 9.99762055e-01 -2.18136152e-02 0.00000000e+00 1.68285559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28712389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.650371743 meters Centerline goodness : 0.977984 Centerline is valid? [True, True] Translation: X:175.94, Y:168.30, Z:0.23 [[-2.69237565e-02 -9.99637490e-01 0.00000000e+00 1.75935985e+02] [ 9.99637490e-01 -2.69237565e-02 0.00000000e+00 1.68298754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31972636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.680371743 meters Centerline goodness : 0.978159 Centerline is valid? [True, True] Translation: X:175.94, Y:168.34, Z:0.23 [[-1.92338610e-02 -9.99815012e-01 0.00000000e+00 1.75943119e+02] [ 9.99815012e-01 -1.92338610e-02 0.00000000e+00 1.68337697e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29027205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.710371743 meters Centerline goodness : 0.978984 Centerline is valid? [True, True] Translation: X:175.93, Y:168.35, Z:0.23 [[-2.50160722e-02 -9.99687049e-01 0.00000000e+00 1.75934968e+02] [ 9.99687049e-01 -2.50160722e-02 0.00000000e+00 1.68350605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30264958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.740371743 meters Centerline goodness : 0.979243 Centerline is valid? [True, True] Translation: X:175.94, Y:168.39, Z:0.23 [[-1.89664819e-02 -9.99820120e-01 0.00000000e+00 1.75942136e+02] [ 9.99820120e-01 -1.89664819e-02 0.00000000e+00 1.68388843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28569482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.770371743 meters Centerline goodness : 0.978696 Centerline is valid? [True, True] Translation: X:175.94, Y:168.41, Z:0.23 [[-1.95685258e-02 -9.99808518e-01 0.00000000e+00 1.75940705e+02] [ 9.99808518e-01 -1.95685258e-02 0.00000000e+00 1.68412498e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27272768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.800371743 meters Centerline goodness : 0.978364 Centerline is valid? [True, True] Translation: X:175.93, Y:168.43, Z:0.23 [[-2.47516968e-02 -9.99693630e-01 0.00000000e+00 1.75933989e+02] [ 9.99693630e-01 -2.47516968e-02 0.00000000e+00 1.68429269e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33001003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.830371743 meters Centerline goodness : 0.978364 Centerline is valid? [True, True] Translation: X:175.93, Y:168.46, Z:0.23 [[-2.45495945e-02 -9.99698613e-01 0.00000000e+00 1.75934764e+02] [ 9.99698613e-01 -2.45495945e-02 0.00000000e+00 1.68455969e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33001003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86037174300003 meters Centerline goodness : 0.979427 Centerline is valid? [True, True] Translation: X:175.94, Y:168.48, Z:0.23 [[-2.43866374e-02 -9.99702602e-01 0.00000000e+00 1.75936630e+02] [ 9.99702602e-01 -2.43866374e-02 0.00000000e+00 1.68484736e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31225183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.890371743 meters Centerline goodness : 0.978942 Centerline is valid? [True, True] Translation: X:175.94, Y:168.51, Z:0.23 [[-2.44583715e-02 -9.99700849e-01 0.00000000e+00 1.75938156e+02] [ 9.99700849e-01 -2.44583715e-02 0.00000000e+00 1.68511747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33130990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.920371743 meters Centerline goodness : 0.979513 Centerline is valid? [True, True] Translation: X:175.94, Y:168.54, Z:0.23 [[-2.36933213e-02 -9.99719274e-01 0.00000000e+00 1.75939483e+02] [ 9.99719274e-01 -2.36933213e-02 0.00000000e+00 1.68537522e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27026511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.950371743 meters Centerline goodness : 0.978983 Centerline is valid? [True, True] Translation: X:175.95, Y:168.57, Z:0.23 [[-1.81944559e-02 -9.99834467e-01 0.00000000e+00 1.75949454e+02] [ 9.99834467e-01 -1.81944559e-02 0.00000000e+00 1.68572667e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28829047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.980371743 meters Centerline goodness : 0.981498 Centerline is valid? [True, True] Translation: X:175.95, Y:168.60, Z:0.22 [[-2.17942096e-02 -9.99762478e-01 0.00000000e+00 1.75948360e+02] [ 9.99762478e-01 -2.17942096e-02 0.00000000e+00 1.68596037e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24213466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.010371743 meters Centerline goodness : 0.980733 Centerline is valid? [True, True] Translation: X:175.95, Y:168.62, Z:0.23 [[-2.33590548e-02 -9.99727140e-01 0.00000000e+00 1.75948831e+02] [ 9.99727140e-01 -2.33590548e-02 0.00000000e+00 1.68624793e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25189429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.040371743 meters Centerline goodness : 0.980489 Centerline is valid? [True, True] Translation: X:175.94, Y:168.64, Z:0.23 [[-2.87788957e-02 -9.99585802e-01 0.00000000e+00 1.75943642e+02] [ 9.99585802e-01 -2.87788957e-02 0.00000000e+00 1.68642239e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26063372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.070371743 meters Centerline goodness : 0.978402 Centerline is valid? [True, True] Translation: X:175.95, Y:168.67, Z:0.23 [[-2.86961411e-02 -9.99588181e-01 0.00000000e+00 1.75947192e+02] [ 9.99588181e-01 -2.86961411e-02 0.00000000e+00 1.68671426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33759589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.100371743 meters Centerline goodness : 0.977694 Centerline is valid? [True, True] Translation: X:175.95, Y:168.71, Z:0.23 [[-2.47552505e-02 -9.99693542e-01 0.00000000e+00 1.75954637e+02] [ 9.99693542e-01 -2.47552505e-02 0.00000000e+00 1.68707179e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26414512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.130371743 meters Centerline goodness : 0.982144 Centerline is valid? [True, True] Translation: X:175.95, Y:168.72, Z:0.23 [[-3.12504544e-02 -9.99511585e-01 0.00000000e+00 1.75948043e+02] [ 9.99511585e-01 -3.12504544e-02 0.00000000e+00 1.68723267e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25068620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.160371743 meters Centerline goodness : 0.979477 Centerline is valid? [True, True] Translation: X:175.96, Y:168.76, Z:0.23 [[-2.54742329e-02 -9.99675479e-01 0.00000000e+00 1.75957038e+02] [ 9.99675479e-01 -2.54742329e-02 0.00000000e+00 1.68759810e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26686215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.190371743 meters Centerline goodness : 0.978654 Centerline is valid? [True, True] Translation: X:175.96, Y:168.79, Z:0.23 [[-2.40435815e-02 -9.99710911e-01 0.00000000e+00 1.75961013e+02] [ 9.99710911e-01 -2.40435815e-02 0.00000000e+00 1.68790479e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27229395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.220371743 meters Centerline goodness : 0.978299 Centerline is valid? [True, True] Translation: X:175.95, Y:168.81, Z:0.23 [[-3.02693812e-02 -9.99541777e-01 0.00000000e+00 1.75953944e+02] [ 9.99541777e-01 -3.02693812e-02 0.00000000e+00 1.68805994e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30701715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.250371743 meters Centerline goodness : 0.976631 Centerline is valid? [True, True] Translation: X:175.96, Y:168.84, Z:0.23 [[-2.49112828e-02 -9.99689666e-01 0.00000000e+00 1.75962373e+02] [ 9.99689666e-01 -2.49112828e-02 0.00000000e+00 1.68844681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26914647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.280371743 meters Centerline goodness : 0.978771 Centerline is valid? [True, True] Translation: X:175.95, Y:168.86, Z:0.23 [[-3.13441775e-02 -9.99508651e-01 0.00000000e+00 1.75954924e+02] [ 9.99508651e-01 -3.13441775e-02 0.00000000e+00 1.68857975e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30238325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.310371743 meters Centerline goodness : 0.977659 Centerline is valid? [True, True] Translation: X:175.96, Y:168.90, Z:0.23 [[-2.55118612e-02 -9.99674520e-01 0.00000000e+00 1.75964701e+02] [ 9.99674520e-01 -2.55118612e-02 0.00000000e+00 1.68897285e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25333753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.340371743 meters Centerline goodness : 0.976059 Centerline is valid? [True, True] Translation: X:175.97, Y:168.93, Z:0.23 [[-2.56591636e-02 -9.99670749e-01 0.00000000e+00 1.75967045e+02] [ 9.99670749e-01 -2.56591636e-02 0.00000000e+00 1.68927481e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26680174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.370371743 meters Centerline goodness : 0.975248 Centerline is valid? [True, True] Translation: X:175.97, Y:168.95, Z:0.23 [[-2.72885487e-02 -9.99627598e-01 0.00000000e+00 1.75967329e+02] [ 9.99627598e-01 -2.72885487e-02 0.00000000e+00 1.68954943e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27417154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.400371743 meters Centerline goodness : 0.978001 Centerline is valid? [True, True] Translation: X:175.97, Y:168.98, Z:0.23 [[-3.05769597e-02 -9.99532415e-01 0.00000000e+00 1.75967923e+02] [ 9.99532415e-01 -3.05769597e-02 0.00000000e+00 1.68983827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27322342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.430371743 meters Centerline goodness : 0.976537 Centerline is valid? [True, True] Translation: X:175.97, Y:169.01, Z:0.23 [[-3.28368862e-02 -9.99460724e-01 0.00000000e+00 1.75969464e+02] [ 9.99460724e-01 -3.28368862e-02 0.00000000e+00 1.69011212e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28705837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.460371743 meters Centerline goodness : 0.976639 Centerline is valid? [True, True] Translation: X:175.97, Y:169.04, Z:0.23 [[-3.38809658e-02 -9.99425875e-01 0.00000000e+00 1.75970344e+02] [ 9.99425875e-01 -3.38809658e-02 0.00000000e+00 1.69037802e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28371812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.490371743 meters Centerline goodness : 0.979579 Centerline is valid? [True, True] Translation: X:175.96, Y:169.05, Z:0.23 [[-4.34845605e-02 -9.99054099e-01 0.00000000e+00 1.75961323e+02] [ 9.99054099e-01 -4.34845605e-02 0.00000000e+00 1.69050497e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30577628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.520371743 meters Centerline goodness : 0.977263 Centerline is valid? [True, True] Translation: X:175.97, Y:169.09, Z:0.23 [[-3.94821645e-02 -9.99220275e-01 0.00000000e+00 1.75973013e+02] [ 9.99220275e-01 -3.94821645e-02 0.00000000e+00 1.69088773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28126707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.550371743 meters Centerline goodness : 0.976299 Centerline is valid? [True, True] Translation: X:175.98, Y:169.12, Z:0.23 [[-4.29623121e-02 -9.99076694e-01 0.00000000e+00 1.75975228e+02] [ 9.99076694e-01 -4.29623121e-02 0.00000000e+00 1.69117553e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26826159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.580371743 meters Centerline goodness : 0.979675 Centerline is valid? [True, True] Translation: X:175.97, Y:169.13, Z:0.23 [[-5.04767445e-02 -9.98725237e-01 0.00000000e+00 1.75968448e+02] [ 9.98725237e-01 -5.04767445e-02 0.00000000e+00 1.69132271e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28708133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61037174300003 meters Centerline goodness : 0.979155 Centerline is valid? [True, True] Translation: X:175.97, Y:169.16, Z:0.23 [[-5.36907393e-02 -9.98557612e-01 0.00000000e+00 1.75969989e+02] [ 9.98557612e-01 -5.36907393e-02 0.00000000e+00 1.69157756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29048268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.640371743 meters Centerline goodness : 0.978696 Centerline is valid? [True, True] Translation: X:175.97, Y:169.18, Z:0.23 [[-5.30054138e-02 -9.98594225e-01 0.00000000e+00 1.75972238e+02] [ 9.98594225e-01 -5.30054138e-02 0.00000000e+00 1.69184227e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31041668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.670371743 meters Centerline goodness : 0.976352 Centerline is valid? [True, True] Translation: X:175.98, Y:169.22, Z:0.23 [[-4.84766748e-02 -9.98824315e-01 0.00000000e+00 1.75981339e+02] [ 9.98824315e-01 -4.84766748e-02 0.00000000e+00 1.69220803e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28222957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.700371743 meters Centerline goodness : 0.977456 Centerline is valid? [True, True] Translation: X:175.98, Y:169.25, Z:0.23 [[-5.35290722e-02 -9.98566291e-01 0.00000000e+00 1.75981161e+02] [ 9.98566291e-01 -5.35290722e-02 0.00000000e+00 1.69247006e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28292026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.730371743 meters Centerline goodness : 0.978739 Centerline is valid? [True, True] Translation: X:175.97, Y:169.26, Z:0.23 [[-6.39756989e-02 -9.97951457e-01 0.00000000e+00 1.75973111e+02] [ 9.97951457e-01 -6.39756989e-02 0.00000000e+00 1.69262897e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29972519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.760371743 meters Centerline goodness : 0.979035 Centerline is valid? [True, True] Translation: X:175.97, Y:169.29, Z:0.23 [[-6.55359161e-02 -9.97850211e-01 0.00000000e+00 1.75973879e+02] [ 9.97850211e-01 -6.55359161e-02 0.00000000e+00 1.69290747e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30338087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.790371743 meters Centerline goodness : 0.977904 Centerline is valid? [True, True] Translation: X:175.98, Y:169.32, Z:0.23 [[-6.82776543e-02 -9.97666358e-01 0.00000000e+00 1.75976361e+02] [ 9.97666358e-01 -6.82776543e-02 0.00000000e+00 1.69316669e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29991925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.820371743 meters Centerline goodness : 0.978487 Centerline is valid? [True, True] Translation: X:175.98, Y:169.34, Z:0.23 [[-7.03466596e-02 -9.97522605e-01 0.00000000e+00 1.75976417e+02] [ 9.97522605e-01 -7.03466596e-02 0.00000000e+00 1.69342756e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29982961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.850371743 meters Centerline goodness : 0.976966 Centerline is valid? [True, True] Translation: X:175.99, Y:169.38, Z:0.23 [[-6.83906251e-02 -9.97658620e-01 0.00000000e+00 1.75985029e+02] [ 9.97658620e-01 -6.83906251e-02 0.00000000e+00 1.69381415e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28473008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.880371743 meters Centerline goodness : 0.978038 Centerline is valid? [True, True] Translation: X:175.98, Y:169.40, Z:0.23 [[-7.81830709e-02 -9.96939019e-01 0.00000000e+00 1.75975986e+02] [ 9.96939019e-01 -7.81830709e-02 0.00000000e+00 1.69396706e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31973685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.910371743 meters Centerline goodness : 0.977971 Centerline is valid? [True, True] Translation: X:175.98, Y:169.42, Z:0.23 [[-8.20661869e-02 -9.96626882e-01 0.00000000e+00 1.75975193e+02] [ 9.96626882e-01 -8.20661869e-02 0.00000000e+00 1.69423458e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31399517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.940371743 meters Centerline goodness : 0.977879 Centerline is valid? [True, True] Translation: X:175.98, Y:169.45, Z:0.23 [[-8.30601205e-02 -9.96544538e-01 0.00000000e+00 1.75975369e+02] [ 9.96544538e-01 -8.30601205e-02 0.00000000e+00 1.69451829e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30189182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.970371743 meters Centerline goodness : 0.978106 Centerline is valid? [True, True] Translation: X:175.98, Y:169.49, Z:0.23 [[-7.74081318e-02 -9.96999489e-01 0.00000000e+00 1.75983419e+02] [ 9.96999489e-01 -7.74081318e-02 0.00000000e+00 1.69487874e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29313219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.000371743 meters Centerline goodness : 0.978158 Centerline is valid? [True, True] Translation: X:175.98, Y:169.51, Z:0.23 [[-7.79928942e-02 -9.96953915e-01 0.00000000e+00 1.75982663e+02] [ 9.96953915e-01 -7.79928942e-02 0.00000000e+00 1.69514494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28998805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.030371743 meters Centerline goodness : 0.979236 Centerline is valid? [True, True] Translation: X:175.98, Y:169.54, Z:0.23 [[-7.98646228e-02 -9.96805719e-01 0.00000000e+00 1.75980344e+02] [ 9.96805719e-01 -7.98646228e-02 0.00000000e+00 1.69544536e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30836241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.060371743 meters Centerline goodness : 0.977904 Centerline is valid? [True, True] Translation: X:175.97, Y:169.56, Z:0.23 [[-8.54921813e-02 -9.96338841e-01 0.00000000e+00 1.75971830e+02] [ 9.96338841e-01 -8.54921813e-02 0.00000000e+00 1.69560559e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31636294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.090371743 meters Centerline goodness : 0.978578 Centerline is valid? [True, True] Translation: X:175.98, Y:169.59, Z:0.23 [[-7.97467671e-02 -9.96815155e-01 0.00000000e+00 1.75977035e+02] [ 9.96815155e-01 -7.97467671e-02 0.00000000e+00 1.69594529e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30398234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.120371743 meters Centerline goodness : 0.978050 Centerline is valid? [True, True] Translation: X:175.98, Y:169.62, Z:0.23 [[-7.86649321e-02 -9.96901113e-01 0.00000000e+00 1.75977659e+02] [ 9.96901113e-01 -7.86649321e-02 0.00000000e+00 1.69624705e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30914638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.150371743 meters Centerline goodness : 0.976964 Centerline is valid? [True, True] Translation: X:175.97, Y:169.64, Z:0.23 [[-8.40215949e-02 -9.96463934e-01 0.00000000e+00 1.75969839e+02] [ 9.96463934e-01 -8.40215949e-02 0.00000000e+00 1.69641625e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30843246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.180371743 meters Centerline goodness : 0.979005 Centerline is valid? [True, True] Translation: X:175.98, Y:169.68, Z:0.23 [[-7.83564186e-02 -9.96925409e-01 0.00000000e+00 1.75975346e+02] [ 9.96925409e-01 -7.83564186e-02 0.00000000e+00 1.69678988e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31209574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.210371743 meters Centerline goodness : 0.978547 Centerline is valid? [True, True] Translation: X:175.97, Y:169.71, Z:0.23 [[-7.91750895e-02 -9.96860725e-01 0.00000000e+00 1.75973763e+02] [ 9.96860725e-01 -7.91750895e-02 0.00000000e+00 1.69708137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32103183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.240371743 meters Centerline goodness : 0.980396 Centerline is valid? [True, True] Translation: X:175.97, Y:169.74, Z:0.23 [[-8.09318678e-02 -9.96719636e-01 0.00000000e+00 1.75969532e+02] [ 9.96719636e-01 -8.09318678e-02 0.00000000e+00 1.69737390e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31360978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.270371743 meters Centerline goodness : 0.979015 Centerline is valid? [True, True] Translation: X:175.97, Y:169.76, Z:0.23 [[-8.34950377e-02 -9.96508193e-01 0.00000000e+00 1.75966657e+02] [ 9.96508193e-01 -8.34950377e-02 0.00000000e+00 1.69763664e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32807538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.300371743 meters Centerline goodness : 0.982518 Centerline is valid? [True, True] Translation: X:175.96, Y:169.79, Z:0.23 [[-8.69470525e-02 -9.96212934e-01 0.00000000e+00 1.75963079e+02] [ 9.96212934e-01 -8.69470525e-02 0.00000000e+00 1.69794077e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32621628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.330371743 meters Centerline goodness : 0.979447 Centerline is valid? [True, True] Translation: X:175.97, Y:169.82, Z:0.23 [[-8.26859038e-02 -9.96575658e-01 0.00000000e+00 1.75967043e+02] [ 9.96575658e-01 -8.26859038e-02 0.00000000e+00 1.69821356e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33830440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36037174300003 meters Centerline goodness : 0.979622 Centerline is valid? [True, True] Translation: X:175.96, Y:169.85, Z:0.23 [[-8.56927491e-02 -9.96321611e-01 0.00000000e+00 1.75963133e+02] [ 9.96321611e-01 -8.56927491e-02 0.00000000e+00 1.69849785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31033012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.390371743 meters Centerline goodness : 0.981503 Centerline is valid? [True, True] Translation: X:175.96, Y:169.88, Z:0.23 [[-8.77667568e-02 -9.96141052e-01 0.00000000e+00 1.75960293e+02] [ 9.96141052e-01 -8.77667568e-02 0.00000000e+00 1.69876986e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34245950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.420371743 meters Centerline goodness : 0.981241 Centerline is valid? [True, True] Translation: X:175.96, Y:169.91, Z:0.24 [[-9.10338605e-02 -9.95847798e-01 0.00000000e+00 1.75955955e+02] [ 9.95847798e-01 -9.10338605e-02 0.00000000e+00 1.69905136e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35110250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.450371743 meters Centerline goodness : 0.981848 Centerline is valid? [True, True] Translation: X:175.95, Y:169.93, Z:0.23 [[-9.13764384e-02 -9.95816422e-01 0.00000000e+00 1.75953669e+02] [ 9.95816422e-01 -9.13764384e-02 0.00000000e+00 1.69931598e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34030090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.480371743 meters Centerline goodness : 0.981586 Centerline is valid? [True, True] Translation: X:175.95, Y:169.96, Z:0.24 [[-9.30839560e-02 -9.95658263e-01 0.00000000e+00 1.75953521e+02] [ 9.95658263e-01 -9.30839560e-02 0.00000000e+00 1.69959918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36861584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.510371743 meters Centerline goodness : 0.980813 Centerline is valid? [True, True] Translation: X:175.95, Y:169.99, Z:0.24 [[-9.51599545e-02 -9.95461995e-01 0.00000000e+00 1.75952053e+02] [ 9.95461995e-01 -9.51599545e-02 0.00000000e+00 1.69987890e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37564023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.540371743 meters Centerline goodness : 0.980824 Centerline is valid? [True, True] Translation: X:175.95, Y:170.02, Z:0.24 [[-9.71905036e-02 -9.95265797e-01 0.00000000e+00 1.75951655e+02] [ 9.95265797e-01 -9.71905036e-02 0.00000000e+00 1.70016117e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38327734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.570371743 meters Centerline goodness : 0.980353 Centerline is valid? [True, True] Translation: X:175.95, Y:170.04, Z:0.24 [[-1.01029059e-01 -9.94883475e-01 0.00000000e+00 1.75951123e+02] [ 9.94883475e-01 -1.01029059e-01 0.00000000e+00 1.70043253e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38064103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.600371743 meters Centerline goodness : 0.979832 Centerline is valid? [True, True] Translation: X:175.95, Y:170.07, Z:0.24 [[-1.04103355e-01 -9.94566484e-01 0.00000000e+00 1.75950704e+02] [ 9.94566484e-01 -1.04103355e-01 0.00000000e+00 1.70070995e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37503562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.630371743 meters Centerline goodness : 0.979219 Centerline is valid? [True, True] Translation: X:175.95, Y:170.10, Z:0.24 [[-1.06045715e-01 -9.94361255e-01 0.00000000e+00 1.75949704e+02] [ 9.94361255e-01 -1.06045715e-01 0.00000000e+00 1.70098091e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38124494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.660371743 meters Centerline goodness : 0.980652 Centerline is valid? [True, True] Translation: X:175.95, Y:170.13, Z:0.24 [[-1.08728752e-01 -9.94071455e-01 0.00000000e+00 1.75947438e+02] [ 9.94071455e-01 -1.08728752e-01 0.00000000e+00 1.70126342e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38075466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.690371743 meters Centerline goodness : 0.979881 Centerline is valid? [True, True] Translation: X:175.94, Y:170.15, Z:0.24 [[-1.10222454e-01 -9.93906943e-01 0.00000000e+00 1.75944659e+02] [ 9.93906943e-01 -1.10222454e-01 0.00000000e+00 1.70152807e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36007045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.720371743 meters Centerline goodness : 0.979881 Centerline is valid? [True, True] Translation: X:175.94, Y:170.18, Z:0.24 [[-1.10576152e-01 -9.93867654e-01 0.00000000e+00 1.75944731e+02] [ 9.93867654e-01 -1.10576152e-01 0.00000000e+00 1.70181185e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36007045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.750371743 meters Centerline goodness : 0.979280 Centerline is valid? [True, True] Translation: X:175.95, Y:170.21, Z:0.24 [[-1.08273242e-01 -9.94121172e-01 0.00000000e+00 1.75946620e+02] [ 9.94121172e-01 -1.08273242e-01 0.00000000e+00 1.70207667e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38301621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.780371743 meters Centerline goodness : 0.980654 Centerline is valid? [True, True] Translation: X:175.94, Y:170.24, Z:0.24 [[-1.10173035e-01 -9.93912422e-01 0.00000000e+00 1.75940873e+02] [ 9.93912422e-01 -1.10173035e-01 0.00000000e+00 1.70235040e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37888084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.810371743 meters Centerline goodness : 0.980811 Centerline is valid? [True, True] Translation: X:175.94, Y:170.26, Z:0.24 [[-1.08652790e-01 -9.94079761e-01 0.00000000e+00 1.75940580e+02] [ 9.94079761e-01 -1.08652790e-01 0.00000000e+00 1.70261870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38125415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.840371743 meters Centerline goodness : 0.981323 Centerline is valid? [True, True] Translation: X:175.94, Y:170.29, Z:0.24 [[-1.06407361e-01 -9.94322620e-01 0.00000000e+00 1.75940963e+02] [ 9.94322620e-01 -1.06407361e-01 0.00000000e+00 1.70289719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38769899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.870371743 meters Centerline goodness : 0.980261 Centerline is valid? [True, True] Translation: X:175.94, Y:170.32, Z:0.24 [[-1.00654459e-01 -9.94921444e-01 0.00000000e+00 1.75940486e+02] [ 9.94921444e-01 -1.00654459e-01 0.00000000e+00 1.70317741e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39622950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.900371743 meters Centerline goodness : 0.979885 Centerline is valid? [True, True] Translation: X:175.94, Y:170.35, Z:0.24 [[-9.77182080e-02 -9.95214124e-01 0.00000000e+00 1.75940824e+02] [ 9.95214124e-01 -9.77182080e-02 0.00000000e+00 1.70345624e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39749691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.930371743 meters Centerline goodness : 0.981549 Centerline is valid? [True, True] Translation: X:175.94, Y:170.37, Z:0.24 [[-9.21376021e-02 -9.95746284e-01 0.00000000e+00 1.75937529e+02] [ 9.95746284e-01 -9.21376021e-02 0.00000000e+00 1.70373210e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38659278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.960371743 meters Centerline goodness : 0.978641 Centerline is valid? [True, True] Translation: X:175.92, Y:170.39, Z:0.24 [[-9.18879854e-02 -9.95769350e-01 0.00000000e+00 1.75924823e+02] [ 9.95769350e-01 -9.18879854e-02 0.00000000e+00 1.70389831e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40507427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.990371743 meters Centerline goodness : 0.982088 Centerline is valid? [True, True] Translation: X:175.93, Y:170.43, Z:0.24 [[-8.19257154e-02 -9.96638439e-01 0.00000000e+00 1.75931075e+02] [ 9.96638439e-01 -8.19257154e-02 0.00000000e+00 1.70426231e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37473144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.020371743 meters Centerline goodness : 0.978398 Centerline is valid? [True, True] Translation: X:175.94, Y:170.46, Z:0.24 [[-6.73903890e-02 -9.97726684e-01 0.00000000e+00 1.75936381e+02] [ 9.97726684e-01 -6.73903890e-02 0.00000000e+00 1.70457511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43350798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.050371743 meters Centerline goodness : 0.980941 Centerline is valid? [True, True] Translation: X:175.93, Y:170.48, Z:0.24 [[-6.82882835e-02 -9.97665631e-01 0.00000000e+00 1.75928303e+02] [ 9.97665631e-01 -6.82882835e-02 0.00000000e+00 1.70481107e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39859684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.080371743 meters Centerline goodness : 0.979358 Centerline is valid? [True, True] Translation: X:175.93, Y:170.51, Z:0.24 [[-5.46136911e-02 -9.98507559e-01 0.00000000e+00 1.75931713e+02] [ 9.98507559e-01 -5.46136911e-02 0.00000000e+00 1.70513028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43311081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11037174300003 meters Centerline goodness : 0.980139 Centerline is valid? [True, True] Translation: X:175.93, Y:170.54, Z:0.24 [[-5.56967948e-02 -9.98447729e-01 0.00000000e+00 1.75925990e+02] [ 9.98447729e-01 -5.56967948e-02 0.00000000e+00 1.70536740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42193563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.140371743 meters Centerline goodness : 0.979577 Centerline is valid? [True, True] Translation: X:175.93, Y:170.57, Z:0.24 [[-4.25495091e-02 -9.99094360e-01 0.00000000e+00 1.75929164e+02] [ 9.99094360e-01 -4.25495091e-02 0.00000000e+00 1.70569077e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43355224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.170371743 meters Centerline goodness : 0.980798 Centerline is valid? [True, True] Translation: X:175.92, Y:170.59, Z:0.24 [[-4.72529627e-02 -9.98882955e-01 0.00000000e+00 1.75920905e+02] [ 9.98882955e-01 -4.72529627e-02 0.00000000e+00 1.70589193e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41558221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.200371743 meters Centerline goodness : 0.980289 Centerline is valid? [True, True] Translation: X:175.92, Y:170.62, Z:0.24 [[-4.19717304e-02 -9.99118799e-01 0.00000000e+00 1.75919446e+02] [ 9.99118799e-01 -4.19717304e-02 0.00000000e+00 1.70616873e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43003142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.230371743 meters Centerline goodness : 0.981133 Centerline is valid? [True, True] Translation: X:175.92, Y:170.65, Z:0.24 [[-3.76945138e-02 -9.99289309e-01 0.00000000e+00 1.75920940e+02] [ 9.99289309e-01 -3.76945138e-02 0.00000000e+00 1.70647711e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41784156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.260371743 meters Centerline goodness : 0.980069 Centerline is valid? [True, True] Translation: X:175.92, Y:170.68, Z:0.24 [[-3.34937941e-02 -9.99438925e-01 0.00000000e+00 1.75923806e+02] [ 9.99438925e-01 -3.34937941e-02 0.00000000e+00 1.70675770e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43698078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.290371743 meters Centerline goodness : 0.980067 Centerline is valid? [True, True] Translation: X:175.92, Y:170.69, Z:0.24 [[-3.80537739e-02 -9.99275693e-01 0.00000000e+00 1.75915574e+02] [ 9.99275693e-01 -3.80537739e-02 0.00000000e+00 1.70693577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43578722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.320371743 meters Centerline goodness : 0.980740 Centerline is valid? [True, True] Translation: X:175.92, Y:170.73, Z:0.24 [[-3.04923568e-02 -9.99535000e-01 0.00000000e+00 1.75923139e+02] [ 9.99535000e-01 -3.04923568e-02 0.00000000e+00 1.70733447e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42544190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.350371743 meters Centerline goodness : 0.981264 Centerline is valid? [True, True] Translation: X:175.89, Y:171.40, Z:0.24 [[-7.61937716e-02 -9.97093029e-01 0.00000000e+00 1.75892791e+02] [ 9.97093029e-01 -7.61937716e-02 0.00000000e+00 1.71400084e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44286096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.380371743 meters Centerline goodness : 0.980462 Centerline is valid? [True, True] Translation: X:175.89, Y:171.41, Z:0.24 [[-7.09648809e-02 -9.97478815e-01 0.00000000e+00 1.75894758e+02] [ 9.97478815e-01 -7.09648809e-02 0.00000000e+00 1.71405631e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44464305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.410371743 meters Centerline goodness : 0.980853 Centerline is valid? [True, True] Translation: X:175.90, Y:171.39, Z:0.24 [[-6.62273859e-02 -9.97804557e-01 0.00000000e+00 1.75897016e+02] [ 9.97804557e-01 -6.62273859e-02 0.00000000e+00 1.71388308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43352394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.440371743 meters Centerline goodness : 0.980526 Centerline is valid? [True, True] Translation: X:175.90, Y:171.41, Z:0.24 [[-6.06980406e-02 -9.98156174e-01 0.00000000e+00 1.75898312e+02] [ 9.98156174e-01 -6.06980406e-02 0.00000000e+00 1.71411208e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42370485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.470371743 meters Centerline goodness : 0.983236 Centerline is valid? [True, True] Translation: X:175.93, Y:170.44, Z:0.24 [[-4.70195272e-02 -9.98893970e-01 0.00000000e+00 1.75925409e+02] [ 9.98893970e-01 -4.70195272e-02 0.00000000e+00 1.70438730e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43144734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.500371743 meters Centerline goodness : 0.980093 Centerline is valid? [True, True] Translation: X:175.91, Y:171.44, Z:0.24 [[-5.76813541e-02 -9.98335045e-01 0.00000000e+00 1.75905136e+02] [ 9.98335045e-01 -5.76813541e-02 0.00000000e+00 1.71436617e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41127086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.530371743 meters Centerline goodness : 0.980781 Centerline is valid? [True, True] Translation: X:175.91, Y:171.50, Z:0.24 [[-5.56634018e-02 -9.98449591e-01 0.00000000e+00 1.75908524e+02] [ 9.98449591e-01 -5.56634018e-02 0.00000000e+00 1.71498904e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43051709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.560371743 meters Centerline goodness : 0.980243 Centerline is valid? [True, True] Translation: X:175.91, Y:171.44, Z:0.24 [[-5.26518689e-02 -9.98612928e-01 0.00000000e+00 1.75910908e+02] [ 9.98612928e-01 -5.26518689e-02 0.00000000e+00 1.71444535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41969326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.590371743 meters Centerline goodness : 0.979768 Centerline is valid? [True, True] Translation: X:175.91, Y:171.45, Z:0.24 [[-5.18767377e-02 -9.98653496e-01 0.00000000e+00 1.75914780e+02] [ 9.98653496e-01 -5.18767377e-02 0.00000000e+00 1.71447516e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42121217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.620371743 meters Centerline goodness : 0.976841 Centerline is valid? [True, True] Translation: X:175.94, Y:170.80, Z:0.24 [[ 8.90443644e-03 -9.99960355e-01 0.00000000e+00 1.75935133e+02] [ 9.99960355e-01 8.90443644e-03 0.00000000e+00 1.70802968e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38884998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.650371743 meters Centerline goodness : 0.980041 Centerline is valid? [True, True] Translation: X:175.93, Y:170.81, Z:0.24 [[ 1.14981821e-04 -9.99999993e-01 0.00000000e+00 1.75931090e+02] [ 9.99999993e-01 1.14981821e-04 0.00000000e+00 1.70811961e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42269147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.680371743 meters Centerline goodness : 0.977234 Centerline is valid? [True, True] Translation: X:175.94, Y:170.85, Z:0.24 [[-8.17783336e-04 -9.99999666e-01 0.00000000e+00 1.75942008e+02] [ 9.99999666e-01 -8.17783336e-04 0.00000000e+00 1.70854288e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38300132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.710371743 meters Centerline goodness : 0.976484 Centerline is valid? [True, True] Translation: X:175.95, Y:170.88, Z:0.24 [[-8.53827394e-03 -9.99963548e-01 0.00000000e+00 1.75946042e+02] [ 9.99963548e-01 -8.53827394e-03 0.00000000e+00 1.70881337e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38379541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.740371743 meters Centerline goodness : 0.979540 Centerline is valid? [True, True] Translation: X:175.94, Y:170.89, Z:0.24 [[-1.80370401e-02 -9.99837319e-01 0.00000000e+00 1.75941245e+02] [ 9.99837319e-01 -1.80370401e-02 0.00000000e+00 1.70890717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41285379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.770371743 meters Centerline goodness : 0.978010 Centerline is valid? [True, True] Translation: X:175.95, Y:170.92, Z:0.24 [[-2.37079636e-02 -9.99718927e-01 0.00000000e+00 1.75946218e+02] [ 9.99718927e-01 -2.37079636e-02 0.00000000e+00 1.70917651e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40986100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.800371743 meters Centerline goodness : 0.978858 Centerline is valid? [True, True] Translation: X:175.95, Y:170.94, Z:0.24 [[-2.67936944e-02 -9.99640985e-01 0.00000000e+00 1.75949464e+02] [ 9.99640985e-01 -2.67936944e-02 0.00000000e+00 1.70944738e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40823650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.830371743 meters Centerline goodness : 0.978537 Centerline is valid? [True, True] Translation: X:175.96, Y:170.97, Z:0.24 [[-3.22518522e-02 -9.99479774e-01 0.00000000e+00 1.75955090e+02] [ 9.99479774e-01 -3.22518522e-02 0.00000000e+00 1.70973240e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40904490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86037174300003 meters Centerline goodness : 0.978405 Centerline is valid? [True, True] Translation: X:175.96, Y:171.00, Z:0.24 [[-3.44440231e-02 -9.99406629e-01 0.00000000e+00 1.75957108e+02] [ 9.99406629e-01 -3.44440231e-02 0.00000000e+00 1.70997418e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43159289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.890371743 meters Centerline goodness : 0.977178 Centerline is valid? [True, True] Translation: X:175.96, Y:171.03, Z:0.24 [[-4.01827486e-02 -9.99192347e-01 0.00000000e+00 1.75959656e+02] [ 9.99192347e-01 -4.01827486e-02 0.00000000e+00 1.71025785e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43207003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.920371743 meters Centerline goodness : 0.977280 Centerline is valid? [True, True] Translation: X:175.96, Y:171.05, Z:0.24 [[-4.22393725e-02 -9.99107519e-01 0.00000000e+00 1.75961894e+02] [ 9.99107519e-01 -4.22393725e-02 0.00000000e+00 1.71052646e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43434531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.950371743 meters Centerline goodness : 0.977535 Centerline is valid? [True, True] Translation: X:175.96, Y:171.08, Z:0.24 [[-4.69217951e-02 -9.98898566e-01 0.00000000e+00 1.75964380e+02] [ 9.98898566e-01 -4.69217951e-02 0.00000000e+00 1.71079011e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43064926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.980371743 meters Centerline goodness : 0.974098 Centerline is valid? [True, True] Translation: X:175.98, Y:171.12, Z:0.24 [[-4.01234911e-02 -9.99194728e-01 0.00000000e+00 1.75976437e+02] [ 9.99194728e-01 -4.01234911e-02 0.00000000e+00 1.71117297e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43315036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.010371743 meters Centerline goodness : 0.973550 Centerline is valid? [True, True] Translation: X:175.98, Y:171.14, Z:0.24 [[-4.33794845e-02 -9.99058667e-01 0.00000000e+00 1.75976580e+02] [ 9.99058667e-01 -4.33794845e-02 0.00000000e+00 1.71141479e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42609275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.040371743 meters Centerline goodness : 0.974011 Centerline is valid? [True, True] Translation: X:175.98, Y:171.17, Z:0.24 [[-4.78285331e-02 -9.98855561e-01 0.00000000e+00 1.75976139e+02] [ 9.98855561e-01 -4.78285331e-02 0.00000000e+00 1.71172099e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41318565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.070371743 meters Centerline goodness : 0.975881 Centerline is valid? [True, True] Translation: X:175.97, Y:171.20, Z:0.24 [[-5.39695450e-02 -9.98542582e-01 0.00000000e+00 1.75973556e+02] [ 9.98542582e-01 -5.39695450e-02 0.00000000e+00 1.71199742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42332423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.100371743 meters Centerline goodness : 0.977385 Centerline is valid? [True, True] Translation: X:175.97, Y:171.21, Z:0.24 [[-6.25591211e-02 -9.98041260e-01 0.00000000e+00 1.75965527e+02] [ 9.98041260e-01 -6.25591211e-02 0.00000000e+00 1.71214480e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43060937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.130371743 meters Centerline goodness : 0.977059 Centerline is valid? [True, True] Translation: X:175.97, Y:171.25, Z:0.24 [[-5.73043220e-02 -9.98356757e-01 0.00000000e+00 1.75973480e+02] [ 9.98356757e-01 -5.73043220e-02 0.00000000e+00 1.71251798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42128294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.160371743 meters Centerline goodness : 0.977504 Centerline is valid? [True, True] Translation: X:175.97, Y:171.27, Z:0.24 [[-6.41403309e-02 -9.97940889e-01 0.00000000e+00 1.75966071e+02] [ 9.97940889e-01 -6.41403309e-02 0.00000000e+00 1.71265932e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43416111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.190371743 meters Centerline goodness : 0.977866 Centerline is valid? [True, True] Translation: X:175.97, Y:171.29, Z:0.24 [[-6.36798618e-02 -9.97970378e-01 0.00000000e+00 1.75967089e+02] [ 9.97970378e-01 -6.36798618e-02 0.00000000e+00 1.71293159e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43227281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.220371743 meters Centerline goodness : 0.977966 Centerline is valid? [True, True] Translation: X:175.97, Y:171.32, Z:0.24 [[-6.44282566e-02 -9.97922342e-01 0.00000000e+00 1.75966030e+02] [ 9.97922342e-01 -6.44282566e-02 0.00000000e+00 1.71321918e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42752082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.250371743 meters Centerline goodness : 0.977374 Centerline is valid? [True, True] Translation: X:175.97, Y:171.36, Z:0.24 [[-5.66450853e-02 -9.98394378e-01 0.00000000e+00 1.75974120e+02] [ 9.98394378e-01 -5.66450853e-02 0.00000000e+00 1.71359948e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42344750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.280371743 meters Centerline goodness : 0.976175 Centerline is valid? [True, True] Translation: X:175.97, Y:171.39, Z:0.24 [[-5.34236508e-02 -9.98571937e-01 0.00000000e+00 1.75972633e+02] [ 9.98571937e-01 -5.34236508e-02 0.00000000e+00 1.71386512e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41854321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.310371743 meters Centerline goodness : 0.978216 Centerline is valid? [True, True] Translation: X:175.96, Y:171.40, Z:0.24 [[-5.94367198e-02 -9.98232075e-01 0.00000000e+00 1.75962852e+02] [ 9.98232075e-01 -5.94367198e-02 0.00000000e+00 1.71402085e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41856673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.340371743 meters Centerline goodness : 0.978236 Centerline is valid? [True, True] Translation: X:175.96, Y:171.43, Z:0.24 [[-5.51031840e-02 -9.98480665e-01 0.00000000e+00 1.75961904e+02] [ 9.98480665e-01 -5.51031840e-02 0.00000000e+00 1.71428692e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41600580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.370371743 meters Centerline goodness : 0.978032 Centerline is valid? [True, True] Translation: X:175.96, Y:171.46, Z:0.24 [[-5.30871232e-02 -9.98589884e-01 0.00000000e+00 1.75961553e+02] [ 9.98589884e-01 -5.30871232e-02 0.00000000e+00 1.71456411e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40954515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.400371743 meters Centerline goodness : 0.977744 Centerline is valid? [True, True] Translation: X:175.97, Y:171.49, Z:0.24 [[-4.25990488e-02 -9.99092249e-01 0.00000000e+00 1.75967212e+02] [ 9.99092249e-01 -4.25990488e-02 0.00000000e+00 1.71492431e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40007759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.430371743 meters Centerline goodness : 0.978948 Centerline is valid? [True, True] Translation: X:175.97, Y:171.52, Z:0.24 [[-4.12108019e-02 -9.99150474e-01 0.00000000e+00 1.75965891e+02] [ 9.99150474e-01 -4.12108019e-02 0.00000000e+00 1.71520860e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42027937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.460371743 meters Centerline goodness : 0.978929 Centerline is valid? [True, True] Translation: X:175.95, Y:171.54, Z:0.24 [[-4.18426366e-02 -9.99124213e-01 0.00000000e+00 1.75954213e+02] [ 9.99124213e-01 -4.18426366e-02 0.00000000e+00 1.71535655e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42434512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.490371743 meters Centerline goodness : 0.979748 Centerline is valid? [True, True] Translation: X:175.96, Y:171.57, Z:0.24 [[-3.45202896e-02 -9.99403997e-01 0.00000000e+00 1.75959723e+02] [ 9.99403997e-01 -3.45202896e-02 0.00000000e+00 1.71572948e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42347806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.520371743 meters Centerline goodness : 0.978621 Centerline is valid? [True, True] Translation: X:175.96, Y:171.60, Z:0.24 [[-3.19528740e-02 -9.99489377e-01 0.00000000e+00 1.75957962e+02] [ 9.99489377e-01 -3.19528740e-02 0.00000000e+00 1.71600371e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42308169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.550371743 meters Centerline goodness : 0.979330 Centerline is valid? [True, True] Translation: X:175.95, Y:171.62, Z:0.24 [[-2.89592696e-02 -9.99580592e-01 0.00000000e+00 1.75949874e+02] [ 9.99580592e-01 -2.89592696e-02 0.00000000e+00 1.71620622e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40883473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.580371743 meters Centerline goodness : 0.982982 Centerline is valid? [True, True] Translation: X:175.94, Y:171.65, Z:0.24 [[-2.72197466e-02 -9.99629474e-01 0.00000000e+00 1.75943034e+02] [ 9.99629474e-01 -2.72197466e-02 0.00000000e+00 1.71654109e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41575010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61037174300003 meters Centerline goodness : 0.981606 Centerline is valid? [True, True] Translation: X:175.94, Y:171.68, Z:0.24 [[-2.96932551e-02 -9.99559058e-01 0.00000000e+00 1.75936335e+02] [ 9.99559058e-01 -2.96932551e-02 0.00000000e+00 1.71675542e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40386137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.640371743 meters Centerline goodness : 0.981606 Centerline is valid? [True, True] Translation: X:175.94, Y:171.70, Z:0.24 [[-2.95773583e-02 -9.99562494e-01 0.00000000e+00 1.75937439e+02] [ 9.99562494e-01 -2.95773583e-02 0.00000000e+00 1.71704044e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40386137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.670371743 meters Centerline goodness : 0.981982 Centerline is valid? [True, True] Translation: X:175.94, Y:171.74, Z:0.25 [[-2.33214314e-02 -9.99728018e-01 0.00000000e+00 1.75939974e+02] [ 9.99728018e-01 -2.33214314e-02 0.00000000e+00 1.71737714e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45483002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.700371743 meters Centerline goodness : 0.982201 Centerline is valid? [True, True] Translation: X:175.94, Y:171.77, Z:0.24 [[-2.20453994e-02 -9.99756971e-01 0.00000000e+00 1.75940831e+02] [ 9.99756971e-01 -2.20453994e-02 0.00000000e+00 1.71767656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44292481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.730371743 meters Centerline goodness : 0.981129 Centerline is valid? [True, True] Translation: X:175.94, Y:171.80, Z:0.24 [[-2.25970909e-02 -9.99744653e-01 0.00000000e+00 1.75938889e+02] [ 9.99744653e-01 -2.25970909e-02 0.00000000e+00 1.71795236e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44745497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.760371743 meters Centerline goodness : 0.982182 Centerline is valid? [True, True] Translation: X:175.93, Y:171.82, Z:0.24 [[-2.61895408e-02 -9.99656995e-01 0.00000000e+00 1.75934700e+02] [ 9.99656995e-01 -2.61895408e-02 0.00000000e+00 1.71824112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43417659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.790371743 meters Centerline goodness : 0.982199 Centerline is valid? [True, True] Translation: X:175.93, Y:171.85, Z:0.24 [[-2.87193505e-02 -9.99587514e-01 0.00000000e+00 1.75932003e+02] [ 9.99587514e-01 -2.87193505e-02 0.00000000e+00 1.71849457e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44927554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.820371743 meters Centerline goodness : 0.982811 Centerline is valid? [True, True] Translation: X:175.93, Y:171.88, Z:0.25 [[-3.25962554e-02 -9.99468601e-01 0.00000000e+00 1.75930268e+02] [ 9.99468601e-01 -3.25962554e-02 0.00000000e+00 1.71878333e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45665154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.850371743 meters Centerline goodness : 0.982575 Centerline is valid? [True, True] Translation: X:175.93, Y:171.91, Z:0.25 [[-3.65157709e-02 -9.99333077e-01 0.00000000e+00 1.75928144e+02] [ 9.99333077e-01 -3.65157709e-02 0.00000000e+00 1.71907650e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46347967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.880371743 meters Centerline goodness : 0.982990 Centerline is valid? [True, True] Translation: X:175.93, Y:171.93, Z:0.25 [[-4.07499591e-02 -9.99169375e-01 0.00000000e+00 1.75926304e+02] [ 9.99169375e-01 -4.07499591e-02 0.00000000e+00 1.71934544e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47650761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.910371743 meters Centerline goodness : 0.985034 Centerline is valid? [True, True] Translation: X:175.92, Y:171.96, Z:0.25 [[-4.63847545e-02 -9.98923648e-01 0.00000000e+00 1.75921798e+02] [ 9.98923648e-01 -4.63847545e-02 0.00000000e+00 1.71964590e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46288381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.940371743 meters Centerline goodness : 0.984825 Centerline is valid? [True, True] Translation: X:175.92, Y:171.99, Z:0.25 [[-4.96782367e-02 -9.98765274e-01 0.00000000e+00 1.75917555e+02] [ 9.98765274e-01 -4.96782367e-02 0.00000000e+00 1.71988113e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45282330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.970371743 meters Centerline goodness : 0.985602 Centerline is valid? [True, True] Translation: X:175.91, Y:172.02, Z:0.24 [[-5.23619986e-02 -9.98628170e-01 0.00000000e+00 1.75914378e+02] [ 9.98628170e-01 -5.23619986e-02 0.00000000e+00 1.72016429e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44619009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.000371743 meters Centerline goodness : 0.984422 Centerline is valid? [True, True] Translation: X:175.92, Y:172.05, Z:0.24 [[-4.62772321e-02 -9.98928635e-01 0.00000000e+00 1.75918842e+02] [ 9.98928635e-01 -4.62772321e-02 0.00000000e+00 1.72048474e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44497319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.030371743 meters Centerline goodness : 0.984425 Centerline is valid? [True, True] Translation: X:175.92, Y:172.08, Z:0.25 [[-4.49518495e-02 -9.98989155e-01 0.00000000e+00 1.75917478e+02] [ 9.98989155e-01 -4.49518495e-02 0.00000000e+00 1.72075704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45330147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.060371743 meters Centerline goodness : 0.985519 Centerline is valid? [True, True] Translation: X:175.91, Y:172.10, Z:0.25 [[-4.76655948e-02 -9.98863350e-01 0.00000000e+00 1.75907053e+02] [ 9.98863350e-01 -4.76655948e-02 0.00000000e+00 1.72100555e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45060659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.090371743 meters Centerline goodness : 0.983632 Centerline is valid? [True, True] Translation: X:175.92, Y:172.14, Z:0.25 [[-3.69107484e-02 -9.99318566e-01 0.00000000e+00 1.75915980e+02] [ 9.99318566e-01 -3.69107484e-02 0.00000000e+00 1.72136346e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47954010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.120371743 meters Centerline goodness : 0.986032 Centerline is valid? [True, True] Translation: X:175.91, Y:172.16, Z:0.25 [[-3.51481348e-02 -9.99382113e-01 0.00000000e+00 1.75906422e+02] [ 9.99382113e-01 -3.51481348e-02 0.00000000e+00 1.72159402e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45565316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.150371743 meters Centerline goodness : 0.987277 Centerline is valid? [True, True] Translation: X:175.90, Y:172.19, Z:0.25 [[-3.03930776e-02 -9.99538024e-01 0.00000000e+00 1.75901090e+02] [ 9.99538024e-01 -3.03930776e-02 0.00000000e+00 1.72187734e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45173000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.180371743 meters Centerline goodness : 0.986725 Centerline is valid? [True, True] Translation: X:175.90, Y:172.22, Z:0.25 [[-2.59463231e-02 -9.99663337e-01 0.00000000e+00 1.75901903e+02] [ 9.99663337e-01 -2.59463231e-02 0.00000000e+00 1.72217989e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47056980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.210371743 meters Centerline goodness : 0.987392 Centerline is valid? [True, True] Translation: X:175.89, Y:172.24, Z:0.25 [[-2.79819026e-02 -9.99608430e-01 0.00000000e+00 1.75892866e+02] [ 9.99608430e-01 -2.79819026e-02 0.00000000e+00 1.72237224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45359471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.240371743 meters Centerline goodness : 0.987134 Centerline is valid? [True, True] Translation: X:175.90, Y:172.27, Z:0.25 [[-2.23177806e-02 -9.99750927e-01 0.00000000e+00 1.75895814e+02] [ 9.99750927e-01 -2.23177806e-02 0.00000000e+00 1.72268875e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46531009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.270371743 meters Centerline goodness : 0.986480 Centerline is valid? [True, True] Translation: X:175.90, Y:172.30, Z:0.25 [[-1.50372501e-02 -9.99886934e-01 0.00000000e+00 1.75895779e+02] [ 9.99886934e-01 -1.50372501e-02 0.00000000e+00 1.72299865e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46259597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.300371743 meters Centerline goodness : 0.986972 Centerline is valid? [True, True] Translation: X:175.90, Y:172.33, Z:0.25 [[-1.09438812e-02 -9.99940114e-01 0.00000000e+00 1.75895067e+02] [ 9.99940114e-01 -1.09438812e-02 0.00000000e+00 1.72329335e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47032538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.330371743 meters Centerline goodness : 0.986508 Centerline is valid? [True, True] Translation: X:175.89, Y:172.35, Z:0.25 [[-1.39973708e-02 -9.99902032e-01 0.00000000e+00 1.75889899e+02] [ 9.99902032e-01 -1.39973708e-02 0.00000000e+00 1.72353495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46351276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36037174300003 meters Centerline goodness : 0.982791 Centerline is valid? [True, True] Translation: X:175.88, Y:172.37, Z:0.25 [[-1.67656948e-02 -9.99859446e-01 0.00000000e+00 1.75884633e+02] [ 9.99859446e-01 -1.67656948e-02 0.00000000e+00 1.72369173e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47181960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.390371743 meters Centerline goodness : 0.986720 Centerline is valid? [True, True] Translation: X:175.89, Y:172.40, Z:0.25 [[-1.13878157e-02 -9.99935157e-01 0.00000000e+00 1.75891017e+02] [ 9.99935157e-01 -1.13878157e-02 0.00000000e+00 1.72403843e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45305647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.420371743 meters Centerline goodness : 0.985263 Centerline is valid? [True, True] Translation: X:175.90, Y:172.44, Z:0.25 [[-3.53541582e-03 -9.99993750e-01 0.00000000e+00 1.75903550e+02] [ 9.99993750e-01 -3.53541582e-03 0.00000000e+00 1.72440945e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47599350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.450371743 meters Centerline goodness : 0.986154 Centerline is valid? [True, True] Translation: X:175.90, Y:172.46, Z:0.25 [[-1.14801180e-02 -9.99934101e-01 0.00000000e+00 1.75896449e+02] [ 9.99934101e-01 -1.14801180e-02 0.00000000e+00 1.72459153e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48537323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.480371743 meters Centerline goodness : 0.986803 Centerline is valid? [True, True] Translation: X:175.90, Y:172.49, Z:0.25 [[-1.58792195e-02 -9.99873917e-01 0.00000000e+00 1.75896439e+02] [ 9.99873917e-01 -1.58792195e-02 0.00000000e+00 1.72489202e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47167771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.510371743 meters Centerline goodness : 0.986419 Centerline is valid? [True, True] Translation: X:175.90, Y:172.52, Z:0.25 [[-1.86584140e-02 -9.99825917e-01 0.00000000e+00 1.75901340e+02] [ 9.99825917e-01 -1.86584140e-02 0.00000000e+00 1.72516004e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48359873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.540371743 meters Centerline goodness : 0.986613 Centerline is valid? [True, True] Translation: X:175.90, Y:172.55, Z:0.25 [[-2.09240356e-02 -9.99781068e-01 0.00000000e+00 1.75904596e+02] [ 9.99781068e-01 -2.09240356e-02 0.00000000e+00 1.72545830e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48405921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.570371743 meters Centerline goodness : 0.987487 Centerline is valid? [True, True] Translation: X:175.91, Y:172.58, Z:0.25 [[-2.33228007e-02 -9.99727986e-01 0.00000000e+00 1.75911100e+02] [ 9.99727986e-01 -2.33228007e-02 0.00000000e+00 1.72575148e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47647473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.600371743 meters Centerline goodness : 0.987151 Centerline is valid? [True, True] Translation: X:175.91, Y:172.60, Z:0.25 [[-2.76274408e-02 -9.99618289e-01 0.00000000e+00 1.75910518e+02] [ 9.99618289e-01 -2.76274408e-02 0.00000000e+00 1.72599263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46912573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.630371743 meters Centerline goodness : 0.986212 Centerline is valid? [True, True] Translation: X:175.92, Y:172.64, Z:0.25 [[-2.61796551e-02 -9.99657254e-01 0.00000000e+00 1.75923866e+02] [ 9.99657254e-01 -2.61796551e-02 0.00000000e+00 1.72635433e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50388216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.660371743 meters Centerline goodness : 0.986528 Centerline is valid? [True, True] Translation: X:175.92, Y:172.66, Z:0.25 [[-3.14935449e-02 -9.99503955e-01 0.00000000e+00 1.75921902e+02] [ 9.99503955e-01 -3.14935449e-02 0.00000000e+00 1.72655777e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48388013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.690371743 meters Centerline goodness : 0.986163 Centerline is valid? [True, True] Translation: X:175.92, Y:172.68, Z:0.25 [[-3.62379603e-02 -9.99343189e-01 0.00000000e+00 1.75920727e+02] [ 9.99343189e-01 -3.62379603e-02 0.00000000e+00 1.72682719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47290280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.720371743 meters Centerline goodness : 0.984937 Centerline is valid? [True, True] Translation: X:175.93, Y:172.71, Z:0.25 [[-3.54351369e-02 -9.99371978e-01 0.00000000e+00 1.75929198e+02] [ 9.99371978e-01 -3.54351369e-02 0.00000000e+00 1.72710923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49595026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.750371743 meters Centerline goodness : 0.986097 Centerline is valid? [True, True] Translation: X:175.93, Y:172.74, Z:0.25 [[-3.81698938e-02 -9.99271264e-01 0.00000000e+00 1.75931960e+02] [ 9.99271264e-01 -3.81698938e-02 0.00000000e+00 1.72740302e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48341847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.780371743 meters Centerline goodness : 0.985798 Centerline is valid? [True, True] Translation: X:175.93, Y:172.76, Z:0.25 [[-4.58983130e-02 -9.98946117e-01 0.00000000e+00 1.75929655e+02] [ 9.98946117e-01 -4.58983130e-02 0.00000000e+00 1.72761582e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46892147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.810371743 meters Centerline goodness : 0.985397 Centerline is valid? [True, True] Translation: X:175.94, Y:172.79, Z:0.25 [[-4.52751996e-02 -9.98974552e-01 0.00000000e+00 1.75935357e+02] [ 9.98974552e-01 -4.52751996e-02 0.00000000e+00 1.72794219e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47124101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.840371743 meters Centerline goodness : 0.985350 Centerline is valid? [True, True] Translation: X:175.93, Y:172.82, Z:0.25 [[-4.80903709e-02 -9.98842989e-01 0.00000000e+00 1.75934910e+02] [ 9.98842989e-01 -4.80903709e-02 0.00000000e+00 1.72818839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45836019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.870371743 meters Centerline goodness : 0.983853 Centerline is valid? [True, True] Translation: X:175.95, Y:172.85, Z:0.25 [[-4.24630594e-02 -9.99098038e-01 0.00000000e+00 1.75945586e+02] [ 9.99098038e-01 -4.24630594e-02 0.00000000e+00 1.72849028e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49464260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.900371743 meters Centerline goodness : 0.984944 Centerline is valid? [True, True] Translation: X:175.94, Y:172.87, Z:0.25 [[-4.87518310e-02 -9.98810923e-01 0.00000000e+00 1.75939549e+02] [ 9.98810923e-01 -4.87518310e-02 0.00000000e+00 1.72874032e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46315532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.930371743 meters Centerline goodness : 0.985251 Centerline is valid? [True, True] Translation: X:175.94, Y:172.90, Z:0.25 [[-4.63459300e-02 -9.98925450e-01 0.00000000e+00 1.75941274e+02] [ 9.98925450e-01 -4.63459300e-02 0.00000000e+00 1.72899868e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47037112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.960371743 meters Centerline goodness : 0.983516 Centerline is valid? [True, True] Translation: X:175.95, Y:172.94, Z:0.25 [[-3.71706112e-02 -9.99308934e-01 0.00000000e+00 1.75953725e+02] [ 9.99308934e-01 -3.71706112e-02 0.00000000e+00 1.72939277e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50992911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.990371743 meters Centerline goodness : 0.981076 Centerline is valid? [True, True] Translation: X:175.95, Y:172.96, Z:0.25 [[-4.11537128e-02 -9.99152827e-01 0.00000000e+00 1.75947761e+02] [ 9.99152827e-01 -4.11537128e-02 0.00000000e+00 1.72956317e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47674437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.020371743 meters Centerline goodness : 0.985444 Centerline is valid? [True, True] Translation: X:175.96, Y:172.99, Z:0.25 [[-3.24263370e-02 -9.99474128e-01 0.00000000e+00 1.75955543e+02] [ 9.99474128e-01 -3.24263370e-02 0.00000000e+00 1.72992886e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48489041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.050371743 meters Centerline goodness : 0.984406 Centerline is valid? [True, True] Translation: X:175.95, Y:173.02, Z:0.25 [[-3.15934336e-02 -9.99500803e-01 0.00000000e+00 1.75954898e+02] [ 9.99500803e-01 -3.15934336e-02 0.00000000e+00 1.73017611e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48308993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.080371743 meters Centerline goodness : 0.984938 Centerline is valid? [True, True] Translation: X:175.95, Y:173.04, Z:0.25 [[-2.86852181e-02 -9.99588494e-01 0.00000000e+00 1.75954997e+02] [ 9.99588494e-01 -2.86852181e-02 0.00000000e+00 1.73044021e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49522396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11037174300003 meters Centerline goodness : 0.983216 Centerline is valid? [True, True] Translation: X:175.96, Y:173.08, Z:0.25 [[-2.22973893e-02 -9.99751382e-01 0.00000000e+00 1.75961848e+02] [ 9.99751382e-01 -2.22973893e-02 0.00000000e+00 1.73076922e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52260213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.140371743 meters Centerline goodness : 0.984980 Centerline is valid? [True, True] Translation: X:175.96, Y:173.10, Z:0.25 [[-2.43533282e-02 -9.99703414e-01 0.00000000e+00 1.75956158e+02] [ 9.99703414e-01 -2.43533282e-02 0.00000000e+00 1.73100853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50704706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.170371743 meters Centerline goodness : 0.984863 Centerline is valid? [True, True] Translation: X:175.96, Y:173.13, Z:0.25 [[-2.28397356e-02 -9.99739139e-01 0.00000000e+00 1.75955982e+02] [ 9.99739139e-01 -2.28397356e-02 0.00000000e+00 1.73129042e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49825286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.200371743 meters Centerline goodness : 0.985426 Centerline is valid? [True, True] Translation: X:175.95, Y:173.15, Z:0.25 [[-2.81092170e-02 -9.99604858e-01 0.00000000e+00 1.75946556e+02] [ 9.99604858e-01 -2.81092170e-02 0.00000000e+00 1.73149293e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46997290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.230371743 meters Centerline goodness : 0.984868 Centerline is valid? [True, True] Translation: X:175.96, Y:173.18, Z:0.25 [[-1.72470162e-02 -9.99851259e-01 0.00000000e+00 1.75955895e+02] [ 9.99851259e-01 -1.72470162e-02 0.00000000e+00 1.73184515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48950098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.260371743 meters Centerline goodness : 0.983527 Centerline is valid? [True, True] Translation: X:175.96, Y:173.21, Z:0.25 [[-1.46491341e-02 -9.99892696e-01 0.00000000e+00 1.75956699e+02] [ 9.99892696e-01 -1.46491341e-02 0.00000000e+00 1.73209161e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49178832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.290371743 meters Centerline goodness : 0.983500 Centerline is valid? [True, True] Translation: X:175.95, Y:173.24, Z:0.25 [[-1.23004354e-02 -9.99924347e-01 0.00000000e+00 1.75954125e+02] [ 9.99924347e-01 -1.23004354e-02 0.00000000e+00 1.73237289e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51406857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.320371743 meters Centerline goodness : 0.984502 Centerline is valid? [True, True] Translation: X:175.95, Y:173.27, Z:0.25 [[-1.05138223e-02 -9.99944728e-01 0.00000000e+00 1.75954337e+02] [ 9.99944728e-01 -1.05138223e-02 0.00000000e+00 1.73265577e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49044018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.350371743 meters Centerline goodness : 0.985535 Centerline is valid? [True, True] Translation: X:175.95, Y:173.29, Z:0.25 [[-1.02329572e-02 -9.99947642e-01 0.00000000e+00 1.75952914e+02] [ 9.99947642e-01 -1.02329572e-02 0.00000000e+00 1.73293341e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49320612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.380371743 meters Centerline goodness : 0.984234 Centerline is valid? [True, True] Translation: X:175.95, Y:173.32, Z:0.25 [[-7.29334002e-03 -9.99973403e-01 0.00000000e+00 1.75953294e+02] [ 9.99973403e-01 -7.29334002e-03 0.00000000e+00 1.73320201e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51178521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.410371743 meters Centerline goodness : 0.983491 Centerline is valid? [True, True] Translation: X:175.95, Y:173.35, Z:0.25 [[-5.65428644e-03 -9.99984014e-01 0.00000000e+00 1.75954016e+02] [ 9.99984014e-01 -5.65428644e-03 0.00000000e+00 1.73348237e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49333503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.440371743 meters Centerline goodness : 0.981511 Centerline is valid? [True, True] Translation: X:175.94, Y:173.37, Z:0.25 [[-1.43290091e-02 -9.99897334e-01 0.00000000e+00 1.75943634e+02] [ 9.99897334e-01 -1.43290091e-02 0.00000000e+00 1.73368839e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51791173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.470371743 meters Centerline goodness : 0.983395 Centerline is valid? [True, True] Translation: X:175.95, Y:173.40, Z:0.25 [[-8.00854943e-03 -9.99967931e-01 0.00000000e+00 1.75951681e+02] [ 9.99967931e-01 -8.00854943e-03 0.00000000e+00 1.73402607e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51258422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.500371743 meters Centerline goodness : 0.985368 Centerline is valid? [True, True] Translation: X:175.95, Y:173.43, Z:0.25 [[-1.19219102e-02 -9.99928932e-01 0.00000000e+00 1.75948257e+02] [ 9.99928932e-01 -1.19219102e-02 0.00000000e+00 1.73431535e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51277559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.530371743 meters Centerline goodness : 0.985368 Centerline is valid? [True, True] Translation: X:175.95, Y:173.46, Z:0.25 [[-1.22691027e-02 -9.99924732e-01 0.00000000e+00 1.75948758e+02] [ 9.99924732e-01 -1.22691027e-02 0.00000000e+00 1.73459893e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51277559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.560371743 meters Centerline goodness : 0.981604 Centerline is valid? [True, True] Translation: X:175.94, Y:173.48, Z:0.25 [[-1.89109957e-02 -9.99821171e-01 0.00000000e+00 1.75941762e+02] [ 9.99821171e-01 -1.89109957e-02 0.00000000e+00 1.73478155e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52172602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.590371743 meters Centerline goodness : 0.985377 Centerline is valid? [True, True] Translation: X:175.95, Y:173.51, Z:0.25 [[-1.52271226e-02 -9.99884061e-01 0.00000000e+00 1.75947996e+02] [ 9.99884061e-01 -1.52271226e-02 0.00000000e+00 1.73513261e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50405562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.620371743 meters Centerline goodness : 0.984304 Centerline is valid? [True, True] Translation: X:175.95, Y:173.54, Z:0.25 [[-1.10403205e-02 -9.99939054e-01 0.00000000e+00 1.75954066e+02] [ 9.99939054e-01 -1.10403205e-02 0.00000000e+00 1.73544010e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52104442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.650371743 meters Centerline goodness : 0.985930 Centerline is valid? [True, True] Translation: X:175.95, Y:173.57, Z:0.25 [[-1.58765948e-02 -9.99873959e-01 0.00000000e+00 1.75951009e+02] [ 9.99873959e-01 -1.58765948e-02 0.00000000e+00 1.73567325e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50126583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.680371743 meters Centerline goodness : 0.985683 Centerline is valid? [True, True] Translation: X:175.95, Y:173.60, Z:0.25 [[-1.78807461e-02 -9.99840127e-01 0.00000000e+00 1.75954713e+02] [ 9.99840127e-01 -1.78807461e-02 0.00000000e+00 1.73599900e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51519734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.710371743 meters Centerline goodness : 0.985889 Centerline is valid? [True, True] Translation: X:175.95, Y:173.62, Z:0.25 [[-2.33992183e-02 -9.99726201e-01 0.00000000e+00 1.75949946e+02] [ 9.99726201e-01 -2.33992183e-02 0.00000000e+00 1.73619963e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51452210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.740371743 meters Centerline goodness : 0.984912 Centerline is valid? [True, True] Translation: X:175.95, Y:173.65, Z:0.25 [[-2.48249046e-02 -9.99691815e-01 0.00000000e+00 1.75954804e+02] [ 9.99691815e-01 -2.48249046e-02 0.00000000e+00 1.73650533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50817392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.770371743 meters Centerline goodness : 0.984941 Centerline is valid? [True, True] Translation: X:175.96, Y:173.68, Z:0.25 [[-2.66959725e-02 -9.99643599e-01 0.00000000e+00 1.75955329e+02] [ 9.99643599e-01 -2.66959725e-02 0.00000000e+00 1.73678401e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53611307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.800371743 meters Centerline goodness : 0.984703 Centerline is valid? [True, True] Translation: X:175.96, Y:173.71, Z:0.25 [[-2.74820285e-02 -9.99622298e-01 0.00000000e+00 1.75959055e+02] [ 9.99622298e-01 -2.74820285e-02 0.00000000e+00 1.73706375e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53771846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.830371743 meters Centerline goodness : 0.984147 Centerline is valid? [True, True] Translation: X:175.96, Y:173.74, Z:0.26 [[-2.81204276e-02 -9.99604543e-01 0.00000000e+00 1.75961825e+02] [ 9.99604543e-01 -2.81204276e-02 0.00000000e+00 1.73739424e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58140378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86037174300003 meters Centerline goodness : 0.986157 Centerline is valid? [True, True] Translation: X:175.95, Y:173.76, Z:0.25 [[-3.81000511e-02 -9.99273929e-01 0.00000000e+00 1.75954265e+02] [ 9.99273929e-01 -3.81000511e-02 0.00000000e+00 1.73758719e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53244682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.890371743 meters Centerline goodness : 0.984707 Centerline is valid? [True, True] Translation: X:175.96, Y:173.79, Z:0.25 [[-3.59156507e-02 -9.99354825e-01 0.00000000e+00 1.75961163e+02] [ 9.99354825e-01 -3.59156507e-02 0.00000000e+00 1.73790350e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54679944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.920371743 meters Centerline goodness : 0.985337 Centerline is valid? [True, True] Translation: X:175.96, Y:173.82, Z:0.25 [[-3.95862139e-02 -9.99216159e-01 0.00000000e+00 1.75959736e+02] [ 9.99216159e-01 -3.95862139e-02 0.00000000e+00 1.73818325e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53997127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.950371743 meters Centerline goodness : 0.985331 Centerline is valid? [True, True] Translation: X:175.96, Y:173.85, Z:0.25 [[-4.06301166e-02 -9.99174256e-01 0.00000000e+00 1.75962378e+02] [ 9.99174256e-01 -4.06301166e-02 0.00000000e+00 1.73845048e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52137313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.980371743 meters Centerline goodness : 0.986162 Centerline is valid? [True, True] Translation: X:175.96, Y:173.87, Z:0.25 [[-4.58209253e-02 -9.98949670e-01 0.00000000e+00 1.75958102e+02] [ 9.98949670e-01 -4.58209253e-02 0.00000000e+00 1.73871931e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53098679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.010371743 meters Centerline goodness : 0.985582 Centerline is valid? [True, True] Translation: X:175.96, Y:173.90, Z:0.25 [[-4.61496254e-02 -9.98934538e-01 0.00000000e+00 1.75959719e+02] [ 9.98934538e-01 -4.61496254e-02 0.00000000e+00 1.73901282e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53868587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.040371743 meters Centerline goodness : 0.986062 Centerline is valid? [True, True] Translation: X:175.96, Y:173.93, Z:0.25 [[-4.71574835e-02 -9.98887467e-01 0.00000000e+00 1.75960011e+02] [ 9.98887467e-01 -4.71574835e-02 0.00000000e+00 1.73931280e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51968402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.070371743 meters Centerline goodness : 0.987106 Centerline is valid? [True, True] Translation: X:175.96, Y:173.96, Z:0.25 [[-4.89898694e-02 -9.98799275e-01 0.00000000e+00 1.75959424e+02] [ 9.98799275e-01 -4.89898694e-02 0.00000000e+00 1.73958426e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53602726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.100371743 meters Centerline goodness : 0.987002 Centerline is valid? [True, True] Translation: X:175.95, Y:173.98, Z:0.25 [[-5.31492865e-02 -9.98586578e-01 0.00000000e+00 1.75954599e+02] [ 9.98586578e-01 -5.31492865e-02 0.00000000e+00 1.73981703e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53956913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.130371743 meters Centerline goodness : 0.985205 Centerline is valid? [True, True] Translation: X:175.96, Y:174.01, Z:0.26 [[-4.88295038e-02 -9.98807128e-01 0.00000000e+00 1.75959485e+02] [ 9.98807128e-01 -4.88295038e-02 0.00000000e+00 1.74012234e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55034615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.160371743 meters Centerline goodness : 0.987235 Centerline is valid? [True, True] Translation: X:175.96, Y:174.04, Z:0.25 [[-4.98785708e-02 -9.98755289e-01 0.00000000e+00 1.75958032e+02] [ 9.98755289e-01 -4.98785708e-02 0.00000000e+00 1.74040184e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54962047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.190371743 meters Centerline goodness : 0.987719 Centerline is valid? [True, True] Translation: X:175.96, Y:174.07, Z:0.26 [[-5.00303067e-02 -9.98747700e-01 0.00000000e+00 1.75955752e+02] [ 9.98747700e-01 -5.00303067e-02 0.00000000e+00 1.74067330e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55556160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.220371743 meters Centerline goodness : 0.986151 Centerline is valid? [True, True] Translation: X:175.96, Y:174.10, Z:0.26 [[-4.58327076e-02 -9.98949129e-01 0.00000000e+00 1.75959683e+02] [ 9.98949129e-01 -4.58327076e-02 0.00000000e+00 1.74100615e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56213421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.250371743 meters Centerline goodness : 0.987627 Centerline is valid? [True, True] Translation: X:175.95, Y:174.12, Z:0.25 [[-4.91611109e-02 -9.98790862e-01 0.00000000e+00 1.75953440e+02] [ 9.98790862e-01 -4.91611109e-02 0.00000000e+00 1.74121558e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54987488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.280371743 meters Centerline goodness : 0.985531 Centerline is valid? [True, True] Translation: X:175.95, Y:174.15, Z:0.26 [[-4.51410103e-02 -9.98980625e-01 0.00000000e+00 1.75954041e+02] [ 9.98980625e-01 -4.51410103e-02 0.00000000e+00 1.74150721e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55010673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.310371743 meters Centerline goodness : 0.986842 Centerline is valid? [True, True] Translation: X:175.95, Y:174.18, Z:0.25 [[-4.48174930e-02 -9.98995191e-01 0.00000000e+00 1.75952974e+02] [ 9.98995191e-01 -4.48174930e-02 0.00000000e+00 1.74180140e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54267181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.340371743 meters Centerline goodness : 0.986932 Centerline is valid? [True, True] Translation: X:175.95, Y:174.21, Z:0.26 [[-4.26900502e-02 -9.99088364e-01 0.00000000e+00 1.75950578e+02] [ 9.99088364e-01 -4.26900502e-02 0.00000000e+00 1.74209673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55493625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.370371743 meters Centerline goodness : 0.986907 Centerline is valid? [True, True] Translation: X:175.95, Y:174.24, Z:0.26 [[-4.06752920e-02 -9.99172418e-01 0.00000000e+00 1.75950235e+02] [ 9.99172418e-01 -4.06752920e-02 0.00000000e+00 1.74235137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57220823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.400371743 meters Centerline goodness : 0.986718 Centerline is valid? [True, True] Translation: X:175.95, Y:174.26, Z:0.26 [[-3.96466530e-02 -9.99213762e-01 0.00000000e+00 1.75949508e+02] [ 9.99213762e-01 -3.96466530e-02 0.00000000e+00 1.74263513e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58236994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.430371743 meters Centerline goodness : 0.988151 Centerline is valid? [True, True] Translation: X:175.95, Y:174.29, Z:0.26 [[-3.90124807e-02 -9.99238723e-01 0.00000000e+00 1.75947630e+02] [ 9.99238723e-01 -3.90124807e-02 0.00000000e+00 1.74293515e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58271456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.460371743 meters Centerline goodness : 0.986123 Centerline is valid? [True, True] Translation: X:175.95, Y:174.32, Z:0.26 [[-3.68718115e-02 -9.99320004e-01 0.00000000e+00 1.75947940e+02] [ 9.99320004e-01 -3.68718115e-02 0.00000000e+00 1.74318248e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.60456010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.490371743 meters Centerline goodness : 0.988118 Centerline is valid? [True, True] Translation: X:175.95, Y:174.35, Z:0.26 [[-3.85535713e-02 -9.99256535e-01 0.00000000e+00 1.75947445e+02] [ 9.99256535e-01 -3.85535713e-02 0.00000000e+00 1.74348980e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58016310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.520371743 meters Centerline goodness : 0.987830 Centerline is valid? [True, True] Translation: X:175.95, Y:174.38, Z:0.26 [[-4.01587474e-02 -9.99193312e-01 0.00000000e+00 1.75945912e+02] [ 9.99193312e-01 -4.01587474e-02 0.00000000e+00 1.74375164e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58636536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.550371743 meters Centerline goodness : 0.987690 Centerline is valid? [True, True] Translation: X:175.95, Y:174.40, Z:0.26 [[-4.09310765e-02 -9.99161972e-01 0.00000000e+00 1.75946398e+02] [ 9.99161972e-01 -4.09310765e-02 0.00000000e+00 1.74404205e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.58472243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.580371743 meters Centerline goodness : 0.986873 Centerline is valid? [True, True] Translation: X:175.95, Y:174.43, Z:0.26 [[-4.29579833e-02 -9.99076880e-01 0.00000000e+00 1.75946811e+02] [ 9.99076880e-01 -4.29579833e-02 0.00000000e+00 1.74433274e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56302636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61037174300003 meters Centerline goodness : 0.986912 Centerline is valid? [True, True] Translation: X:175.94, Y:174.46, Z:0.26 [[-4.94756561e-02 -9.98775330e-01 0.00000000e+00 1.75940986e+02] [ 9.98775330e-01 -4.94756561e-02 0.00000000e+00 1.74455752e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56743390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.640371743 meters Centerline goodness : 0.986318 Centerline is valid? [True, True] Translation: X:175.95, Y:174.49, Z:0.26 [[-4.78497776e-02 -9.98854543e-01 0.00000000e+00 1.75945481e+02] [ 9.98854543e-01 -4.78497776e-02 0.00000000e+00 1.74487775e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55043241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.670371743 meters Centerline goodness : 0.987274 Centerline is valid? [True, True] Translation: X:175.95, Y:174.52, Z:0.25 [[-4.91778634e-02 -9.98790037e-01 0.00000000e+00 1.75945105e+02] [ 9.98790037e-01 -4.91778634e-02 0.00000000e+00 1.74515238e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54528756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.700371743 meters Centerline goodness : 0.985122 Centerline is valid? [True, True] Translation: X:175.94, Y:174.54, Z:0.26 [[-4.92523260e-02 -9.98786368e-01 0.00000000e+00 1.75944319e+02] [ 9.98786368e-01 -4.92523260e-02 0.00000000e+00 1.74539072e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55053406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.730371743 meters Centerline goodness : 0.985214 Centerline is valid? [True, True] Translation: X:175.94, Y:174.57, Z:0.26 [[-4.92472584e-02 -9.98786618e-01 0.00000000e+00 1.75943447e+02] [ 9.98786618e-01 -4.92472584e-02 0.00000000e+00 1.74567016e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55133985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.760371743 meters Centerline goodness : 0.987070 Centerline is valid? [True, True] Translation: X:175.94, Y:174.60, Z:0.26 [[-4.63992560e-02 -9.98922975e-01 0.00000000e+00 1.75942051e+02] [ 9.98922975e-01 -4.63992560e-02 0.00000000e+00 1.74598423e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56104372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.790371743 meters Centerline goodness : 0.985964 Centerline is valid? [True, True] Translation: X:175.94, Y:174.63, Z:0.26 [[-4.26116249e-02 -9.99091712e-01 0.00000000e+00 1.75944120e+02] [ 9.99091712e-01 -4.26116249e-02 0.00000000e+00 1.74628844e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55028399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.820371743 meters Centerline goodness : 0.986932 Centerline is valid? [True, True] Translation: X:175.94, Y:174.66, Z:0.26 [[-4.17737925e-02 -9.99127094e-01 0.00000000e+00 1.75942165e+02] [ 9.99127094e-01 -4.17737925e-02 0.00000000e+00 1.74655609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56984563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.850371743 meters Centerline goodness : 0.986774 Centerline is valid? [True, True] Translation: X:175.94, Y:174.68, Z:0.26 [[-3.87771434e-02 -9.99247884e-01 0.00000000e+00 1.75938037e+02] [ 9.99247884e-01 -3.87771434e-02 0.00000000e+00 1.74681732e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.55616502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.880371743 meters Centerline goodness : 0.987672 Centerline is valid? [True, True] Translation: X:175.94, Y:174.71, Z:0.26 [[-3.60116487e-02 -9.99351370e-01 0.00000000e+00 1.75935658e+02] [ 9.99351370e-01 -3.60116487e-02 0.00000000e+00 1.74707982e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56430265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.910371743 meters Centerline goodness : 0.986453 Centerline is valid? [True, True] Translation: X:175.94, Y:174.74, Z:0.26 [[-2.84710036e-02 -9.99594619e-01 0.00000000e+00 1.75935586e+02] [ 9.99594619e-01 -2.84710036e-02 0.00000000e+00 1.74737702e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57282353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.940371743 meters Centerline goodness : 0.986734 Centerline is valid? [True, True] Translation: X:175.93, Y:174.76, Z:0.26 [[-2.62134249e-02 -9.99656369e-01 0.00000000e+00 1.75934171e+02] [ 9.99656369e-01 -2.62134249e-02 0.00000000e+00 1.74764442e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57925894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.970371743 meters Centerline goodness : 0.988222 Centerline is valid? [True, True] Translation: X:175.93, Y:174.79, Z:0.26 [[-2.48070622e-02 -9.99692257e-01 0.00000000e+00 1.75932505e+02] [ 9.99692257e-01 -2.48070622e-02 0.00000000e+00 1.74793605e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.57384107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.000371743 meters Centerline goodness : 0.988103 Centerline is valid? [True, True] Translation: X:175.93, Y:174.82, Z:0.26 [[-2.29533058e-02 -9.99736538e-01 0.00000000e+00 1.75931031e+02] [ 9.99736538e-01 -2.29533058e-02 0.00000000e+00 1.74821479e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56280791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.030371743 meters Centerline goodness : 0.989399 Centerline is valid? [True, True] Translation: X:175.93, Y:174.85, Z:0.26 [[-2.32997611e-02 -9.99728524e-01 0.00000000e+00 1.75930190e+02] [ 9.99728524e-01 -2.32997611e-02 0.00000000e+00 1.74849550e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56098196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.060371743 meters Centerline goodness : 0.985814 Centerline is valid? [True, True] Translation: X:175.93, Y:174.87, Z:0.26 [[-2.44404188e-02 -9.99701288e-01 0.00000000e+00 1.75931250e+02] [ 9.99701288e-01 -2.44404188e-02 0.00000000e+00 1.74872527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.56779595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.090371743 meters Centerline goodness : 0.988108 Centerline is valid? [True, True] Translation: X:175.93, Y:174.90, Z:0.25 [[-2.67514482e-02 -9.99642116e-01 0.00000000e+00 1.75930350e+02] [ 9.99642116e-01 -2.67514482e-02 0.00000000e+00 1.74903905e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54643622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.120371743 meters Centerline goodness : 0.987297 Centerline is valid? [True, True] Translation: X:175.93, Y:174.93, Z:0.25 [[-3.26700536e-02 -9.99466191e-01 0.00000000e+00 1.75930328e+02] [ 9.99466191e-01 -3.26700536e-02 0.00000000e+00 1.74931332e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53602092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.150371743 meters Centerline goodness : 0.988339 Centerline is valid? [True, True] Translation: X:175.93, Y:174.95, Z:0.25 [[-3.73413701e-02 -9.99302568e-01 0.00000000e+00 1.75928656e+02] [ 9.99302568e-01 -3.73413701e-02 0.00000000e+00 1.74954456e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54166988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.180371743 meters Centerline goodness : 0.987724 Centerline is valid? [True, True] Translation: X:175.93, Y:174.98, Z:0.25 [[-4.38074011e-02 -9.99039995e-01 0.00000000e+00 1.75925113e+02] [ 9.99039995e-01 -4.38074011e-02 0.00000000e+00 1.74978076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53480309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.210371743 meters Centerline goodness : 0.987567 Centerline is valid? [True, True] Translation: X:175.93, Y:175.01, Z:0.25 [[-4.74920110e-02 -9.98871618e-01 0.00000000e+00 1.75930919e+02] [ 9.98871618e-01 -4.74920110e-02 0.00000000e+00 1.75009639e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54956601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.240371743 meters Centerline goodness : 0.987850 Centerline is valid? [True, True] Translation: X:175.93, Y:175.04, Z:0.25 [[-5.12412489e-02 -9.98686304e-01 0.00000000e+00 1.75931216e+02] [ 9.98686304e-01 -5.12412489e-02 0.00000000e+00 1.75037564e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54734754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.270371743 meters Centerline goodness : 0.987390 Centerline is valid? [True, True] Translation: X:175.93, Y:175.07, Z:0.25 [[-5.66845484e-02 -9.98392138e-01 0.00000000e+00 1.75932068e+02] [ 9.98392138e-01 -5.66845484e-02 0.00000000e+00 1.75065479e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54014236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.300371743 meters Centerline goodness : 0.987134 Centerline is valid? [True, True] Translation: X:175.93, Y:175.09, Z:0.25 [[-5.83195699e-02 -9.98297965e-01 0.00000000e+00 1.75933079e+02] [ 9.98297965e-01 -5.83195699e-02 0.00000000e+00 1.75093017e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53170808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.330371743 meters Centerline goodness : 0.987820 Centerline is valid? [True, True] Translation: X:175.93, Y:175.12, Z:0.25 [[-6.19566266e-02 -9.98078843e-01 0.00000000e+00 1.75931252e+02] [ 9.98078843e-01 -6.19566266e-02 0.00000000e+00 1.75120609e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.52639726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36037174300003 meters Centerline goodness : 0.987629 Centerline is valid? [True, True] Translation: X:175.93, Y:175.15, Z:0.25 [[-6.28816277e-02 -9.98020992e-01 0.00000000e+00 1.75933178e+02] [ 9.98020992e-01 -6.28816277e-02 0.00000000e+00 1.75153098e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.53807472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.390371743 meters Centerline goodness : 0.989032 Centerline is valid? [True, True] Translation: X:175.93, Y:175.18, Z:0.25 [[-6.62064441e-02 -9.97805946e-01 0.00000000e+00 1.75929220e+02] [ 9.97805946e-01 -6.62064441e-02 0.00000000e+00 1.75177336e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.54013566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.420371743 meters Centerline goodness : 0.987983 Centerline is valid? [True, True] Translation: X:175.93, Y:175.21, Z:0.25 [[-6.36714064e-02 -9.97970917e-01 0.00000000e+00 1.75932171e+02] [ 9.97970917e-01 -6.36714064e-02 0.00000000e+00 1.75209495e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51861204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.450371743 meters Centerline goodness : 0.987983 Centerline is valid? [True, True] Translation: X:175.93, Y:175.21, Z:0.25 [[-6.33246890e-02 -9.97992978e-01 0.00000000e+00 1.75932069e+02] [ 9.97992978e-01 -6.33246890e-02 0.00000000e+00 1.75212147e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51861204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.480371743 meters Centerline goodness : 0.989471 Centerline is valid? [True, True] Translation: X:175.92, Y:175.62, Z:0.25 [[-7.45551544e-02 -9.97216892e-01 0.00000000e+00 1.75923748e+02] [ 9.97216892e-01 -7.45551544e-02 0.00000000e+00 1.75621271e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51928243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.510371743 meters Centerline goodness : 0.989446 Centerline is valid? [True, True] Translation: X:176.74, Y:175.38, Z:0.64 [[-2.53078101e-02 9.99679706e-01 0.00000000e+00 1.76737229e+02] [ 9.99679706e-01 2.53078101e-02 0.00000000e+00 1.75381150e+02] [ 0.00000000e+00 0.00000000e+00 -1.00000000e+00 6.38712395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.540371743 meters Centerline goodness : 0.989448 Centerline is valid? [True, True] Translation: X:175.96, Y:175.35, Z:0.25 [[-1.33825184e-01 -9.91004955e-01 0.00000000e+00 1.75961926e+02] [ 9.91004955e-01 -1.33825184e-01 0.00000000e+00 1.75353652e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48429200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.570371743 meters Centerline goodness : 0.988404 Centerline is valid? [True, True] Translation: X:175.96, Y:175.35, Z:0.25 [[-1.34150470e-01 -9.90960974e-01 0.00000000e+00 1.75960298e+02] [ 9.90960974e-01 -1.34150470e-01 0.00000000e+00 1.75350476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51290624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.600371743 meters Centerline goodness : 0.989837 Centerline is valid? [True, True] Translation: X:175.96, Y:175.35, Z:0.25 [[-1.32829057e-01 -9.91138962e-01 0.00000000e+00 1.75958172e+02] [ 9.91138962e-01 -1.32829057e-01 0.00000000e+00 1.75350825e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49300421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.630371743 meters Centerline goodness : 0.989059 Centerline is valid? [True, True] Translation: X:175.95, Y:175.37, Z:0.25 [[-1.35685682e-01 -9.90751935e-01 0.00000000e+00 1.75951249e+02] [ 9.90751935e-01 -1.35685682e-01 0.00000000e+00 1.75370217e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.51475682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.660371743 meters Centerline goodness : 0.989837 Centerline is valid? [True, True] Translation: X:175.95, Y:175.36, Z:0.25 [[-1.33055943e-01 -9.91108529e-01 0.00000000e+00 1.75950497e+02] [ 9.91108529e-01 -1.33055943e-01 0.00000000e+00 1.75359264e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49228146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.690371743 meters Centerline goodness : 0.989526 Centerline is valid? [True, True] Translation: X:175.95, Y:175.36, Z:0.25 [[-1.32403619e-01 -9.91195885e-01 0.00000000e+00 1.75948954e+02] [ 9.91195885e-01 -1.32403619e-01 0.00000000e+00 1.75357301e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50553387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.720371743 meters Centerline goodness : 0.989053 Centerline is valid? [True, True] Translation: X:175.94, Y:175.37, Z:0.25 [[-1.35589703e-01 -9.90765074e-01 0.00000000e+00 1.75943899e+02] [ 9.90765074e-01 -1.35589703e-01 0.00000000e+00 1.75366680e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50147005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.750371743 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:175.94, Y:175.36, Z:0.25 [[-1.34531349e-01 -9.90909338e-01 0.00000000e+00 1.75942199e+02] [ 9.90909338e-01 -1.34531349e-01 0.00000000e+00 1.75362527e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48560191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.780371743 meters Centerline goodness : 0.989704 Centerline is valid? [True, True] Translation: X:175.94, Y:175.36, Z:0.25 [[-1.34487981e-01 -9.90915225e-01 0.00000000e+00 1.75938319e+02] [ 9.90915225e-01 -1.34487981e-01 0.00000000e+00 1.75358673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49471274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.810371743 meters Centerline goodness : 0.989952 Centerline is valid? [True, True] Translation: X:175.94, Y:175.37, Z:0.25 [[-1.35373708e-01 -9.90794610e-01 0.00000000e+00 1.75935638e+02] [ 9.90794610e-01 -1.35373708e-01 0.00000000e+00 1.75365115e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48338091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.840371743 meters Centerline goodness : 0.990178 Centerline is valid? [True, True] Translation: X:175.93, Y:175.36, Z:0.25 [[-1.35424624e-01 -9.90787652e-01 0.00000000e+00 1.75931430e+02] [ 9.90787652e-01 -1.35424624e-01 0.00000000e+00 1.75364201e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48527948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.870371743 meters Centerline goodness : 0.990344 Centerline is valid? [True, True] Translation: X:175.93, Y:175.36, Z:0.25 [[-1.34733003e-01 -9.90881939e-01 0.00000000e+00 1.75929405e+02] [ 9.90881939e-01 -1.34733003e-01 0.00000000e+00 1.75363517e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48979549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.900371743 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:175.93, Y:175.37, Z:0.25 [[-1.37425469e-01 -9.90512110e-01 0.00000000e+00 1.75925250e+02] [ 9.90512110e-01 -1.37425469e-01 0.00000000e+00 1.75374800e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49056819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.930371743 meters Centerline goodness : 0.990765 Centerline is valid? [True, True] Translation: X:175.92, Y:175.38, Z:0.25 [[-1.36706067e-01 -9.90611655e-01 0.00000000e+00 1.75918798e+02] [ 9.90611655e-01 -1.36706067e-01 0.00000000e+00 1.75383870e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49708146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.960371743 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:175.92, Y:175.39, Z:0.25 [[-1.34741938e-01 -9.90880725e-01 0.00000000e+00 1.75916080e+02] [ 9.90880725e-01 -1.34741938e-01 0.00000000e+00 1.75385717e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50134285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.990371743 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:175.91, Y:175.40, Z:0.25 [[-1.31785637e-01 -9.91278238e-01 0.00000000e+00 1.75909634e+02] [ 9.91278238e-01 -1.31785637e-01 0.00000000e+00 1.75399656e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50761831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.020371743 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:175.91, Y:175.37, Z:0.25 [[-1.27636056e-01 -9.91821071e-01 0.00000000e+00 1.75909307e+02] [ 9.91821071e-01 -1.27636056e-01 0.00000000e+00 1.75373858e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50531729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.050371743 meters Centerline goodness : 0.992381 Centerline is valid? [True, True] Translation: X:175.90, Y:175.39, Z:0.25 [[-1.26228540e-01 -9.92001187e-01 0.00000000e+00 1.75904555e+02] [ 9.92001187e-01 -1.26228540e-01 0.00000000e+00 1.75390246e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46689126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.080371743 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:175.90, Y:175.41, Z:0.25 [[-1.24390155e-01 -9.92233384e-01 0.00000000e+00 1.75897635e+02] [ 9.92233384e-01 -1.24390155e-01 0.00000000e+00 1.75406546e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49113437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11037174300003 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:175.90, Y:175.40, Z:0.25 [[-1.20413117e-01 -9.92723870e-01 0.00000000e+00 1.75895625e+02] [ 9.92723870e-01 -1.20413117e-01 0.00000000e+00 1.75401990e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50242480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.140371743 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:175.89, Y:175.40, Z:0.25 [[-1.14568777e-01 -9.93415319e-01 0.00000000e+00 1.75891278e+02] [ 9.93415319e-01 -1.14568777e-01 0.00000000e+00 1.75395850e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49022782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.170371743 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:175.89, Y:175.39, Z:0.25 [[-1.12833893e-01 -9.93613865e-01 0.00000000e+00 1.75888608e+02] [ 9.93613865e-01 -1.12833893e-01 0.00000000e+00 1.75394464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47778566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.200371743 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:175.89, Y:175.38, Z:0.25 [[-1.08572294e-01 -9.94088556e-01 0.00000000e+00 1.75887597e+02] [ 9.94088556e-01 -1.08572294e-01 0.00000000e+00 1.75383449e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48357570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.230371743 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:175.88, Y:175.38, Z:0.25 [[-1.01569418e-01 -9.94828454e-01 0.00000000e+00 1.75884420e+02] [ 9.94828454e-01 -1.01569418e-01 0.00000000e+00 1.75381285e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50879698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.260371743 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:175.88, Y:175.38, Z:0.25 [[-9.59681231e-02 -9.95384408e-01 0.00000000e+00 1.75879815e+02] [ 9.95384408e-01 -9.59681231e-02 0.00000000e+00 1.75380929e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48107297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.290371743 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:175.88, Y:175.39, Z:0.25 [[-9.48269011e-02 -9.95493776e-01 0.00000000e+00 1.75877875e+02] [ 9.95493776e-01 -9.48269011e-02 0.00000000e+00 1.75392446e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.49460875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.320371743 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:175.88, Y:175.38, Z:0.25 [[-9.38335974e-02 -9.95587895e-01 0.00000000e+00 1.75877321e+02] [ 9.95587895e-01 -9.38335974e-02 0.00000000e+00 1.75383440e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.50936004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.350371743 meters Centerline goodness : 0.995157 Centerline is valid? [True, True] Translation: X:175.88, Y:175.39, Z:0.25 [[-9.22701317e-02 -9.95734012e-01 0.00000000e+00 1.75876594e+02] [ 9.95734012e-01 -9.22701317e-02 0.00000000e+00 1.75391894e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48784782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.380371743 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:175.88, Y:175.40, Z:0.25 [[-9.47056987e-02 -9.95505314e-01 0.00000000e+00 1.75875436e+02] [ 9.95505314e-01 -9.47056987e-02 0.00000000e+00 1.75399180e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.48523651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.410371743 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:175.87, Y:175.39, Z:0.25 [[-9.87508760e-02 -9.95112187e-01 0.00000000e+00 1.75874686e+02] [ 9.95112187e-01 -9.87508760e-02 0.00000000e+00 1.75394366e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47206842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.440371743 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:175.87, Y:175.42, Z:0.25 [[-1.00582926e-01 -9.94928678e-01 0.00000000e+00 1.75871630e+02] [ 9.94928678e-01 -1.00582926e-01 0.00000000e+00 1.75416979e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45715665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.470371743 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:175.87, Y:175.42, Z:0.25 [[-1.07488382e-01 -9.94206341e-01 0.00000000e+00 1.75870630e+02] [ 9.94206341e-01 -1.07488382e-01 0.00000000e+00 1.75423976e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47510690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.500371743 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:175.87, Y:175.42, Z:0.25 [[-1.12435385e-01 -9.93659038e-01 0.00000000e+00 1.75871020e+02] [ 9.93659038e-01 -1.12435385e-01 0.00000000e+00 1.75420834e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47602534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.530371743 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:175.87, Y:175.42, Z:0.25 [[-1.17088439e-01 -9.93121492e-01 0.00000000e+00 1.75870276e+02] [ 9.93121492e-01 -1.17088439e-01 0.00000000e+00 1.75418751e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47174748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.560371743 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:175.87, Y:175.43, Z:0.25 [[-1.23723232e-01 -9.92316765e-01 0.00000000e+00 1.75868896e+02] [ 9.92316765e-01 -1.23723232e-01 0.00000000e+00 1.75426052e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.47078560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.590371743 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:175.86, Y:175.45, Z:0.24 [[-1.29638378e-01 -9.91561340e-01 0.00000000e+00 1.75864903e+02] [ 9.91561340e-01 -1.29638378e-01 0.00000000e+00 1.75452910e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44567525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.620371743 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:175.86, Y:175.45, Z:0.25 [[-1.34106032e-01 -9.90966988e-01 0.00000000e+00 1.75864040e+02] [ 9.90966988e-01 -1.34106032e-01 0.00000000e+00 1.75452110e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45371957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.650371743 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:175.86, Y:175.48, Z:0.25 [[-1.36072194e-01 -9.90698924e-01 0.00000000e+00 1.75860673e+02] [ 9.90698924e-01 -1.36072194e-01 0.00000000e+00 1.75476339e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.45012305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.680371743 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:175.86, Y:175.49, Z:0.24 [[-1.37732367e-01 -9.90469482e-01 0.00000000e+00 1.75858875e+02] [ 9.90469482e-01 -1.37732367e-01 0.00000000e+00 1.75488270e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44555390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.710371743 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:175.85, Y:175.52, Z:0.24 [[-1.40888683e-01 -9.90025444e-01 0.00000000e+00 1.75852287e+02] [ 9.90025444e-01 -1.40888683e-01 0.00000000e+00 1.75523681e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44971685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.740371743 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:175.85, Y:175.54, Z:0.24 [[-1.42945202e-01 -9.89730604e-01 0.00000000e+00 1.75846880e+02] [ 9.89730604e-01 -1.42945202e-01 0.00000000e+00 1.75537470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44608284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.770371743 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:175.84, Y:175.53, Z:0.24 [[-1.40673417e-01 -9.90056054e-01 0.00000000e+00 1.75844932e+02] [ 9.90056054e-01 -1.40673417e-01 0.00000000e+00 1.75527029e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44060834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.800371743 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:175.84, Y:175.54, Z:0.24 [[-1.39585149e-01 -9.90210072e-01 0.00000000e+00 1.75839865e+02] [ 9.90210072e-01 -1.39585149e-01 0.00000000e+00 1.75544112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.44684417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.830371743 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:175.83, Y:175.53, Z:0.24 [[-1.33351021e-01 -9.91068870e-01 0.00000000e+00 1.75834560e+02] [ 9.91068870e-01 -1.33351021e-01 0.00000000e+00 1.75532494e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43202315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86037174300003 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:175.83, Y:175.55, Z:0.24 [[-1.31848325e-01 -9.91269902e-01 0.00000000e+00 1.75830477e+02] [ 9.91269902e-01 -1.31848325e-01 0.00000000e+00 1.75548412e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43283242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.890371743 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:175.82, Y:175.52, Z:0.24 [[-1.21707377e-01 -9.92566025e-01 0.00000000e+00 1.75823489e+02] [ 9.92566025e-01 -1.21707377e-01 0.00000000e+00 1.75523360e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43736128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.920371743 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:175.82, Y:175.55, Z:0.24 [[-1.16944494e-01 -9.93138452e-01 0.00000000e+00 1.75817538e+02] [ 9.93138452e-01 -1.16944494e-01 0.00000000e+00 1.75551716e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41527054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.950371743 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:175.81, Y:175.56, Z:0.25 [[-1.15057052e-01 -9.93358885e-01 0.00000000e+00 1.75813920e+02] [ 9.93358885e-01 -1.15057052e-01 0.00000000e+00 1.75560887e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.46189274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.980371743 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:175.81, Y:175.55, Z:0.24 [[-1.09405773e-01 -9.93997171e-01 0.00000000e+00 1.75806403e+02] [ 9.93997171e-01 -1.09405773e-01 0.00000000e+00 1.75553842e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43089840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.010371743 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:175.80, Y:175.59, Z:0.24 [[-1.08519079e-01 -9.94094367e-01 0.00000000e+00 1.75801138e+02] [ 9.94094367e-01 -1.08519079e-01 0.00000000e+00 1.75589245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42717001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.040371743 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:175.80, Y:175.59, Z:0.24 [[-1.05720105e-01 -9.94395927e-01 0.00000000e+00 1.75795633e+02] [ 9.94395927e-01 -1.05720105e-01 0.00000000e+00 1.75590476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41450545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.070371743 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:175.79, Y:175.59, Z:0.24 [[-1.05729918e-01 -9.94394884e-01 0.00000000e+00 1.75793422e+02] [ 9.94394884e-01 -1.05729918e-01 0.00000000e+00 1.75587949e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41793148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.100371743 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:175.79, Y:175.61, Z:0.24 [[-1.08259736e-01 -9.94122643e-01 0.00000000e+00 1.75788309e+02] [ 9.94122643e-01 -1.08259736e-01 0.00000000e+00 1.75612533e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43303435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.130371743 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:175.78, Y:175.64, Z:0.24 [[-1.10580869e-01 -9.93867130e-01 0.00000000e+00 1.75783055e+02] [ 9.93867130e-01 -1.10580869e-01 0.00000000e+00 1.75635188e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43215008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.160371743 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:175.78, Y:175.66, Z:0.24 [[-1.15634929e-01 -9.93291781e-01 0.00000000e+00 1.75777929e+02] [ 9.93291781e-01 -1.15634929e-01 0.00000000e+00 1.75656074e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43818592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.190371743 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:175.77, Y:175.68, Z:0.24 [[-1.17562592e-01 -9.93065475e-01 0.00000000e+00 1.75774325e+02] [ 9.93065475e-01 -1.17562592e-01 0.00000000e+00 1.75683871e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43607593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.220371743 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:175.77, Y:175.69, Z:0.24 [[-1.19870929e-01 -9.92789484e-01 0.00000000e+00 1.75772095e+02] [ 9.92789484e-01 -1.19870929e-01 0.00000000e+00 1.75689750e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43891620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.250371743 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:175.77, Y:175.71, Z:0.24 [[-1.21703809e-01 -9.92566463e-01 0.00000000e+00 1.75768825e+02] [ 9.92566463e-01 -1.21703809e-01 0.00000000e+00 1.75706913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.42707789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.280371743 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:175.76, Y:175.72, Z:0.24 [[-1.27887450e-01 -9.91788687e-01 0.00000000e+00 1.75762710e+02] [ 9.91788687e-01 -1.27887450e-01 0.00000000e+00 1.75715419e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43433710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.310371743 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:175.76, Y:175.72, Z:0.24 [[-1.17265702e-01 -9.93100576e-01 0.00000000e+00 1.75762911e+02] [ 9.93100576e-01 -1.17265702e-01 0.00000000e+00 1.75723292e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43026196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.340371743 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:175.76, Y:175.73, Z:0.24 [[-1.16633249e-01 -9.93175053e-01 0.00000000e+00 1.75762505e+02] [ 9.93175053e-01 -1.16633249e-01 0.00000000e+00 1.75729504e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43026196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.370371743 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:175.76, Y:175.73, Z:0.24 [[-1.21165556e-01 -9.92632313e-01 0.00000000e+00 1.75757695e+02] [ 9.92632313e-01 -1.21165556e-01 0.00000000e+00 1.75734105e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43122216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.400371743 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:175.76, Y:175.72, Z:0.24 [[-1.09632413e-01 -9.93972200e-01 0.00000000e+00 1.75761109e+02] [ 9.93972200e-01 -1.09632413e-01 0.00000000e+00 1.75718511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40496705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.430371743 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:175.76, Y:175.74, Z:0.24 [[-1.06104026e-01 -9.94355035e-01 0.00000000e+00 1.75758200e+02] [ 9.94355035e-01 -1.06104026e-01 0.00000000e+00 1.75738434e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39483953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.460371743 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:175.76, Y:175.73, Z:0.24 [[-9.84640476e-02 -9.95140609e-01 0.00000000e+00 1.75757266e+02] [ 9.95140609e-01 -9.84640476e-02 0.00000000e+00 1.75732977e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37678358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.490371743 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:175.76, Y:175.73, Z:0.24 [[-9.61547261e-02 -9.95366399e-01 0.00000000e+00 1.75756264e+02] [ 9.95366399e-01 -9.61547261e-02 0.00000000e+00 1.75732888e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38177072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.520371743 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:175.76, Y:175.71, Z:0.24 [[-9.11735699e-02 -9.95835017e-01 0.00000000e+00 1.75756804e+02] [ 9.95835017e-01 -9.11735699e-02 0.00000000e+00 1.75714742e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37849932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.550371743 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:175.75, Y:175.74, Z:0.24 [[-9.14859817e-02 -9.95806364e-01 0.00000000e+00 1.75753872e+02] [ 9.95806364e-01 -9.14859817e-02 0.00000000e+00 1.75743713e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.38406573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.580371743 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:175.75, Y:175.73, Z:0.24 [[-8.59148718e-02 -9.96302482e-01 0.00000000e+00 1.75754769e+02] [ 9.96302482e-01 -8.59148718e-02 0.00000000e+00 1.75727417e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37152964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61037174300003 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:175.76, Y:175.73, Z:0.24 [[-8.12783214e-02 -9.96691444e-01 0.00000000e+00 1.75756011e+02] [ 9.96691444e-01 -8.12783214e-02 0.00000000e+00 1.75725464e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35048956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.640371743 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:175.75, Y:175.77, Z:0.24 [[-1.00813160e-01 -9.94905376e-01 0.00000000e+00 1.75745624e+02] [ 9.94905376e-01 -1.00813160e-01 0.00000000e+00 1.75770727e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40916258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.670371743 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:175.75, Y:175.74, Z:0.24 [[-8.29631818e-02 -9.96552613e-01 0.00000000e+00 1.75754548e+02] [ 9.96552613e-01 -8.29631818e-02 0.00000000e+00 1.75738567e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36420394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.700371743 meters Centerline goodness : 0.997729 Centerline is valid? [True, True] Translation: X:175.76, Y:175.75, Z:0.24 [[-8.02569826e-02 -9.96774205e-01 0.00000000e+00 1.75755857e+02] [ 9.96774205e-01 -8.02569826e-02 0.00000000e+00 1.75745704e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.43367165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.730371743 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:175.75, Y:175.77, Z:0.24 [[-9.79103387e-02 -9.95195240e-01 0.00000000e+00 1.75747286e+02] [ 9.95195240e-01 -9.79103387e-02 0.00000000e+00 1.75766708e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.41378032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.760371743 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:175.75, Y:175.79, Z:0.24 [[-9.62525381e-02 -9.95356945e-01 0.00000000e+00 1.75747375e+02] [ 9.95356945e-01 -9.62525381e-02 0.00000000e+00 1.75786248e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.40412969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.790371743 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:175.75, Y:175.76, Z:0.24 [[-9.46472548e-02 -9.95510872e-01 0.00000000e+00 1.75749063e+02] [ 9.95510872e-01 -9.46472548e-02 0.00000000e+00 1.75764355e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.39706875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.820371743 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:175.76, Y:175.76, Z:0.23 [[-7.84074782e-02 -9.96921395e-01 0.00000000e+00 1.75757072e+02] [ 9.96921395e-01 -7.84074782e-02 0.00000000e+00 1.75757853e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33857580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.850371743 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:175.76, Y:175.77, Z:0.23 [[-8.21564957e-02 -9.96619441e-01 0.00000000e+00 1.75755946e+02] [ 9.96619441e-01 -8.21564957e-02 0.00000000e+00 1.75770308e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34129172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.880371743 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:175.76, Y:175.77, Z:0.23 [[-8.21485237e-02 -9.96620098e-01 0.00000000e+00 1.75756260e+02] [ 9.96620098e-01 -8.21485237e-02 0.00000000e+00 1.75766076e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34997061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.910371743 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:175.76, Y:175.79, Z:0.23 [[-8.47061157e-02 -9.96405978e-01 0.00000000e+00 1.75755868e+02] [ 9.96405978e-01 -8.47061157e-02 0.00000000e+00 1.75793062e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34841158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.940371743 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:175.76, Y:175.81, Z:0.23 [[-8.61618186e-02 -9.96281156e-01 0.00000000e+00 1.75755939e+02] [ 9.96281156e-01 -8.61618186e-02 0.00000000e+00 1.75807941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34278088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.970371743 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:175.76, Y:175.82, Z:0.24 [[-9.10580296e-02 -9.95845588e-01 0.00000000e+00 1.75756571e+02] [ 9.95845588e-01 -9.10580296e-02 0.00000000e+00 1.75824762e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36582148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.000371743 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:175.76, Y:175.84, Z:0.24 [[-9.28119616e-02 -9.95683654e-01 0.00000000e+00 1.75755472e+02] [ 9.95683654e-01 -9.28119616e-02 0.00000000e+00 1.75839601e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36591856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.030371743 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:175.76, Y:175.82, Z:0.24 [[-8.73817485e-02 -9.96174899e-01 0.00000000e+00 1.75758564e+02] [ 9.96174899e-01 -8.73817485e-02 0.00000000e+00 1.75815377e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.37529826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.060371743 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:175.76, Y:175.84, Z:0.24 [[-9.66457068e-02 -9.95318847e-01 0.00000000e+00 1.75758800e+02] [ 9.95318847e-01 -9.66457068e-02 0.00000000e+00 1.75837186e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36239095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.090371743 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:175.76, Y:175.85, Z:0.24 [[-9.31055527e-02 -9.95656244e-01 0.00000000e+00 1.75760397e+02] [ 9.95656244e-01 -9.31055527e-02 0.00000000e+00 1.75847565e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.36228001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.120371743 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:175.76, Y:175.88, Z:0.23 [[-9.85580486e-02 -9.95131303e-01 0.00000000e+00 1.75761086e+02] [ 9.95131303e-01 -9.85580486e-02 0.00000000e+00 1.75880812e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34190322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.150371743 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:175.76, Y:175.84, Z:0.24 [[-9.63072321e-02 -9.95351655e-01 0.00000000e+00 1.75764082e+02] [ 9.95351655e-01 -9.63072321e-02 0.00000000e+00 1.75841080e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35356619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.180371743 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:175.76, Y:175.88, Z:0.23 [[-9.90266443e-02 -9.95084782e-01 0.00000000e+00 1.75763013e+02] [ 9.95084782e-01 -9.90266443e-02 0.00000000e+00 1.75876969e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34212504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.210371743 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:175.76, Y:175.87, Z:0.23 [[-9.66866959e-02 -9.95314866e-01 0.00000000e+00 1.75764929e+02] [ 9.95314866e-01 -9.66866959e-02 0.00000000e+00 1.75873941e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.34552128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.240371743 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:175.77, Y:175.90, Z:0.23 [[-9.83089707e-02 -9.95155941e-01 0.00000000e+00 1.75765709e+02] [ 9.95155941e-01 -9.83089707e-02 0.00000000e+00 1.75897224e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33205342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.270371743 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:175.77, Y:175.87, Z:0.23 [[-9.58343232e-02 -9.95397299e-01 0.00000000e+00 1.75767568e+02] [ 9.95397299e-01 -9.58343232e-02 0.00000000e+00 1.75873070e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32726378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.300371743 meters Centerline goodness : 0.997673 Centerline is valid? [True, True] Translation: X:175.77, Y:175.88, Z:0.23 [[-9.61472121e-02 -9.95367125e-01 0.00000000e+00 1.75767134e+02] [ 9.95367125e-01 -9.61472121e-02 0.00000000e+00 1.75884104e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.32388078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.330371743 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:175.77, Y:175.89, Z:0.23 [[-9.51831898e-02 -9.95459773e-01 0.00000000e+00 1.75767352e+02] [ 9.95459773e-01 -9.51831898e-02 0.00000000e+00 1.75886767e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31735585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36037174300003 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:175.77, Y:175.89, Z:0.23 [[-9.34327791e-02 -9.95625590e-01 0.00000000e+00 1.75767740e+02] [ 9.95625590e-01 -9.34327791e-02 0.00000000e+00 1.75887137e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31769338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.390371743 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:175.77, Y:175.89, Z:0.23 [[-9.27341349e-02 -9.95690906e-01 0.00000000e+00 1.75768674e+02] [ 9.95690906e-01 -9.27341349e-02 0.00000000e+00 1.75889311e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31115993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.420371743 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:175.77, Y:175.90, Z:0.23 [[-9.15552387e-02 -9.95799999e-01 0.00000000e+00 1.75767926e+02] [ 9.95799999e-01 -9.15552387e-02 0.00000000e+00 1.75900361e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30240314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.450371743 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:175.77, Y:175.89, Z:0.23 [[-9.08934166e-02 -9.95860626e-01 0.00000000e+00 1.75768672e+02] [ 9.95860626e-01 -9.08934166e-02 0.00000000e+00 1.75886586e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.30218274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.480371743 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:175.77, Y:175.91, Z:0.23 [[-8.80390787e-02 -9.96117022e-01 0.00000000e+00 1.75771394e+02] [ 9.96117022e-01 -8.80390787e-02 0.00000000e+00 1.75905022e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.33689163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.510371743 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:175.77, Y:175.92, Z:0.23 [[-9.14968849e-02 -9.95805363e-01 0.00000000e+00 1.75768412e+02] [ 9.95805363e-01 -9.14968849e-02 0.00000000e+00 1.75918658e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29302108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.540371743 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:175.77, Y:175.92, Z:0.23 [[-9.16699485e-02 -9.95789446e-01 0.00000000e+00 1.75770035e+02] [ 9.95789446e-01 -9.16699485e-02 0.00000000e+00 1.75915476e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29517606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.570371743 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:175.77, Y:175.90, Z:0.23 [[-8.58098924e-02 -9.96311529e-01 0.00000000e+00 1.75772730e+02] [ 9.96311529e-01 -8.58098924e-02 0.00000000e+00 1.75899913e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26818329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.600371743 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:175.77, Y:175.92, Z:0.23 [[-9.00720619e-02 -9.95935251e-01 0.00000000e+00 1.75771739e+02] [ 9.95935251e-01 -9.00720619e-02 0.00000000e+00 1.75917188e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27582353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.630371743 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:175.77, Y:175.95, Z:0.23 [[-9.15391041e-02 -9.95801482e-01 0.00000000e+00 1.75771607e+02] [ 9.95801482e-01 -9.15391041e-02 0.00000000e+00 1.75945591e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28599188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.660371743 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:175.77, Y:175.93, Z:0.23 [[-9.04273343e-02 -9.95903056e-01 0.00000000e+00 1.75772419e+02] [ 9.95903056e-01 -9.04273343e-02 0.00000000e+00 1.75932654e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28069191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.690371743 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:175.78, Y:175.94, Z:0.23 [[-9.19308303e-02 -9.95765395e-01 0.00000000e+00 1.75775303e+02] [ 9.95765395e-01 -9.19308303e-02 0.00000000e+00 1.75942121e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.29479374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.720371743 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:175.78, Y:175.93, Z:0.23 [[-9.10845782e-02 -9.95843160e-01 0.00000000e+00 1.75778699e+02] [ 9.95843160e-01 -9.10845782e-02 0.00000000e+00 1.75934276e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.31095965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.750371743 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:175.78, Y:175.95, Z:0.23 [[-9.07105129e-02 -9.95877303e-01 0.00000000e+00 1.75779339e+02] [ 9.95877303e-01 -9.07105129e-02 0.00000000e+00 1.75950511e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27377248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.780371743 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:175.78, Y:175.93, Z:0.24 [[-9.33907376e-02 -9.95629535e-01 0.00000000e+00 1.75781772e+02] [ 9.95629535e-01 -9.33907376e-02 0.00000000e+00 1.75932595e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.35339073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.810371743 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:175.78, Y:175.96, Z:0.23 [[-9.15373985e-02 -9.95801639e-01 0.00000000e+00 1.75779900e+02] [ 9.95801639e-01 -9.15373985e-02 0.00000000e+00 1.75962754e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.26509323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.840371743 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:175.78, Y:175.96, Z:0.23 [[-9.09443285e-02 -9.95855978e-01 0.00000000e+00 1.75781441e+02] [ 9.95855978e-01 -9.09443285e-02 0.00000000e+00 1.75959836e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25210558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.870371743 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:175.79, Y:175.96, Z:0.23 [[-8.88190224e-02 -9.96047781e-01 0.00000000e+00 1.75785380e+02] [ 9.96047781e-01 -8.88190224e-02 0.00000000e+00 1.75959801e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27849299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.900371743 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:175.79, Y:175.95, Z:0.23 [[-8.96196736e-02 -9.95976061e-01 0.00000000e+00 1.75787956e+02] [ 9.95976061e-01 -8.96196736e-02 0.00000000e+00 1.75953821e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.27368087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.930371743 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:175.79, Y:175.97, Z:0.22 [[-8.81430343e-02 -9.96107828e-01 0.00000000e+00 1.75786247e+02] [ 9.96107828e-01 -8.81430343e-02 0.00000000e+00 1.75969387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24471365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.960371743 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:175.79, Y:175.97, Z:0.23 [[-8.57846233e-02 -9.96313705e-01 0.00000000e+00 1.75789103e+02] [ 9.96313705e-01 -8.57846233e-02 0.00000000e+00 1.75969111e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25724781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.990371743 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:175.79, Y:175.98, Z:0.23 [[-8.29300590e-02 -9.96555370e-01 0.00000000e+00 1.75787734e+02] [ 9.96555370e-01 -8.29300590e-02 0.00000000e+00 1.75980579e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25418976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.020371743 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:175.79, Y:175.97, Z:0.22 [[-7.96528825e-02 -9.96822661e-01 0.00000000e+00 1.75790457e+02] [ 9.96822661e-01 -7.96528825e-02 0.00000000e+00 1.75971902e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24749021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.050371743 meters Centerline goodness : 0.997189 Centerline is valid? [True, True] Translation: X:175.79, Y:175.95, Z:0.23 [[-7.28842424e-02 -9.97340407e-01 0.00000000e+00 1.75793615e+02] [ 9.97340407e-01 -7.28842424e-02 0.00000000e+00 1.75948954e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.28256811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.080371743 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:175.79, Y:175.98, Z:0.22 [[-7.19950994e-02 -9.97404986e-01 0.00000000e+00 1.75791225e+02] [ 9.97404986e-01 -7.19950994e-02 0.00000000e+00 1.75978112e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23461986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11037174300003 meters Centerline goodness : 0.997147 Centerline is valid? [True, True] Translation: X:175.79, Y:175.97, Z:0.23 [[-7.01260155e-02 -9.97538141e-01 0.00000000e+00 1.75792661e+02] [ 9.97538141e-01 -7.01260155e-02 0.00000000e+00 1.75970564e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25242774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.140371743 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:175.79, Y:175.94, Z:0.23 [[-6.34218885e-02 -9.97986806e-01 0.00000000e+00 1.75794838e+02] [ 9.97986806e-01 -6.34218885e-02 0.00000000e+00 1.75939245e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.25308119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.170371743 meters Centerline goodness : 0.997435 Centerline is valid? [True, True] Translation: X:175.80, Y:175.94, Z:0.22 [[-6.02557020e-02 -9.98182974e-01 0.00000000e+00 1.75796241e+02] [ 9.98182974e-01 -6.02557020e-02 0.00000000e+00 1.75937132e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.24829818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.200371743 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:175.80, Y:175.95, Z:0.22 [[-6.22452375e-02 -9.98060885e-01 0.00000000e+00 1.75796168e+02] [ 9.98060885e-01 -6.22452375e-02 0.00000000e+00 1.75946798e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.22154894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.230371743 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:175.80, Y:175.93, Z:0.22 [[-5.84411394e-02 -9.98290856e-01 0.00000000e+00 1.75797095e+02] [ 9.98290856e-01 -5.84411394e-02 0.00000000e+00 1.75925948e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18879328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.260371743 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:175.80, Y:175.93, Z:0.22 [[-5.80225730e-02 -9.98315271e-01 0.00000000e+00 1.75796948e+02] [ 9.98315271e-01 -5.80225730e-02 0.00000000e+00 1.75930354e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18879328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.290371743 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:175.80, Y:175.95, Z:0.22 [[-6.11202727e-02 -9.98130408e-01 0.00000000e+00 1.75798070e+02] [ 9.98130408e-01 -6.11202727e-02 0.00000000e+00 1.75946740e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19209149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.320371743 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:175.79, Y:175.95, Z:0.22 [[-7.58209133e-02 -9.97121452e-01 0.00000000e+00 1.75790562e+02] [ 9.97121452e-01 -7.58209133e-02 0.00000000e+00 1.75954169e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.23156729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.350371743 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:175.80, Y:175.96, Z:0.22 [[-6.29089779e-02 -9.98019269e-01 0.00000000e+00 1.75802448e+02] [ 9.98019269e-01 -6.29089779e-02 0.00000000e+00 1.75961942e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.18176573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.380371743 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:175.81, Y:176.01, Z:0.22 [[-5.86869101e-02 -9.98276438e-01 0.00000000e+00 1.75805883e+02] [ 9.98276438e-01 -5.86869101e-02 0.00000000e+00 1.76014387e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15897449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.410371743 meters Centerline goodness : 0.997178 Centerline is valid? [True, True] Translation: X:175.81, Y:175.97, Z:0.22 [[-6.64422504e-02 -9.97790272e-01 0.00000000e+00 1.75807491e+02] [ 9.97790272e-01 -6.64422504e-02 0.00000000e+00 1.75972470e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.21204799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.440371743 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:175.81, Y:175.97, Z:0.22 [[-7.16461586e-02 -9.97430112e-01 0.00000000e+00 1.75811545e+02] [ 9.97430112e-01 -7.16461586e-02 0.00000000e+00 1.75971209e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19951680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.470371743 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:175.81, Y:175.99, Z:0.22 [[-7.18684912e-02 -9.97414117e-01 0.00000000e+00 1.75814100e+02] [ 9.97414117e-01 -7.18684912e-02 0.00000000e+00 1.75987263e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.19696206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.500371743 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:175.82, Y:176.00, Z:0.22 [[-7.51066795e-02 -9.97175504e-01 0.00000000e+00 1.75818816e+02] [ 9.97175504e-01 -7.51066795e-02 0.00000000e+00 1.76001731e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.16925868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.530371743 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:175.82, Y:176.00, Z:0.22 [[-7.77111024e-02 -9.96975920e-01 0.00000000e+00 1.75820557e+02] [ 9.96975920e-01 -7.77111024e-02 0.00000000e+00 1.76002827e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.17113072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.560371743 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:175.83, Y:176.00, Z:0.22 [[-7.83382753e-02 -9.96926835e-01 0.00000000e+00 1.75825535e+02] [ 9.96926835e-01 -7.83382753e-02 0.00000000e+00 1.75998090e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15815238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.590371743 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:175.83, Y:176.01, Z:0.22 [[-7.88182950e-02 -9.96888999e-01 0.00000000e+00 1.75827765e+02] [ 9.96888999e-01 -7.88182950e-02 0.00000000e+00 1.76007972e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.15275502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.620371743 meters Centerline goodness : 0.995804 Centerline is valid? [True, True] Translation: X:175.83, Y:176.02, Z:0.21 [[-7.80418424e-02 -9.96950084e-01 0.00000000e+00 1.75829294e+02] [ 9.96950084e-01 -7.80418424e-02 0.00000000e+00 1.76021038e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14318886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.650371743 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:175.83, Y:176.03, Z:0.21 [[-7.62852559e-02 -9.97086034e-01 0.00000000e+00 1.75833259e+02] [ 9.97086034e-01 -7.62852559e-02 0.00000000e+00 1.76028420e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14607127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.680371743 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:175.83, Y:176.03, Z:0.21 [[-7.46100456e-02 -9.97212786e-01 0.00000000e+00 1.75834506e+02] [ 9.97212786e-01 -7.46100456e-02 0.00000000e+00 1.76027442e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14211940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.710371743 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:175.84, Y:176.01, Z:0.21 [[-7.11362942e-02 -9.97466605e-01 0.00000000e+00 1.75837970e+02] [ 9.97466605e-01 -7.11362942e-02 0.00000000e+00 1.76012680e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14155681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.740371743 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:175.84, Y:176.03, Z:0.21 [[-6.72854086e-02 -9.97733769e-01 0.00000000e+00 1.75839021e+02] [ 9.97733769e-01 -6.72854086e-02 0.00000000e+00 1.76032344e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.12975101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.770371743 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:175.84, Y:176.06, Z:0.21 [[-6.68156078e-02 -9.97765340e-01 0.00000000e+00 1.75840436e+02] [ 9.97765340e-01 -6.68156078e-02 0.00000000e+00 1.76057782e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.13155615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.800371743 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:175.84, Y:176.09, Z:0.21 [[-6.68900093e-02 -9.97760355e-01 0.00000000e+00 1.75843865e+02] [ 9.97760355e-01 -6.68900093e-02 0.00000000e+00 1.76086321e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10327488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.830371743 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:175.85, Y:176.09, Z:0.21 [[-6.69542036e-02 -9.97756050e-01 0.00000000e+00 1.75845227e+02] [ 9.97756050e-01 -6.69542036e-02 0.00000000e+00 1.76094673e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.10219702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86037174300003 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:175.84, Y:176.12, Z:0.21 [[-7.33585119e-02 -9.97305635e-01 0.00000000e+00 1.75840699e+02] [ 9.97305635e-01 -7.33585119e-02 0.00000000e+00 1.76117589e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14479939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.890371743 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:175.84, Y:176.14, Z:0.21 [[-7.56459170e-02 -9.97134743e-01 0.00000000e+00 1.75840765e+02] [ 9.97134743e-01 -7.56459170e-02 0.00000000e+00 1.76144923e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14437945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.920371743 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:175.84, Y:176.17, Z:0.21 [[-7.68489821e-02 -9.97042744e-01 0.00000000e+00 1.75842195e+02] [ 9.97042744e-01 -7.68489821e-02 0.00000000e+00 1.76172018e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.14540461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.950371743 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:175.85, Y:176.20, Z:0.21 [[-7.67917564e-02 -9.97047153e-01 0.00000000e+00 1.75848067e+02] [ 9.97047153e-01 -7.67917564e-02 0.00000000e+00 1.76203095e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09890999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.980371743 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:175.85, Y:176.23, Z:0.21 [[-7.72941559e-02 -9.97008332e-01 0.00000000e+00 1.75849381e+02] [ 9.97008332e-01 -7.72941559e-02 0.00000000e+00 1.76231794e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00 2.09620122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.010371743 meters Centerline goodness : 0.173478 Centerline is valid? [True, False] Translation: X:176.79, Y:176.03, Z:0.66 [[ 9.44624642e-01 -3.28104438e-01 5.63595851e-03 1.76786176e+02] [ 3.02771693e-01 8.64810543e-01 -4.00539670e-01 1.76026703e+02] [ 1.26544807e-01 3.80066051e-01 9.16262085e-01 6.57035387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.040371743 meters Centerline goodness : 0.983827 Centerline is valid? [False, True] Translation: X:176.75, Y:176.01, Z:0.62 [[ 9.43723684e-01 -3.30247080e-01 -1.79575796e-02 1.76745752e+02] [ 3.06120095e-01 8.92753300e-01 -3.30578330e-01 1.76012783e+02] [ 1.25204217e-01 3.06477424e-01 9.43607701e-01 6.19785554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.070371743 meters Centerline goodness : 0.988310 Centerline is valid? [True, True] Translation: X:176.81, Y:175.97, Z:0.47 [[ 9.47461118e-01 -3.06851772e-01 -9.03295074e-02 1.76813442e+02] [ 3.05190047e-01 9.51753312e-01 -3.20104451e-02 1.75968625e+02] [ 9.57938696e-02 2.76098547e-03 9.95397364e-01 4.65031304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.100371743 meters Centerline goodness : 0.986625 Centerline is valid? [True, True] Translation: X:176.85, Y:175.97, Z:0.46 [[ 9.47825244e-01 -3.04897273e-01 -9.30857648e-02 1.76846841e+02] [ 3.04403619e-01 9.52337224e-01 -1.98052586e-02 1.75971692e+02] [ 9.46876082e-02 -9.56371966e-03 9.95461095e-01 4.63290125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.130371743 meters Centerline goodness : 0.985483 Centerline is valid? [True, True] Translation: X:176.87, Y:175.98, Z:0.47 [[ 9.47194019e-01 -3.06848173e-01 -9.31004237e-02 1.76872452e+02] [ 3.06370151e-01 9.51707759e-01 -1.97401117e-02 1.75981566e+02] [ 9.46616129e-02 -9.82547510e-03 9.95461018e-01 4.66344058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.160371743 meters Centerline goodness : 0.982349 Centerline is valid? [True, True] Translation: X:176.90, Y:175.99, Z:0.47 [[ 9.46819214e-01 -3.08079140e-01 -9.28472932e-02 1.76898848e+02] [ 3.07497767e-01 9.51320061e-01 -2.08629993e-02 1.75991384e+02] [ 9.47549476e-02 -8.79684676e-03 9.95461760e-01 4.71678263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.190371743 meters Centerline goodness : 0.935125 Centerline is valid? [True, False] Translation: X:176.90, Y:175.99, Z:0.47 [[ 9.47945591e-01 -3.04441862e-01 -9.33504600e-02 1.76898490e+02] [ 3.04267766e-01 9.52444661e-01 -1.64406163e-02 1.75989227e+02] [ 9.39163591e-02 -1.28187262e-02 9.95497563e-01 4.70541800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.220371743 meters Centerline goodness : 0.146005 Centerline is valid? [False, False] Translation: X:176.90, Y:175.99, Z:0.47 [[ 9.49034622e-01 -3.01008238e-01 -9.34201667e-02 1.76898632e+02] [ 3.01225351e-01 9.53476139e-01 -1.21053641e-02 1.75986516e+02] [ 9.27177142e-02 -1.66521129e-02 9.95553179e-01 4.68483804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.250371743 meters Centerline goodness : 0.148132 Centerline is valid? [False, False] Translation: X:176.90, Y:175.98, Z:0.47 [[ 9.50116709e-01 -2.97379700e-01 -9.40401722e-02 1.76898695e+02] [ 2.98010705e-01 9.54532367e-01 -7.58823409e-03 1.75984028e+02] [ 9.20209749e-02 -2.08152700e-02 9.95539484e-01 4.67122842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.280371743 meters Centerline goodness : 0.159746 Centerline is valid? [False, False] Translation: X:176.90, Y:175.98, Z:0.47 [[ 9.51100805e-01 -2.94076654e-01 -9.44784674e-02 1.76898850e+02] [ 2.95099115e-01 9.55461021e-01 -3.27877533e-03 1.75981804e+02] [ 9.12347042e-02 -2.47620663e-02 9.95521506e-01 4.65405709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.310371743 meters Centerline goodness : 0.157923 Centerline is valid? [False, False] Translation: X:176.90, Y:175.98, Z:0.46 [[ 9.52161159e-01 -2.90472797e-01 -9.49456826e-02 1.76898707e+02] [ 2.91898379e-01 9.56448611e-01 1.17958055e-03 1.75979575e+02] [ 9.04680302e-02 -2.88376416e-02 9.95481756e-01 4.64070739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.340371743 meters Centerline goodness : 0.166596 Centerline is valid? [False, False] Translation: X:176.90, Y:175.98, Z:0.46 [[ 9.53135446e-01 -2.87167890e-01 -9.52230229e-02 1.76898334e+02] [ 2.88950918e-01 9.57329800e-01 5.19814601e-03 1.75977262e+02] [ 8.96670969e-02 -3.24693171e-02 9.95442392e-01 4.63045301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.370371743 meters Centerline goodness : 0.167725 Centerline is valid? [False, False] Translation: X:176.90, Y:175.98, Z:0.46 [[ 9.53245030e-01 -2.86859227e-01 -9.50562787e-02 1.76899339e+02] [ 2.88708349e-01 9.57398229e-01 6.00994367e-03 1.75976316e+02] [ 8.92827051e-02 -3.31724902e-02 9.95453758e-01 4.61502795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.400371743 meters Centerline goodness : 0.145875 Centerline is valid? [False, False] Translation: X:176.90, Y:175.97, Z:0.46 [[ 9.54294244e-01 -2.83138946e-01 -9.56808881e-02 1.76899846e+02] [ 2.85417444e-01 9.58343077e-01 1.07437857e-02 1.75973480e+02] [ 8.86531326e-02 -3.75617273e-02 9.95354077e-01 4.59872909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.430371743 meters Centerline goodness : 0.145581 Centerline is valid? [False, False] Translation: X:176.90, Y:175.97, Z:0.46 [[ 9.54346430e-01 -2.83006517e-01 -9.55520916e-02 1.76900667e+02] [ 2.85337563e-01 9.58359326e-01 1.13964001e-02 1.75972687e+02] [ 8.83479825e-02 -3.81407147e-02 9.95359191e-01 4.58607146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.460371743 meters Centerline goodness : 0.165875 Centerline is valid? [False, False] Translation: X:176.90, Y:175.97, Z:0.46 [[ 9.55326305e-01 -2.79374084e-01 -9.64456917e-02 1.76901335e+02] [ 2.82127633e-01 9.59244710e-01 1.59243780e-02 1.75970171e+02] [ 8.80661610e-02 -4.24229719e-02 9.95210853e-01 4.57383872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.490371743 meters Centerline goodness : 0.142528 Centerline is valid? [False, False] Translation: X:176.90, Y:175.97, Z:0.46 [[ 9.56188635e-01 -2.76123924e-01 -9.72567370e-02 1.76901893e+02] [ 2.79260388e-01 9.60007205e-01 1.99950461e-02 1.75967560e+02] [ 8.78460577e-02 -4.62789900e-02 9.95058453e-01 4.56435480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.520371743 meters Centerline goodness : 0.154751 Centerline is valid? [False, False] Translation: X:176.90, Y:175.97, Z:0.46 [[ 9.56201762e-01 -2.76101446e-01 -9.71914703e-02 1.76902798e+02] [ 2.79277196e-01 9.59992172e-01 2.04762886e-02 1.75967297e+02] [ 8.76495178e-02 -4.67228245e-02 9.95055044e-01 4.55250962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.550371743 meters Centerline goodness : 0.174628 Centerline is valid? [False, False] Translation: X:176.90, Y:175.97, Z:0.45 [[ 9.56170703e-01 -2.76294666e-01 -9.69476347e-02 1.76903121e+02] [ 2.79497625e-01 9.59918703e-01 2.09084261e-02 1.75966737e+02] [ 8.72849611e-02 -4.70886581e-02 9.95069844e-01 4.54364664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.580371743 meters Centerline goodness : 0.164675 Centerline is valid? [False, False] Translation: X:176.90, Y:175.96, Z:0.45 [[ 9.56985353e-01 -2.73127204e-01 -9.78803554e-02 1.76903617e+02] [ 2.76721098e-01 9.60625538e-01 2.49801924e-02 1.75964553e+02] [ 8.72035990e-02 -5.09912377e-02 9.94884629e-01 4.53513294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61037174300003 meters Centerline goodness : 0.167602 Centerline is valid? [False, False] Translation: X:176.90, Y:175.96, Z:0.45 [[ 9.56949516e-01 -2.73208820e-01 -9.80028801e-02 1.76904385e+02] [ 2.76837026e-01 9.60583874e-01 2.52959024e-02 1.75964177e+02] [ 8.72289226e-02 -5.13377274e-02 9.94864590e-01 4.52904849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.640371743 meters Centerline goodness : 0.157726 Centerline is valid? [False, False] Translation: X:176.91, Y:175.96, Z:0.45 [[ 9.56784318e-01 -2.73830127e-01 -9.78817188e-02 1.76905085e+02] [ 2.77475123e-01 9.60393482e-01 2.55326251e-02 1.75963919e+02] [ 8.70133628e-02 -5.15889572e-02 9.94870471e-01 4.51857604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.670371743 meters Centerline goodness : 0.148955 Centerline is valid? [False, False] Translation: X:176.91, Y:175.96, Z:0.45 [[ 9.56650409e-01 -2.74354115e-01 -9.77231532e-02 1.76905701e+02] [ 2.77991841e-01 9.60244344e-01 2.55212927e-02 1.75964935e+02] [ 8.68362334e-02 -5.15811944e-02 9.94886350e-01 4.50659630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.700371743 meters Centerline goodness : 0.146122 Centerline is valid? [False, False] Translation: X:176.91, Y:175.97, Z:0.45 [[ 9.56546103e-01 -2.74666808e-01 -9.78657093e-02 1.76906301e+02] [ 2.78301972e-01 9.60157892e-01 2.53936105e-02 1.75965600e+02] [ 8.69917512e-02 -5.15263790e-02 9.94875604e-01 4.50290503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.730371743 meters Centerline goodness : 0.148922 Centerline is valid? [False, False] Translation: X:176.91, Y:175.97, Z:0.45 [[ 9.56508150e-01 -2.74771095e-01 -9.79438811e-02 1.76907042e+02] [ 2.78422528e-01 9.60119361e-01 2.55285933e-02 1.75966250e+02] [ 8.70232969e-02 -5.16880906e-02 9.94864457e-01 4.49441098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.760371743 meters Centerline goodness : 0.152822 Centerline is valid? [False, False] Translation: X:176.91, Y:175.97, Z:0.45 [[ 9.56260000e-01 -2.75756867e-01 -9.75959144e-02 1.76906635e+02] [ 2.79330401e-01 9.59874706e-01 2.48007125e-02 1.75968869e+02] [ 8.68408829e-02 -5.09774353e-02 9.94917063e-01 4.48996159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.790371743 meters Centerline goodness : 0.155300 Centerline is valid? [False, False] Translation: X:176.91, Y:175.97, Z:0.45 [[ 9.57067908e-01 -2.72622602e-01 -9.84780964e-02 1.76906935e+02] [ 2.76556034e-01 9.60574503e-01 2.85198887e-02 1.75967993e+02] [ 8.68203823e-02 -5.45301820e-02 9.94730456e-01 4.48364479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.820371743 meters Centerline goodness : 0.159900 Centerline is valid? [False, False] Translation: X:176.91, Y:175.97, Z:0.45 [[ 9.56835903e-01 -2.73454414e-01 -9.84263055e-02 1.76907046e+02] [ 2.77325500e-01 9.60373646e-01 2.78033676e-02 1.75971310e+02] [ 8.69230763e-02 -5.38993847e-02 9.94755867e-01 4.47832947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.850371743 meters Centerline goodness : 0.161555 Centerline is valid? [False, False] Translation: X:176.91, Y:175.97, Z:0.45 [[ 9.57561164e-01 -2.70524587e-01 -9.94638929e-02 1.76907562e+02] [ 2.74750070e-01 9.61005732e-01 3.13110414e-02 1.75970648e+02] [ 8.71149647e-02 -5.73099488e-02 9.94548416e-01 4.47325535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.880371743 meters Centerline goodness : 0.155227 Centerline is valid? [False, False] Translation: X:176.91, Y:175.97, Z:0.45 [[ 9.58357938e-01 -2.67279147e-01 -1.00558045e-01 1.76908545e+02] [ 2.71884643e-01 9.61692063e-01 3.50302375e-02 1.75970173e+02] [ 8.73430214e-02 -6.09116943e-02 9.94314318e-01 4.46395063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10190.54 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%| | 0/12797 [00:00